.travis.yml

# Generic MoveIt Travis Continuous Integration Configuration File
# Works with all MoveIt! repositories/branches
# Author: Dave Coleman, Jonathan Bohren, Robert Haschke
sudo: required
dist: trusty
language: generic
python:
  - "2.7"
compiler:
  - gcc
notifications:
  email:
    recipients:
    #  - davetcoleman@gmail.com
    on_success: change #[always|never|change] # default: change
    on_failure: change #[always|never|change] # default: always

env:
  global:
    # Specify which repositories to build too
    - MOVEIT_REPOS="moveit_core"
  matrix:
    - ALLOW_TEST_FAILURE=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
    - ALLOW_TEST_FAILURE=true ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu

before_install: # Use this to prepare the system to install prerequisites or dependencies
  # Define some config vars
  - export CI_SOURCE_PATH=$(pwd)
  - export REPOSITORY_NAME=${PWD##*/}
  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME on $ROS_DISTRO"
  - sudo -E 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 - | sudo apt-key add -
  - sudo apt-get update -qq
  - sudo apt-get install -qq -y python-rosdep python-wstool python-catkin-tools
  # MongoDB hack - I don't fully understand this but its for moveit_warehouse
#  - sudo apt-get remove -y mongodb mongodb-10gen || true
#  - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" # default actions
  # Setup rosdep
  - sudo rosdep init
  - rosdep update

install: # Use this to install any prerequisites or dependencies necessary to run your build
  # Create workspace
  - mkdir -p ~/ros/ws_moveit/src
  - cd ~/ros/ws_moveit/src
  - wget https://raw.github.com/ros-planning/moveit_docs/${ROS_DISTRO}-devel/moveit.rosinstall
  # filter for $MOVEIT_REPOS
  - PKGS_FILTER=$(echo $MOVEIT_REPOS | tr ' ' '|')
  - if [ -n "$PKGS_FILTER" ]; then egrep "$PKGS_FILTER" moveit.rosinstall > .rosinstall; else cp moveit.rosinstall .rosinstall; fi
  - rm -f moveit.rosinstall
  # download moveit repos, except $REPOSITORY_NAME
  - wstool rm $REPOSITORY_NAME || true
  - wstool update
  # link in the repo we are testing
  - ln -s $TRAVIS_BUILD_DIR $REPOSITORY_NAME
  - cd ../
  # use rosdep to install all dependencies (including ROS itself)
  - rosdep install --from-paths ./ -i -y --rosdistro $ROS_DISTRO

before_script: # Build the workspace
  - catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release
  - catkin build --no-status --summarize
  # determine list of packages to test
  - source install/setup.bash
  - TEST_PKGS=$(catkin_topological_order $TRAVIS_BUILD_DIR --only-names)
  - if [ -n "$TEST_PKGS" ]; then TEST_PKGS="--no-deps $TEST_PKGS"; fi
  - if [ "$ALLOW_TEST_FAILURE" != "true" ]; then ALLOW_TEST_FAILURE=false; fi

script: # run tests
  - catkin build --no-status --summarize --make-args tests -- $TEST_PKGS
  # Run tests
  - catkin run_tests --no-status --summarize $TEST_PKGS
  # catkin run_tests always returns 0, use catkin_test_results to check for errors
  # https://github.com/catkin/catkin_tools/issues/245
  - catkin_test_results || $ALLOW_TEST_FAILURE