.travis.yml

# Copyright (c) 2016, Felix Duvallet
# All rights reserved.
# 
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 
# * Redistributions of source code must retain the above copyright notice, this
#   list of conditions and the following disclaimer.
# 
# * Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
#   and/or other materials provided with the distribution.
# 
# * Neither the name of this package nor the names of its
#   contributors may be used to endorse or promote products derived from
#   this software without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.#
# 
# FROM: https://github.com/felixduvallet/ros-travis-integration
#
# 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:
  - generic
cache:
  - apt

# 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'

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

# Install system dependencies, namely a very barebones ROS setup.
before_install:
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  - sudo apt-get update -qq
  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-dynamic-reconfigure python-dev python-numpy libgeos-dev
  - source /opt/ros/$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
  # Travis adds a non-system Python. Put /usr/bin/python before it on PATH.
  - export PATH=$(echo "$PATH" | sed -r "s|/opt/python/2.7.[0-9]+/bin|/usr/bin:&|" )
  - echo $PATH
  - which python
  - 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 .
  - pip install --user LatLon shapely pynmea2

# 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

# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to
# catkin_make.
script:
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - cd ~/catkin_ws
  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
  - source ~/catkin_ws/devel/setup.bash
  - catkin_make run_tests
  - catkin_test_results
  # Testing: Use both run_tests (to see the output) and test (to error out).