.travis.yml

sudo: required
cache:
  - apt

# Build all valid Ubuntu/ROS combinations available on Travis VMs.
language: generic
matrix:
  include:
  - name: "Xenial kinetic"
    dist: xenial
    env: ROS_DISTRO=kinetic

# 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. [trusty|xenial|...]
    - 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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  - sudo apt-get update -qq
  - sudo apt-get update
  - sudo apt-get install python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
  - sudo apt-get install -y python-rosinstall python-rosinstall-generator build-essential
  - sudo apt-get install python-pip python-dev
  - sudo apt-get install -y ros-$ROS_DISTRO-octomap-msgs
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  - source ~/.bashrc
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update --include-eol-distros  # Support EOL distros.

# 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 .
  - pip install codecov --user

# Install all dependencies, using wstool first and rosdep second.
# 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
  # Gmock
  - sudo apt-get install libgtest-dev
  - sudo apt-get install google-mock
  - cd /usr/src/gmock
  - sudo mkdir build
  - cd build
  - sudo cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release ..
  - sudo make -j
  - sudo cp libgmock* /usr/local/lib/.
  - sudo cp gtest/libgtest* /usr/local/lib/.
  #- sudo git clone https://github.com/google/googletest.git
  #- cd googletest
  #- sudo cp -a googlemock/include/gmock /usr/include
  #- sudo cp -a googletest/include/gtest /usr/include 
  #- sudo mkdir build 
  #- cd build
  #- sudo cmake -DBUILD_SHARED_LIBS=ON -DBUILD_GTEST=ON -DBUILD_GMOCK=ON -DINSTALL_GTEST=ON -DINSTALL_GMOCK=ON ..
  #- sudo make install

# Compile and test (mark the build as failed 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. Running `catkin_test_results` aggregates all the results and returns
# non-zero when a test fails (which notifies Travis the build failed).
script:
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - cd ~/catkin_ws
  - sudo cp src/amcl3d/FindGMock.cmake /usr/share/cmake-3.5/Modules/
  - cd ~/catkin_ws/src/amcl3d/amcl3d/
  - mkdir -p data/map
  - cd data/map
  - wget https://github.com/fada-catec/amcl3d/releases/download/v1.1.0/mapfile_complete.bt
  - wget https://github.com/fada-catec/amcl3d/releases/download/v1.1.0/mapfile_complete_ot.ot
  - cd ~/catkin_ws
  - catkin_make
  # Run the tests, ensuring the path is set correctly.
  - source devel/setup.bash
  - catkin_make tests

  - rm -rf build devel
  - catkin config --cmake-args -DCMAKE_CXX_FLAGS="-Wall -Wno-unused --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_C_FLAGS="-Wall -Wno-unused --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXE_LINKER_FLAGS="-lgcov"
  - catkin build
  - catkin run_tests -i && catkin_test_results
  - cd src/amcl3d
  - codecov --gcov-root ~/catkin_ws/build/