.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.
#

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

# General setup
sudo: required
cache:
  - apt
language: python
matrix:
  include:
  - name: "Bionic melodic"
    dist: bionic
    env: ROS_DISTRO=melodic

# Environmental variables. All variables are global now.
env:
  global:
    - ROS_CI_DESKTOP="`lsb_release -cs`"
    - CI_SOURCE_PATH=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
    - ROS_PARALLEL_JOBS='-j8 -l6'
    - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages

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

# Install system dependencies, namely a very barebones ROS setup.
before_install:
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  - sudo apt-get update -qq
  - sudo apt-get update
  - sudo apt-get install python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
  - sudo apt-get install -y python-rosinstall python-rosinstall-generator build-essential
  - sudo apt-get install python-pip python-dev
  - sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-tf2-geometry-msgs
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
  - source ~/.bashrc
  # 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
  - cd ~/catkin_ws
  - catkin_make
  - source devel/setup.bash
  - cd ~/catkin_ws/src
  - ln -s $CI_SOURCE_PATH .

# Install package dependencies.
before_script:
  - cd ~/catkin_ws
  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

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

# Compile.
script:
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - cd ~/catkin_ws
  - catkin_make