.travis.yml

# Generic .travis.yml file for running continuous integration on Travis-CI for
# any ROS package.
#
# Available here:
#   - https://github.com/felixduvallet/ros-travis-integration
#
# 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 specified in the package manifest:
#   - system dependencies that can be installed using `rosdep`, including other
#     ROS packages and system libraries. These dependencies must be known to
#     `rosdistro` and are installed using apt-get.
#   - package 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 envioronment variables you may want to change, such as ROS_DISTRO,
# ROSINSTALL_FILE, and the CATKIN_OPTIONS file.  See the README.md for more
# information on these flags, and
# https://docs.travis-ci.com/user/environment-variables/ for information about
# Travis environment variables in general.
#
# 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

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

sudo: required
cache:
  - apt

# Build all valid Ubuntu/ROS combinations available on Travis VMs.
language: generic
matrix:
  include:
  - name: "focal noetic"
    dist: focal
    env: ROS_DISTRO=noetic
  - name: "Bionic melodic"
    dist: bionic
    env: ROS_DISTRO=melodic

# 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_CI_DESKTOP="`lsb_release -cs`"  # e.g. [trusty|xenial|...]
    - CI_SOURCE_PATH=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
    - ROS_PARALLEL_JOBS='-j8 -l6'
    # Set the python path manually to include /usr/-/python2.7/dist-packages
    # as this is where apt-get installs python packages.

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

# Install system dependencies, namely a very barebones ROS setup.
before_install:
  - if [[ $ROS_DISTRO == "noetic" ]]; then export PYMODULE=python3; else export PYMODULE=python; fi;
  - export PYTHONPATH=$PYTHONPATH:/usr/lib/${PYMODULE}/dist-packages:/usr/local/lib/${PYMODULE}/dist-packages
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  - sudo apt-get update -qq
  - sudo apt-get install dpkg
  - sudo apt-get install -y ${PYMODULE}-catkin-pkg ${PYMODULE}-rosdep ${PYMODULE}-wstool ros-$ROS_DISTRO-desktop-full ros-$ROS_DISTRO-combined-robot-hw
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - sudo apt install -y ros-$ROS_DISTRO-libfranka
  - if [[ $ROS_DISTRO == "melodic" ]]; then sudo apt install -y ros-$ROS_DISTRO-franka-ros; fi;
  - sudo apt install -y ${PYMODULE}-catkin-tools ${PYMODULE}-osrf-pycommon
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update --include-eol-distros  # Support EOL distros.

# 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 build
  - 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 first and rosdep second.
# 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
  - if [[ $ROS_DISTRO == "noetic" ]]; then git clone -b ${ROS_DISTRO}-devel https://github.com/frankaemika/franka_ros; git clone -b melodic-devel https://github.com/ros-planning/panda_moveit_config; fi;
  # package depdencies: install using rosdep.
  - cd ~/catkin_ws
  # - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# 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).
script:
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - cd ~/catkin_ws
  # seems to need separate builds for succeeding when using franka_ros from source
  - if [[ $ROS_DISTRO == "noetic" ]]; then catkin build franka_msgs; source devel/setup.bash; catkin build franka_ros; fi;
  
  - source devel/setup.bash
  # Run the tests, ensuring the path is set correctly.
  - catkin build franka_ros_interface #--catkin-make-args run_tests && catkin_test_results