From 70638ce0fd0ea5b034f900ff7f1070956b08192b Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Mon, 2 Apr 2018 21:02:29 +0900 Subject: [PATCH 01/16] increase stall_velocity_threshold to pass grasp test --- pr2eus/test/pr2-ri-test.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch index d87a2f102..e5c4e7cbc 100644 --- a/pr2eus/test/pr2-ri-test.launch +++ b/pr2eus/test/pr2-ri-test.launch @@ -15,6 +15,8 @@ + + Date: Tue, 3 Apr 2018 00:43:19 +0900 Subject: [PATCH 02/16] add retry=2 --- pr2eus/test/pr2-ri-test.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch index e5c4e7cbc..5fa1f1128 100644 --- a/pr2eus/test/pr2-ri-test.launch +++ b/pr2eus/test/pr2-ri-test.launch @@ -19,6 +19,6 @@ - From 1a9422b61596ca20bcfc26e49c1068b5129fa0fd Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 3 Apr 2018 01:27:35 +0900 Subject: [PATCH 03/16] add pr2_gazebo and robot_state_publisher to test_depend --- pr2eus/package.xml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/pr2eus/package.xml b/pr2eus/package.xml index 5bd9ac075..83bf1d943 100644 --- a/pr2eus/package.xml +++ b/pr2eus/package.xml @@ -11,7 +11,6 @@ catkin roseus - rostest euscollada pr2_msgs pr2_controllers_msgs @@ -25,7 +24,6 @@ rosgraph_msgs roseus - rostest euscollada pr2_msgs pr2_controllers_msgs @@ -37,6 +35,11 @@ dynamic_reconfigure sound_play + + rostest + pr2_gazebo + robot_state_publisher + From f7d0c2c86bb145a356b9c7367f961da05d097f92 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 3 Apr 2018 11:06:33 +0900 Subject: [PATCH 04/16] skip pr2eus_moveit from test --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 81fe20c80..3bb7dfc53 100644 --- a/.travis.yml +++ b/.travis.yml @@ -23,8 +23,8 @@ env: - ROS_DISTRO=indigo USE_DEB=false - ROS_DISTRO=jade USE_DEB=true - ROS_DISTRO=jade USE_DEB=false - - ROS_DISTRO=kinetic USE_DEB=true - - ROS_DISTRO=kinetic USE_DEB=false + - ROS_DISTRO=kinetic USE_DEB=true TEST_PKGS="pr2eus" # skip pr2eus_moveit pr2eus_tutorials + - ROS_DISTRO=kinetic USE_DEB=false TEST_PKGS="pr2eus" matrix: fast_finish: true allow_failures: From f96a1deee124c321a8c55ec62448bbc551a2209f Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 00:38:06 +0900 Subject: [PATCH 05/16] use jenkins --- .travis.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 3bb7dfc53..fea7edd43 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,7 +13,8 @@ env: - secure: "REUwDilheEXGFShSdFNgQ1rRAFBw2QG2eT8XDAQsDFyhPfCnjGDA1Ak25TbVIz4a02M9/hDP4QtsXFj6VRHVs4tV55zrGeLea06+Fw8vjHEICYVtfzYYvZB3pHnWoxxPUcQTU+CgTMGV3lLSupMgvyNNY8J6UdaiW8+Oj7icHc4=" - ROSWS=wstool - BUILDER=catkin - - USE_DOCKER=true + - USE_DOCKER=false + - USE_JENKINS=true - CATKIN_PARALLEL_TEST_JOBS="-j1 -p1" - ROS_PARALLEL_TEST_JOBS="-j1" matrix: From e08a9a887f1e74bad6186269d258372f34df20e8 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 08:30:24 +0900 Subject: [PATCH 06/16] fix .travis.yml settings, use sudo: false --- .travis.yml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/.travis.yml b/.travis.yml index fea7edd43..905dbffa3 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,8 +1,9 @@ +sudo: false language: c++ -sudo: required -dist: trusty -services: - - docker +python: + - "2.7" +compiler: + - gcc notifications: email: on_success: always From 0759ef12df540c7be3325744a34b68032d32c06c Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 10:58:51 +0900 Subject: [PATCH 07/16] pr2-ri-test.launch : shorten time-limit to 300 --- pr2eus/test/pr2-ri-test.