Merge pull request #1116 from k-okada/fix_travis2

update jsk_travis 0.5.22

.travis.yml

@@ -2,12 +2,18 @@
 #   Generic MoveIt Travis Continuous Integration Configuration File
 #   Works with all MoveIt! repositories/branches
 #   Author: Dave Coleman, Jonathan Bohren
-sudo: required
-dist: trusty
+sudo: true
+dist: bionic
 language: c++
+services:
+  - docker
 cache:
-  - ccache
-  - apt
+  apt: true
+  pip: true
+  directories:
+    - $HOME/.ccache
+    - $HOME/.cache/pip
+    - $HOME/apt-cacher-ng
 env:
   global:
     - ROSWS=wstool
@@ -20,16 +26,14 @@ env:
   matrix:
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
     - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true
     - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
     - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
     - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint" DOCKER_IMAGE=ubuntu:trusty
+    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint" DOCKER_IMAGE=ubuntu:trusty
     - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
     - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true
     - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
@@ -42,7 +46,6 @@ matrix:
   fast_finish: true
   allow_failures:
   # hydro + euslisp test
-  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
   - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
   - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
   # Running euslisp test on travis often takes more than 50 min
@@ -56,6 +59,7 @@ notifications:
     on_failure: always #[always|never|change] # default: always
 before_script:
   - set -x
+  - if [ "${USE_TRAVIS}" == "true" ]; then export USE_DOCKER=true; fi
   # Install libopencv-dev manually to compile hrpsys-simulator in hrpsys-base on kinetic
   # Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
   #          https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611476618
@@ -76,7 +80,7 @@ before_script:
 script:
   - if [ "${IS_EUSLISP_TRAVIS_TEST}" != "true" ] ; then export ROS_PARALLEL_JOBS="-j2 -l2" ; fi
   - if [ "${ROS_DISTRO}" == "hydro" ] ; then sudo apt-get install -y --force-yes gdebi && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-tools_0.3.1-1_all.deb && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-tools_0.3.1-1_all.deb && sudo apt-mark hold python-catkin-tools; fi
-  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; else source ./.travis_test.sh ; fi
+  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; else docker pull $DOCKER_IMAGE || true; export CI_SOURCE_PATH=$(pwd); docker run -v $HOME:$HOME -v $HOME/.ccache:$HOME/.ccache/ -v $HOME/.cache/pip:$HOME/.cache/pip/ $DOCKER_XSERVER_OPTIONS -e TRAVIS_BRANCH -e TRAVIS_COMMIT -e TRAVIS_JOB_ID -e TRAVIS_OS_NAME -e TRAVIS_PULL_REQUEST -e TRAVIS_REPO_SLUG -e GITHUB_RUN_ID -e CI_SOURCE_PATH -e HOME -e REPOSITORY_NAME -e BUILD_PKGS -e TARGET_PKGS -e TEST_PKGS -e BEFORE_SCRIPT -e BUILDER -e EXTRA_DEB -e USE_DEB -e ROS_DISTRO -e ROS_LOG_DIR -e ROS_REPOSITORY_PATH -e ROSWS -e CATKIN_TOOLS_BUILD_OPTIONS -e CATKIN_TOOLS_CONFIG_OPTIONS -e CATKIN_PARALLEL_JOBS -e CATKIN_PARALLEL_TEST_JOBS -e ROS_PARALLEL_JOBS -e ROS_PARALLEL_TEST_JOBS -e ROS_PYTHON_VERSION -e ROSDEP_ADDITIONAL_OPTIONS -e ROSDEP_UPDATE_QUIET -e SUDO_PIP -e USE_PYTHON_VIRTUALENV -e NOT_TEST_INSTALL -e DEBUG_TRAVIS_PYTHON -e TEST_PACKAGE -e TEST_TYPE -t $DOCKER_IMAGE bash -c 'cd $CI_SOURCE_PATH; source ./.travis_test.sh' ; fi
   - ccache -s
 after_success:
   - if [ "${TRAVIS_SECURE_ENV_VARS}" == "true" ]; then cd ${TRAVIS_BUILD_DIR}; openssl aes-256-cbc -K $encrypted_b79fc5843df3_key -iv $encrypted_b79fc5843df3_iv -in .secrets.tar.enc -out .secrets.tar -d; tar -C ~/ -xvf .secrets.tar; fi

.travis_test.sh

@@ -9,12 +9,21 @@ function error {
     exit 1
 }
 
+function apt-get-install {
+    sudo -E apt-get -y -qq install $@ | pv -i 60 | grep -v -e '\(Preparing to unpack\|Unpacking\|Selecting previously unselected package\)'
+    [[ ${PIPESTATUS[0]} == 0 ]] || error
+}
 trap error ERR
 
+# install fundamental packages
+sudo -E apt-get -y -qq update
+sudo -E apt-get -y -qq install pv
+apt-get-install apt-utils build-essential curl git lsb-release wget
+
 # MongoDB hack
 dpkg -s mongodb || echo "ok"; export HAVE_MONGO_DB=$?
 if [ $HAVE_MONGO_DB == 0 ]; then sudo apt-get remove --purge -qq -y mongodb mongodb-10gen || echo "ok"; fi
-if [ $HAVE_MONGO_DB == 0 ]; then sudo apt-get install -qq -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" || echo "ok"; fi # default actions
+if [ $HAVE_MONGO_DB == 0 ]; then apt-get-install mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" || echo "ok"; fi # default actions
 
