-
Notifications
You must be signed in to change notification settings - Fork 6
/
Copy path.travis.yml
133 lines (124 loc) · 4.98 KB
/
.travis.yml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
# Generic .travis.yml file for running continuous integration on Travis-CI with
# any ROS package.
#
# 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:
# - packages (ros and otherwise) available through apt-get. These are installed
# using rosdep, based on the information in the ROS package.xml.
# - 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 two variables you may want to change:
# - ROS_DISTRO (default is indigo). Note that packages must be available for
# ubuntu 14.04 trusty.
# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
# root). This should list all necessary repositories in wstool format (see
# the ros wiki). If the file does not exists then nothing happens.
#
# See the README.md for more information.
#
# 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
################################################################################
# Use ubuntu trusty (14.04) with sudo privileges.
dist: trusty
sudo: required
language:
- generic
- cpp
- python
cache:
- apt
python:
- "2.7"
compiler:
- gcc
notifications:
email:
on_success: never
on_failue: never
# 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_DISTRO=indigo
- ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...]
- CI_SOURCE_PATH=$(pwd)
- ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
- CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
- ROS_PARALLEL_JOBS='-j8 -l6'
################################################################################
before_install:
# Install system dependencies, namely a very barebones ROS setup.
- sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
- wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
- sudo apt-get update -qq
- sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
- source /opt/ros/$ROS_DISTRO/setup.bash
# Install PCL
- yes | sudo apt-add-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl; sudo apt-get update -qq; sudo apt-get install -y libpcl-all;
# Install OpenCV
- sudo apt-get install -y libopencv-dev python-opencv
# Prepare rosdep to install dependencies.
- sudo rosdep init
- rosdep update
# libfreenect2
- yes | sudo apt-add-repository ppa:floe/libusb && sudo apt-get update -qq && sudo apt-get install -y libusb-1.0-0-dev
- sudo apt-get install -y libturbojpeg libjpeg-turbo8-dev
- sudo dpkg -i debs/libglfw3*deb; sudo apt-get install -f; sudo apt-get install -y libgl1-mesa-dri-lts-vivid
- yes | sudo apt-add-repository ppa:pmjdebruijn/beignet-testing; sudo apt-get update -qq; sudo apt-get install -y beignet-dev;
- git clone https://github.com/OpenKinect/libfreenect2.git
- cd libfreenect2
- mkdir build && cd build
- cmake ..
- make
- sudo make install
- sudo ldconfig
- cd ~
# 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_make
- 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 and rosdep.
# 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 ~/catkin_ws
- rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to
# catkin_make.
script:
# for ROS
- cd ~/catkin_ws
- catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
# Testing: Use both run_tests (to see the output) and test (to error out).
- catkin_make run_tests # This always returns 0, but looks pretty.
- catkin_make test # This will return non-zero if a test fails.