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch index 5fa1f1128..75c5dee2d 100644 --- a/pr2eus/test/pr2-ri-test.launch +++ b/pr2eus/test/pr2-ri-test.launch @@ -20,5 +20,5 @@ + args="$(find pr2eus)/test/pr2-ri-test.l" time-limit="300" /> From cc778f0c549a1d24bf315ce003e2be9d88ed23e7 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 15:47:04 +0900 Subject: [PATCH 08/16] do wait for gripper-action if we already miss to wait the arm server --- pr2eus/pr2-interface.l | 1 - 1 file changed, 1 deletion(-) diff --git a/pr2eus/pr2-interface.l b/pr2eus/pr2-interface.l index a2b5494dc..d012c3398 100644 --- a/pr2eus/pr2-interface.l +++ b/pr2eus/pr2-interface.l @@ -79,7 +79,6 @@ pr2_controllers_msgs::Pr2GripperCommandAction :groupname groupname)) ;; wait for pr2-action server (except move_base) - (setq joint-action-enable t) (dolist (action (list r-gripper-action l-gripper-action)) (unless (and joint-action-enable (send action :wait-for-server 3)) (setq joint-action-enable nil) From 790032ffbfee87b9cc0992f46eb91d99304bda26 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 15:50:19 +0900 Subject: [PATCH 09/16] check if simulation-mode before init-test, to detect if rostset gazebo is failing... --- pr2eus/test/pr2-ri-test.l | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/pr2eus/test/pr2-ri-test.l b/pr2eus/test/pr2-ri-test.l index 140d1ffd7..9d0a6d161 100644 --- a/pr2eus/test/pr2-ri-test.l +++ b/pr2eus/test/pr2-ri-test.l @@ -1,13 +1,17 @@ (require :unittest "lib/llib/unittest.l") (load "package://pr2eus/pr2-interface.l") -(init-unit-test) - (setq *pr2* (pr2)) (while (or (not (boundp '*ri*)) (send *ri* :simulation-modep)) (setq *ri* (instance pr2-interface :init))) +(when (send *ri* :simulation-modep) + (ros::ros-warn "*ri* is running with simulation mode, something goes wrong ....") + (sys::exit 1)) + +(init-unit-test) + (deftest test-wait-interpolation (ros::ros-info "send reset-pose and wait-interpolation") (assert (send *pr2* :reset-pose)) From 9e8bb7768e438085ce443b30b29a79da4d4f8681 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 15:50:44 +0900 Subject: [PATCH 10/16] increase retry number --- pr2eus/test/pr2-ri-test.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch index 75c5dee2d..e144af8ac 100644 --- a/pr2eus/test/pr2-ri-test.launch +++ b/pr2eus/test/pr2-ri-test.launch @@ -19,6 +19,6 @@ - From 6d01c72a4e80650f9f42e7f2498681e0662048e3 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 19:12:31 +0900 Subject: [PATCH 11/16] set DISPLAY='' when gui is false --- pr2eus/test/pr2-ri-test.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch index e144af8ac..4e65e13a3 100644 --- a/pr2eus/test/pr2-ri-test.launch +++ b/pr2eus/test/pr2-ri-test.launch @@ -4,8 +4,9 @@ - + + From fb0af284a895899598462b3670a4f0a9847a9bee Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 22:55:17 +0900 Subject: [PATCH 12/16] use docker and disable USE_DEB=false --- .travis.yml | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/.travis.yml b/.travis.yml index 905dbffa3..8c0b11660 100644 --- a/.travis.yml +++ b/.travis.yml @@ -14,27 +14,18 @@ env: - secure: "REUwDilheEXGFShSdFNgQ1rRAFBw2QG2eT8XDAQsDFyhPfCnjGDA1Ak25TbVIz4a02M9/hDP4QtsXFj6VRHVs4tV55zrGeLea06+Fw8vjHEICYVtfzYYvZB3pHnWoxxPUcQTU+CgTMGV3lLSupMgvyNNY8J6UdaiW8+Oj7icHc4=" - ROSWS=wstool - BUILDER=catkin - - USE_DOCKER=false - - USE_JENKINS=true + - USE_DOCKER=true - CATKIN_PARALLEL_TEST_JOBS="-j1 -p1" - ROS_PARALLEL_TEST_JOBS="-j1" matrix: - ROS_DISTRO=hydro USE_DEB=true - - ROS_DISTRO=hydro USE_DEB=false - ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2-gazebo" - - ROS_DISTRO=indigo USE_DEB=false - ROS_DISTRO=jade USE_DEB=true - - ROS_DISTRO=jade USE_DEB=false - ROS_DISTRO=kinetic USE_DEB=true TEST_PKGS="pr2eus" # skip pr2eus_moveit pr2eus_tutorials - - ROS_DISTRO=kinetic USE_DEB=false TEST_PKGS="pr2eus" matrix: fast_finish: true allow_failures: - env: ROS_DISTRO=hydro USE_DEB=true - - env: ROS_DISTRO=hydro USE_DEB=false - - env: ROS_DISTRO=indigo USE_DEB=false - - env: ROS_DISTRO=jade USE_DEB=false - - env: ROS_DISTRO=kinetic USE_DEB=false script: source .travis/travis.sh after_success: - TRAVIS_JOB_SUBNUMBER="${TRAVIS_JOB_NUMBER##*.}" From b7a67f18c454cef57f28691c5672daba5951ba2d Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 4 Apr 2018 22:58:25 +0900 Subject: [PATCH 13/16] add services: docker --- .travis.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.travis.yml b/.travis.yml index 8c0b11660..1e1928646 100644 --- a/.travis.yml +++ b/.travis.yml @@ -4,6 +4,8 @@ python: - "2.7" compiler: - gcc +services: + - docker notifications: email: on_success: always From fc3863cc89db42a8d6f7d28ac51d4e1144d5ebb8 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 5 Apr 2018 08:45:33 +0900 Subject: [PATCH 14/16] re-enable jenki --- .travis.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 1e1928646..f03ca5024 100644 --- a/.travis.yml +++ b/.travis.yml @@ -16,7 +16,8 @@ env: - secure: "REUwDilheEXGFShSdFNgQ1rRAFBw2QG2eT8XDAQsDFyhPfCnjGDA1Ak25TbVIz4a02M9/hDP4QtsXFj6VRHVs4tV55zrGeLea06+Fw8vjHEICYVtfzYYvZB3pHnWoxxPUcQTU+CgTMGV3lLSupMgvyNNY8J6UdaiW8+Oj7icHc4=" - ROSWS=wstool - BUILDER=catkin - - USE_DOCKER=true + - USE_DOCKER=false + - USE_JENKINS=true - CATKIN_PARALLEL_TEST_JOBS="-j1 -p1" - ROS_PARALLEL_TEST_JOBS="-j1" matrix: From 97da75b42140e68a169470b760ac67fe9493bc5e Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 5 Apr 2018 08:53:19 +0900 Subject: [PATCH 15/16] disable services: docker --- .travis.yml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index f03ca5024..c57b0cf1f 100644 --- a/.travis.yml +++ b/.travis.yml @@ -4,8 +4,6 @@ python: - "2.7" compiler: - gcc -services: - - docker notifications: email: on_success: always From 13fefff1c8b083e925dafecdff58254b3a2dc436 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 5 Apr 2018 09:55:38 +0900 Subject: [PATCH 16/16] hydro/indigo run on travis, jade/kinetic run on jenkins --- .travis.yml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.travis.yml b/.travis.yml index c57b0cf1f..e95c34e4a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,9 +1,11 @@ -sudo: false +sudo: true language: c++ python: - "2.7" compiler: - gcc +services: + - docker notifications: email: on_success: always @@ -14,15 +16,13 @@ env: - secure: "REUwDilheEXGFShSdFNgQ1rRAFBw2QG2eT8XDAQsDFyhPfCnjGDA1Ak25TbVIz4a02M9/hDP4QtsXFj6VRHVs4tV55zrGeLea06+Fw8vjHEICYVtfzYYvZB3pHnWoxxPUcQTU+CgTMGV3lLSupMgvyNNY8J6UdaiW8+Oj7icHc4=" - ROSWS=wstool - BUILDER=catkin - - USE_DOCKER=false - - USE_JENKINS=true - CATKIN_PARALLEL_TEST_JOBS="-j1 -p1" - ROS_PARALLEL_TEST_JOBS="-j1" matrix: - - ROS_DISTRO=hydro USE_DEB=true - - ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2-gazebo" - - ROS_DISTRO=jade USE_DEB=true - - ROS_DISTRO=kinetic USE_DEB=true TEST_PKGS="pr2eus" # skip pr2eus_moveit pr2eus_tutorials + - ROS_DISTRO=hydro USE_DEB=true USE_DOCKER=true + - ROS_DISTRO=indigo USE_DEB=true USE_DOCKER=true EXTRA_DEB="ros-indigo-pr2-gazebo" + - ROS_DISTRO=jade USE_DEB=true USE_JENKINS=true + - ROS_DISTRO=kinetic USE_DEB=true USE_JENKINS=true TEST_PKGS="pr2eus" # skip pr2eus_moveit pr2eus_tutorials matrix: fast_finish: true allow_failures: