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.travis.yml
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# Generic .travis.yml file for running continuous integration on Travis-CI for
# any ROS package.
#
# Available here:
# - 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 specified in the package manifest:
# - system dependencies that can be installed using `rosdep`, including other
# ROS packages and system libraries. These dependencies must be known to
# `rosdistro` and are installed using apt-get.
# - package 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 envioronment variables you may want to change, such as ROS_DISTRO,
# ROSINSTALL_FILE, and the CATKIN_OPTIONS file. See the README.md for more
# information on these flags, and
# https://docs.travis-ci.com/user/environment-variables/ for information about
# Travis environment variables in general.
#
# 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
################################################################################
sudo: required
cache:
- apt
# Build all valid Ubuntu/ROS combinations available on Travis VMs.
language: generic
matrix:
include:
- name: "focal noetic"
dist: focal
env: ROS_DISTRO=noetic
# 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_CI_DESKTOP="`lsb_release -cs`" # e.g. [trusty|xenial|...]
- CI_SOURCE_PATH=$(pwd)
- ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
- ROS_PARALLEL_JOBS='-j8 -l6'
# Set the python path manually to include /usr/-/python2.7/dist-packages
# as this is where apt-get installs python packages.
- PYTHONPATH=$PYTHONPATH:/usr/lib/python3/dist-packages:/usr/local/lib/python3/dist-packages
################################################################################
# Install system dependencies, namely a very barebones ROS setup.
before_install:
- sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
- sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
- sudo apt-get update -qq && sudo apt upgrade
- sudo apt-get install dpkg
- sudo apt-get install -y gcc python3-catkin-pkg python3-rosdep python3-wstool ros-$ROS_DISTRO-desktop-full ros-$ROS_DISTRO-combined-robot-hw
- source /opt/ros/$ROS_DISTRO/setup.bash
- sudo apt install ros-$ROS_DISTRO-libfranka
- sudo apt install python3-catkin-tools python3-osrf-pycommon
- sudo apt install ros-${ROS_DISTRO}-effort-controllers
# Prepare rosdep to install dependencies.
- sudo rosdep init
- rosdep update --include-eol-distros # Support EOL distros.
# 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 build
- 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 first and rosdep second.
# 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 src/orocos_kinematics_dynamics && git checkout b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc
- cd ~/catkin_ws/src/orocos_kinematics_dynamics/ && rm -rf * && git checkout b35c424e && git reset --hard
# - cd ~/catkin_ws
# - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
# Compile and test (mark the build as failed if any step fails). If the
# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
# to blacklist certain packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. Running `catkin_test_results` aggregates all the results and returns
# non-zero when a test fails (which notifies Travis the build failed).
script:
- source /opt/ros/$ROS_DISTRO/setup.bash
- cd ~/catkin_ws
- catkin build franka_msgs
- source devel/setup.bash
- catkin build franka_ros
- source devel/setup.bash
# Run the tests, ensuring the path is set correctly.
- source devel/setup.bash
- catkin build panda_simulator # --catkin-make-args run_tests && catkin_test_results