.travis.yml

# 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.
#
# NOTE on private repositories: These are not handled, this remains an open
# issue.
#
# Author: Felix Duvallet <felixd@gmail.com>

# 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
cache:
  - apt

# By default travis runs all python code in a virtualenv that does not contain
# the packages installed with apt-get. As this is essential (pip doesn't contain
# all the necessary ROS python packages), tell travis-ci to use the system-wide
# python packages.
virtualenv:
    system_site_packages: true

################################################################################

# Install system dependencies, namely ROS.
before_install:
  # Define some config vars.
  - export ROS_DISTRO=indigo
  - export ROS_CI_DESKTOP=`lsb_release -cs`  # e.g. [precise|trusty]
  - export CI_SOURCE_PATH=$(pwd)
  - export ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
  - export CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
  - export ROS_PARALLEL_JOBS='-j8 -l6'
  # Install ROS
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  - sudo apt-get update -qq
  # Install ROS
  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-ros ros-$ROS_DISTRO-rospy ros-$ROS_DISTRO-rostest
  - source /opt/ros/$ROS_DISTRO/setup.bash
  # Setup for rosdep
  - sudo rosdep init
  - rosdep update

# Create a catkin workspace with the package under test.
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 test to the workspace.
  - cd ~/catkin_ws/src
  - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace


# Install all dependencies, using wstool and rosdep.
# wstool looks for a ROSINSTALL_FILE defined in before_install.
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

# dependencies not yet in rosdep 
  - sudo apt-get install ros-indigo-ridgeback-*
  - sudo apt-get install ros-indigo-universal-robot
  
# package depdencies: install using rosdep.
  - cd ~/catkin_ws
  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO



# Compile and test.
script:
  - cd ~/catkin_ws
  # If the CATKIN_OPTIONS file exists, use it as an argument to catkin_make
  - 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.