[Draft]Travis CI integration

.gitignore

@@ -1,2 +1 @@
-.*
 !/.gitignore

.travis.yml

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 sudo: required
 language: generic
-dist: trusty
+dist: bionic
 
-notifications:
-  email:
-    recipients:
-      - spuetz@uos.de
-    on_success: change
-    on_failure: change
-
-matrix:
-  include:
-  - name: "Indigo"
-    env: ROS_DISTRO=indigo
-
-  - name: "Kinetic"
-    env: ROS_DISTRO=kinetic
-
-  - name: "Lunar"
-    env: ROS_DISTRO=lunar
-
-  - name: "Melodic"
-    env: ROS_DISTRO=melodic
-
-install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+env:
+  global:
+    - ROS_DISTRO=melodic
+    - CI_SOURCE_PATH=$(pwd)
+    - CI_PARENT_DIR=.travis
+  matrix:
+    - TEST=build DOCKER_IMAGE=mbf_ci:latest
 
 script:
-  - .ci_config/travis.sh
+  - source $CI_PARENT_DIR/$TEST.sh

.travis/build.sh

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+export REPOSITORY_NAME=${PWD##*/}
+echo "Testing branch '$TRAVIS_BRANCH' of '$REPOSITORY_NAME' on ROS '$ROS_DISTRO'"
+
+# Start Docker container
+cp ~/.ssh/id_rsa id_rsa && docker build -t $DOCKER_IMAGE -f Dockerfile.ci $CI_SOURCE_PATH
+docker_result=$?
+rm id_rsa
+
+# Check if docker ran successfully
+if [ $docker_result -ne 0 ]; then
+  echo "$DOCKER_IMAGE container finished with errors"
+  exit 1 # error
+fi
+echo "$DOCKER_IMAGE container finished successfully"
+exit 0

.travis/build_in_docker.sh

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+
+#!/bin/bash
+source /opt/ros/melodic/setup.bash
+source src/mbf/.travis/util.sh
+
+travis_run catkin init
+travis_run rosdep update --as-root apt:false
+travis_run rosdep install --from-paths src --ignore-src --rosdistro melodic -y -r
+
+travis_run catkin config --extend /opt/ros/melodic --cmake-args -DCMAKE_BUILD_TYPE=Release
+travis_run_wait 60 catkin build move_base_flex

