Add coveralls testing coverage badge

[davetcoleman]

The FCL project has this cool badge that indicates what percent of the project has unit tests:

You can also set a minimum required coverage percent so that new pull requests require unit tests be written for significant pieces of new code. Turning on this feature is a future topic

We would like to add coveralls support in MoveIt! - it does not look too complicated. The discussion and an example on how to do this can be found here

[130s]

@scottpaulin I unassigned myself following your comment #23 (comment). If you can give it a try that will be great.

[scottpaulin]

Sorry @130s , I should have assigned it. I have also been taking forever to get it done...

Does anyone know if catkin does something special to allow ros:: package::getPath() to work?
std::string resource_dir = ros::package::getPath("moveit_resources");

Coveralls automagically generates a make target, which creates a test executable with the package's unit tests. When I run this test executable none of the resources can be found, resulting in these errors.. Is it possible that the coveralls make target needs to be somehow catkinized, or there needs to be an environment variable set?

Edit: Have tried clicking everything but possibly need to be admin to assign an issue.

[rhaschke]

Does anyone know if catkin does something special to allow ros:: package::getPath() to work?
std::string resource_dir = ros::package::getPath("moveit_resources");

The Travis script sources the devel/install space to pull in those.

However, I have prepared a fix, which will work without sourcing any workspace. This will go on top of moveit/moveit_resources#7 and #83.

[scottpaulin]

update: currently dependant on fixing failing assertions in unit tests (when debug build is used).

[v4hn]

@scottpaulin what is the state here? Did you upload your progress somewhere? Is there anything to upload yet?

Does it make sense to label this for this wmd for someone to pick?

[scottpaulin]

I couldn't quite get it going sorry. It requires the CI to do a Debug build, which resulted in Travis timeouts at the time. Would be awesome if someone could pick it up.

[davetcoleman]

@rhaschke recently setup ccaching for Travis, and I contacted Travis a while back about expanding our build time. @scottpaulin do you think we could try this again? could you share the branch you began working on this? @bailaC might be interested in picking this up where you left off

[scottpaulin]

Nice!

It is under the coveralls branch. From memory some flags need to be set in cmakelists files, a debug build needs to be performed (possibly with gcov enabled), and then the results need to be uploaded to coveralls. There is a tool that may be of use for uploading the results.

Adding the badge afterward is fairly simple.

[davetcoleman]

Thanks for these notes!

[agutenkunst]

Open PR

We quickly were able to demonstrate that coverage generation using
https://github.com/mikeferguson/code_coverage works.

We currently use it in https://github.com/PilzDE/pilz_industrial_motion/tree/kinetic-devel/pilz_trajectory_generation

See PR
#1133

Generated Overview

Here the complete report:
moveit_core_coverage.zip