 ### before_install: # Use this to prepare the system to install prerequisites or dependencies
 # Define some config vars
@@ -26,14 +35,14 @@ sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_relea
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update -qq
 sudo apt-get install -y --force-yes -q -qq dpkg # https://github.com/travis-ci/travis-ci/issues/9361#issuecomment-408431262 dpkg-deb: error: archive has premature member 'control.tar.xz' before 'control.tar.gz' #9361
-sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-rosbash
+apt-get-install python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-rosbash
 
-if [ "$EXTRA_DEB" ]; then sudo apt-get install -qq -y $EXTRA_DEB;  fi
+if [ "$EXTRA_DEB" ]; then apt-get-install $EXTRA_DEB;  fi
 ###
 pkg=$TEST_PACKAGE
-sudo apt-get install -y ros-$ROS_DISTRO-$pkg
+apt-get-install ros-$ROS_DISTRO-$pkg
 
-sudo apt-get install -y -qq ros-$ROS_DISTRO-rqt-robot-dashboard
+apt-get-install ros-$ROS_DISTRO-rqt-robot-dashboard
 
 #
 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -54,8 +63,8 @@ if [ "$TEST_TYPE" == "work_with_downstream" ]; then
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-rtmbuild
     # https://github.com/start-jsk/rtmros_hironx/issues/287
     sudo sed -i s@test_tf_and_controller@_test_tf_and_controller@ /opt/ros/$ROS_DISTRO/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py
-    catkin_make $ROS_PARALLEL_JOBS
-    catkin_make install $ROS_PARALLEL_JOBS
+    catkin_make $ROS_PARALLEL_JOBS | grep -v '^-- \(Up-to-date\|Installing\):' | grep -v 'Generating \(Python\|C++\) code from' | grep -v '^Compiling .*.py ...$' | uniq
+    catkin_make install $ROS_PARALLEL_JOBS | grep -v '^-- \(Up-to-date\|Installing\):' | grep -v 'Generating \(Python\|C++\) code from' | grep -v '^Compiling .*.py ...$' | uniq
 else
     echo "
             #
@@ -80,8 +89,8 @@ else
             sed -i "s@install(@dummy_install(@g" src/rtmros_common/${_pkg}/catkin.cmake
         fi
     done
-    catkin_make $ROS_PARALLEL_JOBS --only-pkg-with-deps `echo $pkg | sed s/-/_/g`
-    catkin_make install $ROS_PARALLEL_JOBS
+    catkin_make $ROS_PARALLEL_JOBS --only-pkg-with-deps `echo $pkg | sed s/-/_/g` | grep -v '^-- \(Up-to-date\|Installing\):' | grep -v 'Generating \(Python\|C++\) code from' | grep -v '^Compiling .*.py ...$' | uniq
+    catkin_make install $ROS_PARALLEL_JOBS | grep -v '^-- \(Up-to-date\|Installing\):' | grep -v 'Generating \(Python\|C++\) code from' | grep -v '^Compiling .*.py ...$' | uniq
     # make sure to kill test
     for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do
 	rm -fr install/lib/${_pkg}
@@ -102,11 +111,11 @@ else
     find $pkg_path/test -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?;
 fi
 
-if [ -e build ]; then find build -name LastTest.log -exec echo "==== {} ====" \; -exec cat {} \;  ; fi
-if [ -e ${HOME}/.ros/test_results ]; then find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
+#if [ -e build ]; then find build -name LastTest.log -exec echo "==== {} ====" \; -exec cat {} \;  ; fi
 if [ $EXIT_STATUS == 0 ] ; then
     return 0
 else
+    if [ -e ${HOME}/.ros/test_results ]; then find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
     exit 1
 fi
 

hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-sequence-player.l

@@ -49,6 +49,10 @@
                             limbs)
                     (let ((av1 (send *sr* :angle-vector))
                           (ctype (read-from-string (format nil "~A-controller" limb))))
+                      ;; fix for https://github.com/fkanehiro/hrpsys-base/pull/1297
+                      ;; need to send reset-pose to default sequence controller
+                      (send *ri* :angle-vector av0 500)
+                      (send *ri* :wait-interpolation)
                       ;; Send pose just for specific limb controller
                       (send *ri* :angle-vector (send *sr* :angle-vector) 200 ctype)
                       (send *ri* :wait-interpolation ctype)

openrtm_tools/scripts/rtmlaunch

@@ -22,7 +22,7 @@ Here 3 things are happening:
   3. Specify rtconnect tag with connecting components info.
 '''
 
-from openrtm_tools import rtmstart, rtmlaunch
+from openrtm_tools import rtmstart, rtmlaunchlib
 from rosgraph import names
 import roslaunch, sys
 

openrtm_tools/scripts/rtmlaunch.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-from openrtm_tools import rtmlaunch
+from openrtm_tools import rtmlaunchlib
 
 import signal, sys
 def signal_handler(signum, frame):
@@ -10,7 +10,7 @@ def signal_handler(signum, frame):
 
 if __name__ == '__main__':
     signal.signal(signal.SIGINT, signal_handler)
-    rtmlaunch.main()
+    rtmlaunchlib.main()