.travis.yml

# Travis Continuous Integration Configuration File, based on ..
#   Generic MoveIt Travis Continuous Integration Configuration File
#   Works with all MoveIt! repositories/branches
#   Author: Dave Coleman, Jonathan Bohren
sudo: true
dist: bionic
language: python
services:
  - docker
cache:
  apt: true
  pip: true
  directories:
    - $HOME/.ccache
    - $HOME/.cache/pip
    - $HOME/apt-cacher-ng
env:
  global:
    - ROSWS=wstool
    - BUILDER=catkin
    - CATKIN_PARALLEL_JOBS='-p2'
    - CATKIN_PARALLEL_TEST_JOBS='-p1'
    - ROS_PARALLEL_TEST_JOBS='-j1'
    - ADDITIONAL_ENV_TO_DOCKER='IS_EUSLISP_TRAVIS_TEST'
    - secure: "QxLoOR83QHxGdMJ3BJ0TwRJdezWZaiWfoe4O88XMSG8LFMZLRbqNmOsrLn9b/VgMQpz44CP7tXXQvNz0FDRSTpgSdyNT+p1UA7iEhFYI4G3OEsYf0r6/4rjvtM7FCoIsBiPYBwofVAUP+U9d8Scjn+2+xjjKwOpEbaE/yc+zwrc="
  matrix:
    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true
    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true
    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
    - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint" DOCKER_IMAGE=ubuntu:trusty
    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint" DOCKER_IMAGE=ubuntu:trusty
    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true
    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="libopenni2-dev libpcl-dev" NOT_TEST_INSTALL=true  # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=true
    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
matrix:
  fast_finish: true
  allow_failures:
  # hydro + euslisp test
  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
  # Running euslisp test on travis often takes more than 50 min
  - env: USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
notifications:
  email:
    recipients:
      - k-okada@jsk.t.u-tokyo.ac.jp
      - iisaito@opensource-robotics.tokyo.jp
    on_success: always #[always|never|change] # default: change
    on_failure: always #[always|never|change] # default: always
before_script:
  - set -x
  - if [ "${USE_TRAVIS}" == "true" ]; then export USE_DOCKER=true; fi
  # Install libopencv-dev manually to compile hrpsys-simulator in hrpsys-base on kinetic
  # Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
  #          https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611476618
  # Waiting for .travis.rosinstall.kinetic to use hrpsys-release
  - if [ "${ROS_DISTRO}" == "kinetic" ] && [ "${USE_DEB}" != "true" ] ; then if [ "${EXTRA_DEB}" == "" ] ; then export EXTRA_DEB="libopencv-dev"; else export EXTRA_DEB="${EXTRA_DEB} libopencv-dev"; fi; fi
  # Forcely upgrade PCRE to avoid failure in building hrpsys with hydro.
  # This has a side effect, and we need extra settings.
  # Issue detail: https://github.com/start-jsk/rtmros_common/issues/1076
  # .deb can be got from https://pkgs.org (e.g., https://pkgs.org/download/libpcre3)
  # libpcre3-dev requires the same version of libpcrecpp0
  - if [ "${ROS_DISTRO}" == "hydro" ] && [ "${USE_DEB}" != "true" ] ; then add_scr="wget archive.ubuntu.com/ubuntu/pool/main/p/pcre3/libpcre3_8.31-2ubuntu2_amd64.deb; wget archive.ubuntu.com/ubuntu/pool/main/p/pcre3/libpcrecpp0_8.31-2ubuntu2_amd64.deb; wget archive.ubuntu.com/ubuntu/pool/main/p/pcre3/libpcre3-dev_8.31-2ubuntu2_amd64.deb; sudo dpkg -i libpcre3_8.31-2ubuntu2_amd64.deb; sudo dpkg -i libpcrecpp0_8.31-2ubuntu2_amd64.deb; sudo dpkg -i libpcre3-dev_8.31-2ubuntu2_amd64.deb; sudo apt-mark hold libpcre3 libpcrecpp0 libpcre3-dev"; if [ "${BEFORE_SCRIPT}" == "" ] ; then export BEFORE_SCRIPT=${add_scr}; else export BEFORE_SCRIPT="${BEFORE_SCRIPT}; ${add_scr}"; fi; fi
