.travis.yml

# 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

# NOTE : change xenial to bionic and make corresponding changes
# if trying to test 18.04 / melodic
################################################################################

dist: xenial # or bionic
sudo: required
language:
  - generic
cache:
  - apt

env:
  # Configuration variables. All variables are global now, but this can be used to
  # trigger a build matrix for different ROS distributions if desired.
  global:
    - ROS_DISTRO=kinetic # or melodic
    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
    - CI_SOURCE_PATH=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/.rosinstall
    - 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

# system deps
before_install:
    # Ros Repository Setup
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - travis_retry sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
  - travis_retry sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  - bash ./.travis/wait_for_apt.sh

  - sudo apt-get update -qq
  - sudo apt-get install -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin -y swig portaudio19-dev

    # Python Package Install
  - sudo apt-get install python-pip
  - bash ./.travis/wait_for_apt.sh

  - source /opt/ros/$ROS_DISTRO/setup.bash
    # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update

# Install all dependencies, using wstool first and rosdep second.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
# source dependencies: install using wstool.
# package depdencies: install using rosdep.
install:
  # Create a catkin workspace with the package under integration.
  - mkdir -p ~/catkin_ws/src
  - cd ~/catkin_ws/src
  - catkin_init_workspace
    # Create the devel/setup.bash (run catkin build with an empty workspace) and
    # source it to set the path variables.
  - cd ~/catkin_ws
  - catkin build
  - source devel/setup.bash
    # Add the package under integration to the workspace using a symlink.
  - cd ~/catkin_ws/src
  - ln -s $CI_SOURCE_PATH .

    # source dependencies with wstool
  - cd ~/catkin_ws/src
  - wstool init
  - wstool merge $ROSINSTALL_FILE
  - wstool up

    # package dependencies with rosdep
  - rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y

    # python dependencies with pip
  - sudo pip2 install --quiet -r "$CI_SOURCE_PATH/requirements.txt"

before_script:
  - cd ~/catkin_ws
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - source devel/setup.bash
  - rospack profile

# Compile and test (mark the build as failed if any step fails)
# TODO : add install targets and tests
script:
  - cd ~/catkin_ws
  - catkin build
    # Run the tests, ensuring the path is set correctly.
    #- source devel/setup.bash
    #- rospack profile
    #- travis_wait 60 catkin run_tests
    #- catkin_test_results ~/catkin_ws