.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
#
# 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:
#   - packages (ros and otherwise) available through apt-get. These are installed
#     using rosdep, based on the information in the ROS package.xml.
#   - 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). Note that packages must be available for
#     ubuntu 14.04 trusty.
#   - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
#     root). This should list all necessary repositories in wstool format (see
#     the ros wiki). If the file does not exists then nothing happens.
#
# See the README.md for more information.
#
# Author: Felix Duvallet <felixd@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 trusty (14.04) with sudo privileges.
dist: trusty
sudo: required
language:
  - generic
cache:
  - apt
  - pip

# 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_DISTRO=indigo
    - 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_OS_OVERRIDE="ubuntu:14.04:trusty"
    - ROS_PARALLEL_JOBS='-j5'

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

# Install system dependencies, namely a very barebones ROS setup.
before_install:
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  - sudo apt-get update -qq
  - sudo apt-get install -y python-rosdep ros-$ROS_DISTRO-catkin

  #use pip install, because otherwise travis can't find things
  - pip install catkin-pkg
  - pip install rosdep
  - pip install wstool
  - pip install empy
  - pip install setuptools

  - source /opt/ros/$ROS_DISTRO/setup.bash
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update
  # Specific for freenect2
  - git clone https://github.com/OpenKinect/libfreenect2.git
  - sudo apt-get install build-essential cmake pkg-config
  - sudo apt-get install -y libturbojpeg libjpeg-turbo8-dev
  - sudo apt-get install libopenni2-dev
  - sudo apt-get install libnlopt-dev
  - cd libfreenect2/depends && ./download_debs_trusty.sh && sudo dpkg -i debs/libusb*deb && sh install_ubuntu.sh
  - sudo apt-get install mesa-common-dev libglu1-mesa-dev libglu-dev
  - sudo dpkg -i libglfw3*_3.0.4-1_*.deb && sudo apt-get install mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev
  - cd .. && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 && make && make install
  - sudo ln -sf ~/freenect2/lib/cmake/freenect2/freenect2Config.cmake /usr/share/cmake-3.2/Modules/Findfreenect2.cmake
  # Specific to PCL
  - cd ../..
  - sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl -y
  - sudo apt-get update -q
  - sudo apt-get install -y libpcl-all 
  - sudo apt-get install ros-indigo-pcl-*
  # Specific to opencv
  - sudo apt-get install libopencv-dev python-opencv
  # ros msg
  - sudo apt-get install ros-indigo-visualization-msgs
  #- sudo apt-get install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
  #- sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
  #- git clone https://github.com/opencv/opencv.git
  #- cd opencv
  #- mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/opencv && make && make install
  #- sudo ln -sf ~/opencv/lib/cmake/opencv/OpenCVConfig.cmake /usr/share/cmake-3.2/Modules/OpenCVConfig.cmake
  #- sudo apt-get install -y libeigen3-dev
  #- sudo apt-get install -y libflann-dev
  #- sudo apt-get install -y libpcap0.8  
  #- sudo apt-get install -y libboost-all-dev
  #- git clone https://github.com/PointCloudLibrary/pcl.git
  #- cd pcl && mkdir build && cd build
  #- cmake .. && make -j2 && sudo make -j2 install

# Create a catkin workspace with the package under integration.
install:
  - mkdir -p ~/catkin_ws/src
  - cd ~/catkin_ws/src
  - catkin_init_workspace
  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
  # source it to set the path variables.
  - cd ~/catkin_ws
  - catkin_make
  - source devel/setup.bash
  # Add the package under integration to the workspace using a symlink.
  - cd ~/catkin_ws/src
  - ln -s $CI_SOURCE_PATH .

# Install all dependencies, using wstool and rosdep.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
before_script:
  # source dependencies: install using wstool.
  - cd ~/catkin_ws/src
  - wstool init
  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
  - wstool up
  # package depdencies: install using rosdep.
  - cd ~/catkin_ws
  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# Compile and test (fail if any step fails). If the CATKIN_OPTIONS file exists,
# use it as an argument to catkin_make, for example to blacklist certain
# packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. On the other hand, `catkin_make test` aggregates all results, but
# returns non-zero when a test fails (which notifies Travis the build
# failed). This is why we run both.
script:
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - cd $CI_SOURCE_PATH
  - ./.change_pcl_version.sh
  - cd ~/catkin_ws
  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
  - catkin_make install -DSETUPTOOLS_DEB_LAYOUT=OFF
  # Run the tests, ensuring the path is set correctly.
  - source devel/setup.bash
  - cd $CI_SOURCE_PATH
  - pwd
  # currently no tests - just verify that we didn't break catkin_make
  #- catkin_make run_tests && catkin_make test