[Release] 1.10.0 (autowarefoundation#1898)

LukeAI · Jan 23, 2019 · 9fae6cc · 9fae6cc
2 parents b3e0aec + 5c46036
commit 9fae6cc
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diff --git a/.gitignore b/.gitignore
@@ -46,3 +46,4 @@ ENV/
 *.bag
 *.csv
 
+/.metadata/
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -0,0 +1,136 @@
+stages:
+  - build
+  - deploy
+
+variables:
+  ROS_CI_DESKTOP: "`lsb_release -cs`"
+  CI_SOURCE_PATH: $CI_PROJECT_DIR
+  ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
+  CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
+  GIT_SUBMODULE_STRATEGY: recursive
+  #CI_DEBUG_TRACE: "true"
+
+.build: &build_common
+  before_script:
+    - apt-get update
+    - apt-get install -y lsb-release
+    - apt-get install -y gcc g++
+    - sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+    - apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+    - apt-get update
+    - apt-get install -y dpkg
+    - apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-${ROS_DISTRO}-catkin
+    - apt-get install -y python3-pip python3-setuptools
+    # Update setuptools from PyPI because the version Ubuntu ships with is too old
+    - pip3 install -U setuptools
+    - source /opt/ros/${ROS_DISTRO}/setup.bash
+    - rosdep init
+    - rosdep update
+    - cd ros/src
+    - wstool init
+    - test -f "${ROSINSTALL_FILE}" && wstool merge "${ROSINSTALL_FILE}"
+    - wstool up
+    - cd ..
+    - rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} 
+
+
+build_kinetic:
+  stage: build
+  image: ubuntu:xenial
+  variables:
+    ROS_DISTRO: kinetic
+  <<: *build_common
+  script:
+  # colcon as a Debian package is only available in Kinetic and up
+    - apt-get install -y python3-colcon-common-extensions
+  # Install lcov from source as binary installation errors when appending files
+    - git clone https://github.com/linux-test-project/lcov.git
+    - cd lcov
+    - git checkout v1.13
+    - make install 
+    - cd ..
+    - rm -r lcov
+  # We first build the entire workspace normally
+    - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
+  # And then build the tests target. catkin (ROS1) packages add their tests to the tests target
+  # which is not the standard target for CMake projects. We need to trigger the tests target so that
+  # tests are built and any fixtures are set up.
+    - colcon build --cmake-target tests --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
+    - lcov --initial --directory build --capture --output-file lcov.base
+    - colcon test
+    - colcon test-result
+    - lcov --directory build --capture --output-file lcov.test
+    - lcov -a lcov.base -a lcov.test -o lcov.total
+    - lcov -r lcov.total '*/tests/*' '*/test/*' '*/build/*' '*/devel/*' '/usr/*' '/opt/*' '*/CMakeCCompilerId.c' '*/CMakeCXXCompilerId.cpp' -o lcov.total.filtered
+    # BRANCH_NAME: gets branch name from CI_COMMIT_REF_NAME variable substituting / with _ (feature/test_this_lib becomes feature_test_this_lib)
+    # CI_COMMIT_REF_NAME: (from https://docs.gitlab.com/ee/ci/variables/) The branch or tag name for which project is built
+    - BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
+    - COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
+    - genhtml -p "$PWD" --legend --demangle-cpp lcov.total.filtered -o $COVERAGE_FOLDER_NAME
+    - tar -czvf coverage.tar.gz $COVERAGE_FOLDER_NAME
+    - mv coverage.tar.gz $CI_PROJECT_DIR/coverage.tar.gz
+    - ls $CI_PROJECT_DIR 
+  retry: 1
+  artifacts:
+    paths:
+      - $CI_PROJECT_DIR/coverage.tar.gz
+    expire_in: 48 hrs
+  coverage: /\s*lines.*:\s(\d+\.\d+\%\s\(\d+\sof\s\d+.*\))/
+
+build_cross:
+  stage: build
+  image: docker
+  services:
+    - docker:dind
+  variables:
+    ROS_DISTRO: kinetic
+    AUTOWARE_DOCKER_DATE: 20190102
+    AUTOWARE_HOME: $CI_PROJECT_DIR
+    AUTOWARE_TARGET_ARCH: aarch64
+    AUTOWARE_TARGET_PLATFORM: generic-aarch64
+    AUTOWARE_BUILD_PATH: $CI_PROJECT_DIR/ros/build-${AUTOWARE_TARGET_PLATFORM}
+    AUTOWARE_INSTALL_PATH: $CI_PROJECT_DIR/ros/install-${AUTOWARE_TARGET_PLATFORM}
+    AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/ros/cross_toolchain.cmake
+    AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_TARGET_PLATFORM}
+  script:
+    # - ${AUTOWARE_HOME}/docker/crossbuild/build_cross_image.sh
+    - 'docker run
+          -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT}
+          --rm
+          -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
+          -w ${AUTOWARE_HOME}/ros
+          autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE}
+          bash
+            -c "
+                source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash &&
+                colcon build
+                    --merge-install
+                    --build-base ${AUTOWARE_BUILD_PATH}
+                    --install-base ${AUTOWARE_INSTALL_PATH}
+                    --cmake-args
+                    -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
+                    -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
+                    -DCMAKE_PREFIX_PATH=\"${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}\"
+                    -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH}
+                  "
+                  '
+  retry: 1
+
+pages:
+  stage: deploy
+  image: alpine
+  dependencies:
+    - build_kinetic
+  script:
+    - BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
+    - COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
+    - tar -xzvf coverage.tar.gz
+    - mv $COVERAGE_FOLDER_NAME public
+  artifacts:
+    paths:
+      - public
+  only:
+    - master
+    - develop
+
+
diff --git a/.gitmodules b/.gitmodules
@@ -1,7 +1,10 @@
-[submodule "ros/src/msgs/platform_automation_msgs"]
-	path = ros/src/msgs/platform_automation_msgs
-	url = https://github.com/astuff/platform_automation_msgs.git
-	branch = 51ceed71c28773887648993ceec803ca498698ae
 [submodule "ros/src/sensing/drivers/lidar/packages/robosense"]
 	path = ros/src/sensing/drivers/lidar/packages/robosense
 	url = https://github.com/CPFL/robosense
+[submodule "ros/src/msgs/lgsvl_msgs"]
+	path = ros/src/msgs/lgsvl_msgs
+	url = https://github.com/lgsvl/lgsvl_msgs.git
+[submodule "ros/src/sensing/drivers/lidar/packages/ouster"]
+	path = ros/src/sensing/drivers/lidar/packages/ouster
+	url = https://github.com/CPFL/ouster
+	branch = autoware_branch
diff --git a/.travis.yml b/.travis.yml
@@ -1,119 +1,20 @@
-language:
-  - generic
+language: generic
+services:
+  - docker
 cache:
-  - apt
-matrix:
-  include:
-    - dist: xenial
-      compiler: gcc
-      os: linux
-      sudo: required
-      env: ROS_DISTRO=kinetic
-    - dist: xenial
-      os: linux
-      sudo: required
-      services:
-        - docker
-      env: ROS_DISTRO=kinetic CROSS_COMPILE=1
-    - dist: trusty
-      compiler: gcc
-      os: linux
-      sudo: required
-      env: ROS_DISTRO=indigo
-notifications:
-    slack: star4:911NA0lU8gDHitCKLto9LzPJ
+  directories:
+    - $HOME/.ccache
 env:
   global:
-    - ROS_CI_DESKTOP="`lsb_release -cs`"
-    - CI_SOURCE_PATH=$(pwd)
-    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
-    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
-    - PYTHONPATH=${PYTHONPATH}:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
-
-# Install system dependencies, and Autoware pre requisites (non-ros)
-before_install:
-  - if [ "${CROSS_COMPILE}" != "1" ]; then
-      sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
-      travis_retry sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
-      travis_retry sudo apt-get update;
-      travis_retry sudo apt-get install -y dpkg;
-      travis_retry sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-${ROS_DISTRO}-catkin;
-      source /opt/ros/${ROS_DISTRO}/setup.bash;
-      travis_retry sudo rosdep init;
-      travis_retry rosdep update;
-    fi
-
-# Install all ros dependencies, using wstool first and rosdep second.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-before_script:
-  - if [ "${CROSS_COMPILE}" != "1" ]; then
-      cd ros/src;
-      wstool init;
-      test -f "${ROSINSTALL_FILE}" && wstool merge "${ROSINSTALL_FILE}";
-      travis_retry wstool up;
-      cd ..;
-      travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO};
-    fi
+    - CCACHE_DIR=$HOME/.ccache
+  matrix:
+    - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
+    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
 
