MoveIt Continous Integration

Common Travis CI configuration for MoveIt! project

Authors: Dave Coleman, Isaac I. Y. Saito, Robert Haschke

• Uses Docker for all Distros
  • Travis does not currently support Ubuntu 16.04
  • Based on OSRF's pre-build ROS Docker container to save setup time
  • Uses MoveIt's pre-build Docker container to additionally save setup time
• Simple - only contains features needed for MoveIt!
• Clean Travis log files - looks similiar to a regular .travis.yml file
• Runs tests for the current repo, e.g. if testing moveit_core only runs tests for moveit_core
• Builds into install space
• Prevents Travis from timing out and from running out of log space, even for huge builds (all of MoveIt!)

Usage

Create a .travis.yml file in the base of you repo similar to:

# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
sudo: required
dist: trusty
# apt-get install xvfb. Xvfb is an X server that can be run on machines without display hardware or 
# physical input devices.
addons:
  apt:
    packages:
        - xvfb
services:
  - docker
language: generic
compiler:
  - gcc
notifications:
  email:
    recipients:
      # - [email protected]
env:
  matrix:
    - ROS_DISTRO="kinetic"  ROS_REPO=ros              UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit_docs/kinetic-devel/moveit.rosinstall
    - ROS_DISTRO="kinetic"  ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit_docs/kinetic-devel/moveit.rosinstall
matrix:
  allow_failures:
    - env: ROS_DISTRO="kinetic"  ROS_REPO=ros              UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit_docs/kinetic-devel/moveit.rosinstall
install:
  # Set the display to virtual frame buffer 99. 99 is used because it is not likely to be in use for 
  # something else 
  - export DISPLAY=':99.0'
  # Set Xvfb to listen for connections on frame buffer 99 ("Xvfb :99"), and dump STDOUT and STDERR 
  # output ("> /dev/null 2>&1"). This means that data printed from tests to std::cout or std::cerr 
  # will not show in CI output. 
  - Xvfb :99 > /dev/null 2>&1 &
before_script:
  - git clone -q https://github.com/ros-planning/moveit_ci.git .moveit_ci
script:
  - source .moveit_ci/travis.sh

Configurations

• ROS_DISTRO: (required) which version of ROS i.e. kinetic
• ROS_REPO: (default: ros-shadow-fixed) install ROS debians from either regular release or from shadow-fixed, i.e. http://packages.ros.org/ros-shadow-fixed/ubuntu
• ROS_REPOSITORY_PATH: (DEPRECATED) replaced by ROS_REPO, but both still work
• BEFORE_SCRIPT: (default: not set): Used to specify shell commands or scripts that run before building packages.
• UPSTREAM_WORKSPACE (default: debian): When set as "file", the dependended packages that need to be built from source are downloaded based on a .rosinstall file in your repository. When set to a "http" URL, this downloads the rosinstall configuration from an http location
• TEST_BLACKLIST: Allow certain tests to be skipped if necessary (not recommended)

More configurations as seen in industrial_ci can be added, in the future.