From 152631c7cafe85054f0777407956724cd7f7dbfa Mon Sep 17 00:00:00 2001
From: Jordan Palacios <jordan.palacios@pal-robotics.com>
Date: Tue, 31 Mar 2020 12:04:08 +0200
Subject: [PATCH] Setup for ROS2 CI

---
 .github/workflows/lint.yml | 41 ++++++++++++++++++++++++++++++++++++++
 .github/workflows/test.yml | 34 +++++++++++++++++++++++++++++++
 .travis.yml                | 31 ++++++++--------------------
 codecov.yml                |  2 ++
 4 files changed, 85 insertions(+), 23 deletions(-)
 create mode 100644 .github/workflows/lint.yml
 create mode 100644 .github/workflows/test.yml
 create mode 100644 codecov.yml

diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
new file mode 100644
index 00000000..1b2278e4
--- /dev/null
+++ b/.github/workflows/lint.yml
@@ -0,0 +1,41 @@
+name: Lint control_toolbox
+on:
+  pull_request:
+
+jobs:
+  ament_copyright:
+    name: ament_copyright
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@0.0.13
+    - uses: ros-tooling/action-ros-lint@0.0.5
+      with:
+        linter: copyright
+        package-name: control_toolbox
+
+  ament_xmllint:
+    name: ament_xmllint
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@0.0.13
+    - uses: ros-tooling/action-ros-lint@0.0.5
+      with:
+        linter: xmllint
+        package-name: control_toolbox
+
+  ament_lint_cpp:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, cpplint, uncrustify]
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@0.0.13
+    - uses: ros-tooling/action-ros-lint@0.0.5
+      with:
+        linter: ${{ matrix.linter }}
+        package-name: control_toolbox
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 00000000..a5153da2
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,34 @@
+name: Test control_toolbox
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '17 8 * * *'
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/setup-ros@0.0.13
+      - uses: ros-tooling/action-ros-ci@0.0.13
+        with:
+          package-name: control_toolbox
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          yml: ./codecov.yml
+          fail_ci_if_error: true
+      - uses: actions/upload-artifact@master
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
diff --git a/.travis.yml b/.travis.yml
index f831e22c..2145ef27 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,25 +1,10 @@
-# Travis Continuous Integration Configuration File For ROS Control Projects
-sudo: required
-dist: trusty
-language: generic
+services:
+  - docker
 
-notifications:
-  email:
-    recipients:
-      - enrique.fernandez.perdomo@gmail.com
-      - bence.magyar.robotics@gmail.com
-      - gennaro.raiola@gmail.com
-    on_success: change #[always|never|change] # default: change
-    on_failure: change #[always|never|change] # default: always
-
-env:
-  global:
-    - ROS_PARALLEL_TEST_JOBS=-j1
-  matrix:
-    - ROS_DISTRO=melodic  ROS_REPO=ros              UPSTREAM_WORKSPACE=https://raw.github.com/ros-controls/ros_control/$ROS_DISTRO-devel/ros_control.rosinstall
-    - ROS_DISTRO=melodic  ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=https://raw.github.com/ros-controls/ros_control/$ROS_DISTRO-devel/ros_control.rosinstall
-  
 install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script:
-- .ci_config/travis.sh
+  - git clone --quiet --depth 1 https://github.com/mikaelarguedas/ros2ci.git .ros2ci
+
+matrix:
+  include:
+    - env: JOB_TYPE=nightly
+      script: .ros2ci/travis.bash $JOB_TYPE
diff --git a/codecov.yml b/codecov.yml
new file mode 100644
index 00000000..2a02240d
--- /dev/null
+++ b/codecov.yml
@@ -0,0 +1,2 @@
+fixes:
+  - "ros_ws/src/control_toolbox/::"