  # Forcely upgrading PCRE makes hrpsys_state_publisher dies:
  # https://github.com/start-jsk/rtmros_common/pull/1077#issuecomment-552102475
  # To avoid this, the following PRs are required:
  # https://github.com/ros/robot_model/pull/105, https://github.com/ros/robot_model/pull/106, https://github.com/ros/robot_model/pull/108
  # Also, see https://github.com/start-jsk/rtmros_common/pull/1077#issuecomment-552121026
  - if [ "${ROS_DISTRO}" == "hydro" ] && [ "${USE_DEB}" != "true" ] ; then export BEFORE_SCRIPT="${BEFORE_SCRIPT}; wstool set -y robot_model --git https://github.com/pazeshun/robot_model.git -v for-hydro-with-new-pcre; wstool update"; export ROSDEP_ADDITIONAL_OPTIONS="-n -q -r --ignore-src --skip-keys=liburdfdom-dev --skip-keys=liburdfdom-headers-dev"; fi
script:
  - if [ "${IS_EUSLISP_TRAVIS_TEST}" != "true" ] ; then export ROS_PARALLEL_JOBS="-j2 -l2" ; fi
  - if [ "${ROS_DISTRO}" == "hydro" ] ; then sudo apt-get install -y --force-yes gdebi && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-tools_0.3.1-1_all.deb && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-tools_0.3.1-1_all.deb && sudo apt-mark hold python-catkin-tools; fi
  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; else docker pull $DOCKER_IMAGE || true; export CI_SOURCE_PATH=$(pwd); docker run -v $HOME:$HOME -v $HOME/.ccache:$HOME/.ccache/ -v $HOME/.cache/pip:$HOME/.cache/pip/ $DOCKER_XSERVER_OPTIONS -e TRAVIS_BRANCH -e TRAVIS_COMMIT -e TRAVIS_JOB_ID -e TRAVIS_OS_NAME -e TRAVIS_PULL_REQUEST -e TRAVIS_REPO_SLUG -e GITHUB_RUN_ID -e CI_SOURCE_PATH -e HOME -e REPOSITORY_NAME -e BUILD_PKGS -e TARGET_PKGS -e TEST_PKGS -e BEFORE_SCRIPT -e BUILDER -e EXTRA_DEB -e USE_DEB -e ROS_DISTRO -e ROS_LOG_DIR -e ROS_REPOSITORY_PATH -e ROSWS -e CATKIN_TOOLS_BUILD_OPTIONS -e CATKIN_TOOLS_CONFIG_OPTIONS -e CATKIN_PARALLEL_JOBS -e CATKIN_PARALLEL_TEST_JOBS -e ROS_PARALLEL_JOBS -e ROS_PARALLEL_TEST_JOBS -e ROS_PYTHON_VERSION -e ROSDEP_ADDITIONAL_OPTIONS -e ROSDEP_UPDATE_QUIET -e SUDO_PIP -e USE_PYTHON_VIRTUALENV -e NOT_TEST_INSTALL -e DEBUG_TRAVIS_PYTHON -e TEST_PACKAGE -e TEST_TYPE -t $DOCKER_IMAGE bash -c 'cd $CI_SOURCE_PATH; source ./.travis_test.sh' ; fi
  - ccache -s
after_success:
  - if [ "${TRAVIS_SECURE_ENV_VARS}" == "true" ]; then cd ${TRAVIS_BUILD_DIR}; openssl aes-256-cbc -K $encrypted_b79fc5843df3_key -iv $encrypted_b79fc5843df3_iv -in .secrets.tar.enc -out .secrets.tar -d; tar -C ~/ -xvf .secrets.tar; fi
  # upload-docs.sh in after_success works only when jenkins is not used, because it assumes ~/ros/ws_rtmros_common/build exists on travis:
  # https://github.com/jsk-ros-pkg/jsk_travis/blob/0.5.7/upload-docs.sh#L11
  - if [ "${TRAVIS_BRANCH}" == "master" -a "${TRAVIS_SECURE_ENV_VARS}" == "true" -a "${USE_TRAVIS}" == "true" -a "${IS_EUSLISP_TRAVIS_TEST}" == "false" ]; then cd ${TRAVIS_BUILD_DIR}; .travis/upload-docs.sh; fi