.travis.yml

# Generic .travis.yml file for running continuous integration on Travis-CI with
# any ROS package.
#
# 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:
#   - packages (ros and otherwise) available through apt-get. These are installed
#     using rosdep, based on the information in the ROS package.xml.
#   - 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:
  - python
cache:
  - apt

# By default travis runs all python code in a virtualenv that does not contain
# the packages installed with apt-get. As this is essential (pip doesn't contain
# all the necessary ROS python packages), tell travis-ci to use the system-wide
# python packages.
virtualenv:
  system_site_packages: true

# 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=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
    - ROS_PARALLEL_JOBS='-j8 -l6'

addons:
  hosts:
    - artable-n1
    - artable-n2
    - pr1027
    - c1
    - c2

################################################################################

# Install system dependencies, namely a very barebones ROS setup.
before_install:
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  - sudo apt-get update -qq
  - sudo apt-get install -y dpkg # https://github.com/travis-ci/travis-ci/issues/9361#issuecomment-408431262
  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin python-catkin-lint
  - source /opt/ros/$ROS_DISTRO/setup.bash
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update
  - sudo pip install catkin-tools

# Create a catkin workspace with the package under integration.
install:
  - mkdir -p ~/catkin_ws/src
  - cd ~/catkin_ws/src
  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
  # source it to set the path variables.
  - cd ~/catkin_ws
  - catkin init
  # Add the package under integration to the workspace using a symlink.
  - cd ~/catkin_ws/src
  - ln -s $CI_SOURCE_PATH .

# Install all dependencies, using wstool and rosdep.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
before_script:

  # for nodes requiring x server (art_projected_gui)
  - "export DISPLAY=:99.0"
  - "sh -e /etc/init.d/xvfb start"
  - sleep 3 # give xvfb some time to start

  # source dependencies: install using wstool.
  - cd ~/catkin_ws/src
  - wstool init
  - wstool merge $CI_SOURCE_PATH/dependencies.rosinstall
  - wstool up
  # package depdencies: install using rosdep.
  - cd ~/catkin_ws
   # kind of hack - rosdep installs mongodb which asks for something...
  - sudo apt-get remove -y mongodb mongodb-10gen
  - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" # default actions
  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# install other package dependencies using script
  - cd $CI_SOURCE_PATH
  - chmod +x install_dependencies.sh
  - ./install_dependencies.sh

# Compile and test.
script:
  - cd ~/catkin_ws/
#  - catking config --install
  - catkin build
  - source devel/setup.bash
  - catkin_lint $CI_SOURCE_PATH
  - cd ~/catkin_ws/src/arcor
  - ./run_tests.sh

after_failure:
  - cd ~/catkin_ws
  - find build/ -iwholename "*/test_results/*.xml" -exec cat {} \;
  - find build/ -iwholename "*/Testing/Temporary/LastTest.log" -exec cat {} \;