-
Notifications
You must be signed in to change notification settings - Fork 5
/
.travis.yml
128 lines (119 loc) · 4.91 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
# 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:
# - 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 <[email protected]>
# 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
cache:
- apt
notifications:
email:
recipients:
on_success: change #[always|never|change] # default: change
on_failure: always #[always|never|change] # default: always
# 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=$(pwd)
- REPOSITORY_NAME=${PWD##*/}
- ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
- CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
- ROS_PARALLEL_JOBS='-j8 -l6'
################################################################################
# Install system dependencies, namely a very barebones ROS setup.
before_install:
- echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
- sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
- wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
- sudo apt-get update -qq
- sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
- 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 ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_init_workspace
# Create the devel/setup.bash (run catkin_make with an empty workspace) and
# source it to set the path variables.
- cd ~/catkin_ws
- catkin_make
- source devel/setup.bash
# 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:
# source dependencies: install using wstool.
- cd ~/catkin_ws/src
- wstool init
- if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
- wstool up
# package depdencies: install using rosdep.
- cd ~/catkin_ws
- rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
#Add library for Hardware Interface
# - cd $CI_SOURCE_PATH/
# - git clone https://github.com/officinerobotiche/or_bus_c.X
# Compile and test (fail if any step fails). If the CATKIN_OPTIONS file exists,
# use it as an argument to catkin_make, for example to blacklist certain
# packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. On the other hand, `catkin_make test` aggregates all results, but
# returns non-zero when a test fails (which notifies Travis the build
# failed). This is why we run both.
script:
- source /opt/ros/$ROS_DISTRO/setup.bash
- cd ~/catkin_ws
- catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
# Run the tests, ensuring the path is set correctly.
- source devel/setup.bash
- catkin_make run_tests && catkin_make test