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| version: 2.1 | ||
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| commands: | ||
| setup: | ||
| steps: | ||
| - checkout | ||
| - run: | ||
| name: Setup ROS catkin workspace | ||
| command : |- | ||
| apt update | ||
| echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections | ||
| apt install -y -q lsb-release apt wget gnupg | ||
| sh -c "echo \"deb $ROS_REPOSITORY_PATH `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list" | ||
| wget http://packages.ros.org/ros.key -O - | apt-key add - | ||
| apt-get update | ||
| apt-get install -y -q python-catkin-pkg python-rosdep ros-${ROS_DISTRO}-catkin | ||
| rosdep init && rosdep update --include-eol-distros | ||
| mkdir -p ~/catkin_ws/src | ||
| cd ~/catkin_ws/src && ln -sf ~/project ${CIRCLE_PROJECT_REPONAME} | ||
| - run: | ||
| name: Run rosdep install | ||
| command : |- | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && rosdep install --from-paths src/ --ignore-src -y | ||
| build: | ||
| steps: | ||
| - run: | ||
| name: Build packages | ||
| # need to disable sudo not to run setcap on 'main' executable | ||
| command : |- | ||
| SUDO_FORCE_REMOVE=yes dpkg -r --force-depends sudo | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_make | ||
| test: | ||
| steps: | ||
| - run: | ||
| name: Test packages | ||
| command : |- | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_make run_tests | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_test_results --verbose build | ||
| build_doc: | ||
| steps: | ||
| - run: | ||
| name: Doc build | ||
| command : |- | ||
| apt-get install -y -q python-sphinx doxygen pandoc python-catkin-sphinx | ||
| apt-get install -y -q texlive-latex-base texlive-latex-recommended texlive-fonts-recommended texlive-latex-extra | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_make --pkg minas_control --make-args docbuild_minas_control | ||
| mkdir ~/artifacts && cp ~/catkin_ws/src/minas/minas_control/output/minas_control-*.pdf ~/artifacts/ | ||
| build_deb: | ||
| steps: | ||
| - run: | ||
| name: Deb build | ||
| command : |- | ||
| apt-get install -y -q python-bloom build-essential debhelper sudo # sudo required for debbuild | ||
| echo "yaml file:///etc/ros/rosdep/minas.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list | ||
| echo "" > /etc/ros/rosdep/minas.yaml | ||
| echo "ethercat_manager:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " ubuntu:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " apt: ros-melodic-ethercat-manager" >> /etc/ros/rosdep/minas.yaml | ||
| echo "minas_control:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " ubuntu:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " apt: ros-melodic-minas-control" >> /etc/ros/rosdep/minas.yaml | ||
| echo "tra1_description:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " ubuntu:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " apt: ros-melodic-tra1-description" >> /etc/ros/rosdep/minas.yaml | ||
| echo "tra1_moveit_config:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " ubuntu:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " apt: ros-melodic-tra1-moveit-config" >> /etc/ros/rosdep/minas.yaml | ||
| echo "tra1_bringup:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " ubuntu:" >> /etc/ros/rosdep/minas.yaml | ||
| echo " apt: ros-melodic-tra1-bringup" >> /etc/ros/rosdep/minas.yaml | ||
| rosdep udpate | ||
| . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && set -x; for package in ethercat_manager minas_control tra1_description tra1_moveit_config tra1_bringup; do | ||
| catkin_make --pkg ${package} --make-args debbuild_${package}; | ||
| package=$(echo $package | tr '_' '-'); | ||
| dpkg -i src/minas/ros-melodic-${package}_*.deb || (rm /var/lib/dpkg/info/ros-melodic-${package}.postinst ; dpkg --configure ros-melodic-${package}); | ||
| done | ||
| mkdir ~/artifacts && cp ~/catkin_ws/src/minas/*.deb ~/artifacts/ | ||
| jobs: | ||
| build_kinetic: | ||
| docker: | ||
| - image: ubuntu:xenial | ||
| environment: | ||
| - ROS_DISTRO: kinetic | ||
| - ROS_REPOSITORY_PATH: http://packages.ros.org/ros/ubuntu | ||
| steps: | ||
| - setup | ||
| - build | ||
| - test | ||
| build_melodic: | ||
| docker: | ||
| - image: ubuntu:bionic | ||
| environment: | ||
| - ROS_DISTRO: melodic | ||
| - ROS_REPOSITORY_PATH: http://packages.ros.org/ros/ubuntu | ||
| steps: | ||
| - setup | ||
| - build | ||
| - test | ||
|
|
||
| build_doc: | ||
| docker: | ||
| - image: ubuntu:xenial | ||
| environment: | ||
| - ROS_DISTRO: kinetic | ||
| - ROS_REPOSITORY_PATH: http://packages.ros.org/ros/ubuntu | ||
| steps: | ||
| - setup | ||
| - build_doc | ||
| - persist_to_workspace: | ||
| root: /root | ||
| paths: | ||
| - artifacts | ||
| - store_artifacts: | ||
| path: /root/artifacts/ | ||
|
|
||
| build_deb: | ||
| docker: | ||
| - image: ubuntu:bionic | ||
| environment: | ||
| - ROS_DISTRO: melodic | ||
| - ROS_REPOSITORY_PATH: http://packages.ros.org/ros/ubuntu | ||
| steps: | ||
| - setup | ||
| - build_deb | ||
| - persist_to_workspace: | ||
| root: /root | ||
| paths: | ||
| - artifacts | ||
| - store_artifacts: | ||
| path: /root/artifacts/ | ||
|
|
||
| deploy: | ||
| machine: true | ||
| steps: | ||
| - attach_workspace: | ||
| at: ~/ | ||
| - checkout | ||
| - run: | ||
| command: |- | ||
| export CIRCLE_ARTIFACTS=~/artifacts/ | ||
| ./.github_release.sh | ||
| - store_artifacts: | ||
| path: /home/circleci/artifacts/ | ||
|
|
||
| workflows: | ||
| version: 2 | ||
| build: | ||
| jobs: | ||
| - build_kinetic | ||
| - build_melodic | ||
| - build_doc: | ||
| filters: | ||
| tags: | ||
| only: /[0-9]+(\.[0-9]+)*/ | ||
| - build_deb: | ||
| filters: | ||
| tags: | ||
| only: /[0-9]+(\.[0-9]+)*/ | ||
| - deploy: | ||
| filters: | ||
| tags: | ||
| only: /[0-9]+(\.[0-9]+)*/ | ||
| branches: | ||
| ignore: /.*/ | ||
| requires: | ||
| - build_doc | ||
| - build_deb | ||
|
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