.travis.yml

# Enable C++ support
language: cpp

env:
  global:
    - NUM_THREADS=4

matrix:
  include:
    - os: linux
      dist: trusty
      sudo: required
      compiler: gcc
      addons:
       apt:
         sources:
         - sourceline: 'ppa:bzindovic/suitesparse-bugfix-1319687'
         - sourceline: 'ppa:xqms/opencv-nonfree'
         - sourceline: 'ppa:ubuntu-toolchain-r/test'
         - sourceline: 'ppa:adrozdoff/cmake'
         # github.com/jrl-umi3218/Tasks ppa is disabled for now
         # because it does not include CMake Config files.
         # It is instead being built from source below.
         #  - sourceline: 'ppa:pierre-gergondet+ppa/multi-contact-unstable'
         packages:
         - libtool
         - pkg-config
         - build-essential
         - autoconf
         - automake
         - gfortran
         - libgflags-dev
         - libgoogle-glog-dev
         - libgtest-dev
         - libboost-all-dev
         - libeigen3-dev
         - libopenblas-dev
         - libopencv-dev
         - libopencv-nonfree-dev
         - cmake
         - libgoogle-glog-dev
         - libatlas-base-dev
         - libeigen3-dev
         - libsuitesparse-dev
         - libtbb-dev
         # github.com/jrl-umi3218/Tasks ppa is disabled for now
         # because it does not include CMake Config files.
         # It is instead being built from source below.
         # - libtasks-dev
         # - libtasks-qld-doc

# dependency install steps
before_install:
  - mkdir -p ~/src/
  - cd ~/src/
  - git clone https://ceres-solver.googlesource.com/ceres-solver -b 1.12.0
  - cd ceres-solver
  - mkdir build
  - cd build
  - cmake ..
  - sudo make -j3 install
  - cd ../..
  -
  # workaround for:
  # https://github.com/cmake-basis/BASIS/pull/609
  # https://github.com/cmake-basis/BASIS/issues/608
  # https://github.com/cmake-basis/BASIS/issues/612
  # switch to commented version if changes did not work
  - git clone https://github.com/schuhschuh/cmake-basis.git
  #- git clone --depth=1 https://github.com/ahundt/BASIS.git cmake-basis --branch grl
  - cd cmake-basis
  - mkdir build
  - cd build
  - cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local
  - sudo make -j install
  - cd ../..
  -
  - git clone https://github.com/google/flatbuffers.git -b v1.7.0
  - cd flatbuffers
  - mkdir build
  - cd build
  - cmake ..
  - sudo make -j install
  - cd ../..
  -
  - git clone https://github.com/gabime/spdlog.git -b v0.13.0
  - cd spdlog
  - mkdir build
  - cd build
  - cmake ..
  - sudo make -j install
  - cd ../..
  -
  - cd ..
  -
  # ROS indigo setup
  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
  - sudo apt-get update
  - sudo apt-get install ros-indigo-ros-base
  -
  # IMPORTANT: You must create new tags/branches of the robotics_setup script,
  # and ensure the script checks out specific versions on git to
  # ensure builds of past versions are always consistent.
  - mkdir -p ~/src
  - git clone https://github.com/ahundt/robotics_setup.git
  - cd robotics_setup
  - git reset --hard 529b003fe0eaa74045f32b94cc671261d1776c11 # check out specific working version
  # Tasks is built from source because the ppa doesn't include cmake config files
  - ./robotics_tasks.sh -p OFF
  - ./trtk.sh

# Build steps
script:
  # - git clone https://github.com/ahundt/grl.git not necessary for travis should already be in right spot
  #- cd grl
  - cd $TRAVIS_BUILD_DIR
  - mkdir build
  - cd build
  - cmake .. -DBUILD_ALL_MODULES=ON -DBUILD_DOCUMENTATION=OFF -DBUILD_EXAMPLE=ON -DMODULE_grl=ON -DMODULE_robone=ON -DMODULE_roboneprivate=ON  -DWITH_Ceres=ON  -DWITH_CisstNetlib=OFF   -DWITH_Eigen3=ON -DWITH_FRI_Client_SDK_Cpp=OFF  -DWITH_Nanopb=OFF  -DWITH_PCL=OFF -DWITH_RBDyn=ON  -DWITH_SpaceVecAlg=ON -DWITH_TRTK=ON -DWITH_Tasks=ON  -DWITH_Threads=ON  -DWITH_cisst=OFF -DWITH_freenect2=OFF -DWITH_sawConstraintController=OFF -DWITH_sch-core=ON  -DWITH_spdlog=ON  -DWITH_ur_modern_driver=OFF
  - make
#  - sudo make install
#  - cd ../..