.travis.yml

# Generic .travis.yml file for running continuous integration on Travis-CI for
# any ROS package.
#
# Available here:
#   - http://felixduvallet.github.io/ros-travis-integration
#   - https://github.com/felixduvallet/ros-travis-integration
#   - https://github.com/gsilano/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 get 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.
#
# There are two variables you may want to change:
#   - ROS_DISTRO (default is indigo, but also kinetic is now compatible). Note that
#     packages must be available for ubuntu 14.04 trusty and xenial 16.04, respectively.
#
# See the README.md for more information.
#
# Author: Felix Duvallet <felixd@gmail.com>
# Author: Giuseppe Silano <g.silano89@gmail.com>

# NOTE: The build lifecycle on Travis.ci is something like this:
#    before_install
#    install
#    before_script
#    script
#    after_success or after_failure
#    after_script
#    OPTIONAL before_deploy
#    OPTIONAL deploy
#    OPTIONAL after_deploy

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


# Use ubuntu xenial (16.04) and bionic (18.04) with sudo privileges.
matrix:
  include:
    - os: linux
      dist: xenial
      sudo: required
      env: ROS_DISTRO=kinetic
    - os: linux
      dist: bionic
      sudo: required
      env: ROS_DISTRO=melodic

language:
  - generic
cache:
  - apt

# Configuration variables. All variables are global now, but this can be used to
# trigger a build matrix for different ROS distributions if desired.
env:
  global:
    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
    - CI_SOURCE_PATH=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
    - ROS_PARALLEL_JOBS='-j8 -l6'
    # Set the python path manually to include /usr/-/python2.7/dist-packages
    # as this is where apt-get installs python packages.
    - PYTHONPATH=$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 $ROS_CI_DESKTOP main" > /etc/apt/sources.list.d/ros-latest.list'
  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  - if [[ "$ROS_DISTRO" == "kinetic" ]]; then sudo rm /var/lib/dpkg/lock; fi
  - if [[ "$ROS_DISTRO" == "kinetic" ]]; then sudo dpkg --configure -a; fi
  - sudo apt-get update
  - sudo apt-get install ros-$ROS_DISTRO-desktop-full ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-mavlink
  - sudo apt-get install python-wstool python-catkin-tools python-rosinstall build-essential
  - sudo apt-get install protobuf-compiler libgoogle-glog-dev python-rosinstall-generator
  - if [[ "$ROS_DISTRO" == "melodic" ]]; then sudo apt-get install python-rosdep; fi
 # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update
  - source /opt/ros/$ROS_DISTRO/setup.bash

# Create a catkin workspace with the package under integration.
install:
  - mkdir -p ~/catkin_ws/src
  - cd ~/catkin_ws/src
  - catkin_init_workspace
  - wstool init
  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
  # source it to set the path variables.
  - git clone https://github.com/gsilano/BebopS.git
  - git clone https://github.com/gsilano/rotors_simulator.git
  - git clone https://github.com/gsilano/mav_comm.git
  - git clone https://github.com/gsilano/bebop_autonomy.git
  - cd ~/catkin_ws/src/rotors_simulator
  - if [[ "$ROS_DISTRO" == "kinetic" ]]; then git checkout med18; fi
  - if [[ "$ROS_DISTRO" == "melodic" ]]; then git checkout med18_gazebo9; fi
  - cd ~/catkin_ws/src/mav_comm
  - if [[ "$ROS_DISTRO" == "kinetic" ]]; then git checkout med18; fi
  - if [[ "$ROS_DISTRO" == "melodic" ]]; then git checkout med18_gazebo9; fi
  - cd ~/catkin_ws/src/BebopS
  - if [[ "$ROS_DISTRO" == "melodic" ]]; then git checkout dev/gazebo9; fi
  - cd ~/catkin_ws
  - rosdep install --from-paths src -i
  - catkin build
  - echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  - source ~/.bashrc