.travis/util.sh

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+#!/bin/bash
+#********************************************************************
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2016, University of Colorado, Boulder
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the Univ of CO, Boulder nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#********************************************************************/
+
+# Author: Dave Coleman <dave@dav.ee>, Robert Haschke
+# Desc: Utility functions used to make CI work better in Travis
+
+#######################################
+export TRAVIS_FOLD_COUNTER=0
+
+
+#######################################
+# Start a Travis fold with timer
+#
+# Arguments:
+#   travis_fold_name: name of line
+#   command: action to run
+#######################################
+function travis_time_start {
+    TRAVIS_START_TIME=$(date +%s%N)
+    TRAVIS_TIME_ID=$(cat /dev/urandom | tr -dc 'a-z0-9' | fold -w 8 | head -n 1)
+    TRAVIS_FOLD_NAME=$1
+    local COMMAND=${@:2} # all arguments except the first
+
+    # Start fold
+    echo -e "\e[0Ktravis_fold:start:$TRAVIS_FOLD_NAME"
+    # Output command being executed
+    echo -e "\e[0Ktravis_time:start:$TRAVIS_TIME_ID\e[34m$COMMAND\e[0m"
+}
+
+#######################################
+# Wraps up the timer section on Travis CI (that's started mostly by travis_time_start function).
+#
+# Arguments:
+#   travis_fold_name: name of line
+#######################################
+function travis_time_end {
+    if [ -z $TRAVIS_START_TIME ]; then
+        echo '[travis_time_end] var TRAVIS_START_TIME is not set. You need to call `travis_time_start` in advance.';
+        return;
+    fi
+    local TRAVIS_END_TIME=$(date +%s%N)
+    local TIME_ELAPSED_SECONDS=$(( ($TRAVIS_END_TIME - $TRAVIS_START_TIME)/1000000000 ))
+
+    # Output Time
+    echo -e "travis_time:end:$TRAVIS_TIME_ID:start=$TRAVIS_START_TIME,finish=$TRAVIS_END_TIME,duration=$(($TRAVIS_END_TIME - $TRAVIS_START_TIME))\e[0K"
+    # End fold
+    echo -e -n "travis_fold:end:$TRAVIS_FOLD_NAME\e[0m"
+
+    unset TRAVIS_START_TIME
+    unset TRAVIS_TIME_ID
+    unset TRAVIS_FOLD_NAME
+}
+
+#######################################
+# Display command in Travis console and fold output in dropdown section
+#
+# Arguments:
+#   command: action to run
+#######################################
+function travis_run_impl() {
+  local command=$@
+
+  let "TRAVIS_FOLD_COUNTER += 1"
+  travis_time_start moveit_ci.$TRAVIS_FOLD_COUNTER $command
+  # actually run command
+  $command
+  result=$?
+  travis_time_end
+  return $result
+}
+
+#######################################
+# Run a command and do folding and timing for it
+#   Return the exit status of the command
+function travis_run() {
+  travis_run_impl $@ || exit $?
+}
+
+#######################################
+# Same as travis_run but return 0 exit status, thus ignoring any error
+function travis_run_true() {
+  travis_run_impl $@ || return 0
+}
+
+#######################################
+# Same as travis_run, but issue some output regularly to indicate that the process is still alive
+# from: https://github.com/travis-ci/travis-build/blob/d63c9e95d6a2dc51ef44d2a1d96d4d15f8640f22/lib/travis/build/script/templates/header.sh
+function travis_run_wait() {
+  local timeout=$1 # in minutes
+
+  if [[ $timeout =~ ^[0-9]+$ ]]; then
+    # looks like an integer, so we assume it's a timeout
+    shift
+  else
+    # default value
+    timeout=20
+  fi
+
+  local cmd=$@
+  let "TRAVIS_FOLD_COUNTER += 1"
+  travis_time_start moveit_ci.$TRAVIS_FOLD_COUNTER $cmd
+
+  # Disable bash's job control messages
+  set +m
+  # Run actual command in background
+  $cmd &
+  local cmd_pid=$!
+
+  travis_jigger $cmd_pid $timeout $cmd &
+  local jigger_pid=$!
+  local result
+
+  {
+    wait $cmd_pid 2>/dev/null
+    result=$?
+    # if process finished before jigger, stop the jigger too
+    ps -p$jigger_pid 2>&1>/dev/null && kill $jigger_pid
+  }
+
+  echo
+  travis_time_end
+
+  return $result
+}
+
+#######################################
+function travis_jigger() {
+  local cmd_pid=$1
+  shift
+  local timeout=$1
+  shift
+  local count=0
+
+  echo -n "Waiting for process to finish "
+  while [ $count -lt $timeout ]; do
+    count=$(($count + 1))
+    echo -ne "."
+    sleep 60 # wait 60s
+  done
+
+  echo -e "\n\033[31;1mTimeout (${timeout} minutes) reached. Terminating \"$@\"\033[0m\n"
+  kill -9 $cmd_pid
+}
+
+# unify_list SEPARATORS LIST
+# replace all separator chars given as first argument with spaces
+unify_list() {
+  local separators=$1; shift
+  echo "$*" | tr "$separators" ' '
+}

Dockerfile.ci

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+FROM rrdockerhub/ros-base-melodic-amd64:latest
+
+RUN mkdir -p /root/catkin_ws/src/.travis
+WORKDIR /root/catkin_ws
+
+COPY ./move_base_flex_CI.rosinstall src/.rosinstall
+COPY ./.travis src/mbf/.travis
+
+
+# Setup for ssh onto github & bitbucket
+# Before running Docker, run locally: `cp ~/.ssh/id_rsa_unsafe id_rsa`
+RUN bash -c "source src/mbf/.travis/util.sh && travis_run apt-get update && travis_run apt-get -qq install -y ssh"
+RUN mkdir -p /root/.ssh
+COPY id_rsa /root/.ssh/id_rsa
+RUN chmod 700 /root/.ssh/id_rsa
+
+RUN ssh-keyscan -t rsa github.com >> ~/.ssh/known_hosts
+RUN ssh-keyscan -t rsa bitbucket.org >> ~/.ssh/known_hosts
+
+RUN wstool update -t src  --abort-changed-uris
+
+###  Stage 2:  Build ###
+FROM rrdockerhub/ros-base-melodic-amd64:latest
+COPY --from=0 /root/catkin_ws /root/catkin_ws
+WORKDIR /root/catkin_ws
+COPY . src/mbf
+
+# Remove this line if we can get python-catkin-tools to be in the base image
+RUN bash -c "source src/mbf/.travis/util.sh && travis_run apt-get update && travis_run apt-get -qq install -y python-catkin-tools"
+
+RUN ./src/mbf/.travis/build_in_docker.sh

move_base_flex_CI.rosinstall

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+- git:
+    local-name: forklift_interfaces
+    uri: git@github.com:rapyuta-robotics/forklift_interfaces.git
+    version: devel
+
+- git:
+    local-name: rr_navigation
+    uri: git@github.com:rapyuta-robotics/rr_navigation.git
+    version: devel