-# 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).
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
 script:
-  - if [ "${CROSS_COMPILE}" == "1" ]; then
-      AUTOWARE_HOME=${TRAVIS_BUILD_DIR};
-      AUTOWARE_TARGET_ARCH=aarch64;
-      AUTOWARE_TARGET_PLATFORM=generic-aarch64;
-      AUTOWARE_BUILD_PATH=${AUTOWARE_HOME}/ros/build-${AUTOWARE_TARGET_PLATFORM};
-      AUTOWARE_DEVEL_PATH=${AUTOWARE_HOME}/ros/devel-${AUTOWARE_TARGET_PLATFORM};
-      AUTOWARE_TOOLCHAIN_FILE_PATH=${AUTOWARE_HOME}/ros/cross_toolchain.cmake;
-      AUTOWARE_SYSROOT=/sysroot/${AUTOWARE_TARGET_PLATFORM};
-
-      travis_retry docker run
-        -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT}
-        --rm
-        -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
-        -w ${AUTOWARE_HOME}/ros
-        autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20180809
-        bash
-          -c "source /opt/ros/kinetic/setup.bash &&
-              catkin_make
-                -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
-                -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH}
-                -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
-                --build ${AUTOWARE_BUILD_PATH}
-                clean &&
-              source devel-${AUTOWARE_TARGET_PLATFORM}/setup.bash &&
-              catkin_make
-                -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
-                -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH}
-                -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
-                --build ${AUTOWARE_BUILD_PATH}
-                -j4";
-    else
-      catkin_make clean;
-      source devel/setup.bash;
-      catkin_make -j4;
-    fi
-
-#sudo: required
-#dist: trusty
-#language: generic
-#compiler:
-#  - gcc
-#notifications:
-#    slack: star4:911NA0lU8gDHitCKLto9LzPJ
-#env:
-#  matrix:
-#    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-##    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-#    - USE_DEB=true  ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-##    - USE_DEB=true  ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-#install:
-#  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-#script:
-#  - source .ci_config/travis.sh
+  - .industrial_ci/travis.sh
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,13 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~