.travis.yml

dist: xenial
cache: apt
language: generic
os: linux

# Configuration variables. All variables are global
env:
  global:
    - ROS_DISTRO=kinetic
    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
    - CI_SOURCE_PATH=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
    - ROS_PARALLEL_JOBS='-j8 -l6'

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

# Install system dependencies, namely a very barebones ROS setup.
before_install:
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
  - sudo apt-get update -qq
  - sudo apt-get install dpkg lcov
  # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 
  - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-ros-base
  # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io
  - gem install coveralls-lcov 
  # Install package dependencies
  - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-image-transport
  # Source ros kinetic setup file
  - source /opt/ros/$ROS_DISTRO/setup.bash
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update


# Create a catkin workspace with the package under integration.
install:
  # Create a catkin workspace
  - 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 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
  # 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
  - catkin_make
  # Run the tests, ensuring the path is set correctly.
  - source devel/setup.bash
  - catkin_make run_tests && catkin_test_results

notifications:
  email: false