forked from cpaxton/costar_stack
-
Notifications
You must be signed in to change notification settings - Fork 2
/
.travis.yml
137 lines (128 loc) · 5.79 KB
/
.travis.yml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
# Generic .travis.yml file for running continuous integration on Travis-CI for
# any ROS package.
#
# Available here:
# - http://felixduvallet.github.io/ros-travis-integration
# - https://github.com/felixduvallet/ros-travis-integration
#
# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
# workspace, resolves all listed dependencies, and sets environment variables
# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
# no compilation errors), and runs all the tests. If any of the compilation/test
# phases fail, the build is marked as a failure.
#
# We handle two types of package dependencies specified in the package manifest:
# - system dependencies that can be installed using `rosdep`, including other
# ROS packages and system libraries. These dependencies must be known to
# `rosdistro` and get installed using apt-get.
# - package dependencies that must be checked out from source. These are handled by
# `wstool`, and should be listed in a file named dependencies.rosinstall.
#
# There are two variables you may want to change:
# - ROS_DISTRO (default is indigo). Note that packages must be available for
# ubuntu 14.04 trusty.
# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
# root). This should list all necessary repositories in wstool format (see
# the ros wiki). If the file does not exists then nothing happens.
#
# See the README.md for more information.
#
# Author: Felix Duvallet <felixd@gmail.com>
# NOTE: The build lifecycle on Travis.ci is something like this:
# before_install
# install
# before_script
# script
# after_success or after_failure
# after_script
# OPTIONAL before_deploy
# OPTIONAL deploy
# OPTIONAL after_deploy
################################################################################
# Use ubuntu trusty (14.04) with sudo privileges.
dist: trusty
sudo: required
language:
- generic
# Configuration variables. All variables are global now, but this can be used to
# trigger a build matrix for different ROS distributions if desired.
env:
global:
- ROS_DISTRO=indigo
- ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...]
- CI_SOURCE_PATH=$(pwd)
- CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
- ROS_PARALLEL_JOBS='-j8 -l6'
- PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
#- ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
################################################################################
# Install system dependencies, namely a very barebones ROS setup.
before_install:
- sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
- wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
- sudo apt-get update -qq
- sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool python-catkin-tools ros-$ROS_DISTRO-catkin
#- $CI_SOURCE_PATH/install_bullet.sh
- sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
- sudo apt-get update
- sudo apt-get install libopencv-nonfree-dev mongodb
- sudo add-apt-repository --yes ppa:v-launchpad-jochen-sprickerhof-de/pcl
- sudo apt-get update
- sudo apt-get install libpcl-all
- sudo apt-get install ros-indigo-moveit-ros-visualization # hack to force install
- source /opt/ros/$ROS_DISTRO/setup.bash
# Prepare rosdep to install dependencies.
- sudo rosdep init
- rosdep update
# Create a catkin workspace with the package under integration.
install:
- mkdir -p ~/costar_ws/src
- cd ~/costar_ws
- catkin init
- cd ~/costar_ws/src
- git clone https://github.com/cpaxton/iiwa_stack.git
- git clone https://github.com/ros-industrial/robotiq.git
- git clone https://github.com/jhu-lcsr/ObjRecRANSAC.git
- git clone https://github.com/jbohren/rqt_dot.git
- git clone https://github.com/sniekum/ar_track_alvar.git
- git clone https://github.com/sniekum/ar_track_alvar_msgs.git
- git clone https://github.com/gt-ros-pkg/hrl-kdl.git
- git clone https://github.com/ThomasTimm/ur_modern_driver.git
# Create the devel/setup.bash (run catkin_make with an empty workspace) and
# source it to set the path variables.
- cd ~/costar_ws
# Install remaining dependencies using rosdep
- rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
- catkin build
- source devel/setup.bash
# Add the package under integration to the workspace using a symlink.
- cd ~/costar_ws/src
- ln -s $CI_SOURCE_PATH .
# Install all dependencies, using wstool first and rosdep second.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
before_script:
# source dependencies: install using wstool.
- cd ~/costar_ws/src
#- wstool init
#- if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
#- wstool up
# package depdencies: install using rosdep.
- cd ~/costar_ws
- rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
# Compile and test (mark the build as failed if any step fails). If the
# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
# to blacklist certain packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. Running `catkin_test_results` aggregates all the results and returns
# non-zero when a test fails (which notifies Travis the build failed).
script:
- source /opt/ros/$ROS_DISTRO/setup.bash
- cd ~/costar_ws
- catkin build
# Run the tests, ensuring the path is set correctly.
- source devel/setup.bash
#- catkin_make run_tests && catkin_test_results
# run a test: make sure we can bring up the robot successfully
#- python2.7 $CI_SOURCE_PATH/costar_bringup/tests/iiwa_test.py