Merge pull request #118 from traversaro/addGazeboTravis

Add compilation of ROBOTOLOGY_USES_GAZEBO in Travis

.ci/install_debian.sh

@@ -21,6 +21,5 @@ apt-get install -y python-dev
 # Octave
 apt-get install -y liboctave-dev
 
-
-
-
+# Gazebo (use distro packages to support both Ubuntu and Debian)
+apt-get install -y libgazebo*-dev

.ci/script.sh

@@ -3,5 +3,5 @@ set -e
 
 cd $TRAVIS_BUILD_DIR
 mkdir build && cd build
-cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_IHMC:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DNON_INTERACTIVE_BUILD:BOOL=TRUE ..
+cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_IHMC:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DNON_INTERACTIVE_BUILD:BOOL=TRUE ..
 cmake --build . --config $TRAVIS_BUILD_TYPE

.travis.yml

@@ -57,12 +57,22 @@ stage_osx:
     - brew update
     - brew install ccache
     - export PATH="/usr/local/opt/ccache/libexec:$PATH"
-    # Install dependencies
+    # Install dependencies available from Homebrew/core
     - brew install ace asio eigen boost tinyxml swig qt5 gsl pkg-config jpeg sqlite tinyxml
     - export Qt5_DIR=/usr/local/opt/qt5/lib/cmake/Qt5
+    # Workaround for https://github.com/travis-ci/travis-ci/issues/8826
+    - brew cask uninstall oclint
+    # Install Gazebo
+    - brew tap osrf/simulation
+    - brew install gazebo9
+    # Install beautifier for Xcode output 
+    - gem install xcpretty-travis-formatter
   script: &osx_script
     - cd $TRAVIS_BUILD_DIR/.ci
-    - sh ./script.sh
+    - sh -c 'sh ./script.sh'
+  script: &osx_script_xcode
+    - cd $TRAVIS_BUILD_DIR/.ci
+    - sh -c 'sh ./script.sh | xcpretty -f `xcpretty-travis-formatter`'
 
 # ======================
 # BUILD JOBS FROM STAGES
@@ -80,18 +90,20 @@ jobs:
       before_install: skip
       install: *osx_install
       before_script: skip
-      script: *osx_script
+      script: *osx_script_xcode
       after_failure: skip
       after_success: skip
       after_script: skip
       env:
         TRAVIS_CMAKE_GENERATOR="Xcode"
         TRAVIS_BUILD_TYPE="Debug"
-    - <<: *osx_template
-      compiler: clang
-      env:
-        TRAVIS_CMAKE_GENERATOR="Unix Makefiles"
-        TRAVIS_BUILD_TYPE="Debug"
+# Disabled for now
+#    - <<: *osx_template
+#      script: *osx_script
+#      compiler: clang
+#      env:
+#        TRAVIS_CMAKE_GENERATOR="Unix Makefiles"
+#        TRAVIS_BUILD_TYPE="Debug"
 
 
 notifications:

README.md

@@ -465,7 +465,6 @@ on Linux and macOS.**
 Install Gazebo following the instructions available at http://gazebosim.org/tutorials?cat=install .
 Make sure to install also the development files, i.e. `libgazebo*-dev` on Debian/Ubuntu.
 
-**Note for macOS uses: at the moment the gazebo9 formula is available on homebrew, but it is not working. Please use the gazebo8 formula until this issue: https://github.com/robotology/robotology-superbuild/issues/52 is fixed, thanks.**
 
 ### Configuration
 Once the superbuild with `ROBOTOLOGY_USES_GAZEBO` enabled has been compiled, it is necessary to append a few superbuild-specific path to the Gazebo enviromental variables:

cmake/BuildICUB.cmake

@@ -16,6 +16,13 @@ if(ROBOTOLOGY_ENABLE_ICUB_ROBOT_ETH OR ROBOTOLOGY_ENABLE_ICUB_ROBOT_CAN)
   list(APPEND ICUB_DEPENDS icub-firmware-shared)
 endif()
 
+# See discussion in https://github.com/robotology/icub-main/issues/551
+if (APPLE)
+  set(ICUBMAIN_COMPILE_SIMULATORS OFF)
+else()
+  set(ICUBMAIN_COMPILE_SIMULATORS ON)
+endif()
+
 ycm_ep_helper(ICUB TYPE GIT
                    STYLE GITHUB
                    REPOSITORY robotology/icub-main.git
@@ -46,4 +53,5 @@ ycm_ep_helper(ICUB TYPE GIT
                                     -DENABLE_icubmod_embObjSkin:BOOL=${ROBOTOLOGY_ENABLE_ICUB_ROBOT_ETH}
                                     -DENABLE_icubmod_embObjStrain:BOOL=${ROBOTOLOGY_ENABLE_ICUB_ROBOT_ETH}
                                     -DENABLE_icubmod_embObjVirtualAnalogSensor:BOOL=${ROBOTOLOGY_ENABLE_ICUB_ROBOT_ETH}
-                                    -DENABLE_icubmod_parametricCalibratorEth:BOOL=${ROBOTOLOGY_ENABLE_ICUB_ROBOT_ETH})
+                                    -DENABLE_icubmod_parametricCalibratorEth:BOOL=${ROBOTOLOGY_ENABLE_ICUB_ROBOT_ETH}
+                                    -DICUBMAIN_COMPILE_SIMULATORS:BOOL=${ICUBMAIN_COMPILE_SIMULATORS})