start-jsk · k-okada · Apr 26, 2014 · Apr 27, 2014 · Apr 27, 2014 · Apr 28, 2014
diff --git a/.travis.yml b/.travis.yml
@@ -16,64 +16,14 @@ env:
   - ROS_DISTRO=groovy ROSWS=wstool BUILDER=catkin    USE_DEB=false
   - ROS_DISTRO=hydro  ROSWS=wstool BUILDER=catkin    USE_DEB=true
   - ROS_DISTRO=hydro  ROSWS=wstool BUILDER=catkin    USE_DEB=false
+  - TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=hydro
+  - TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=hydro
 notifications:
   email:
     recipients:
       - [email protected]
       - [email protected]
     on_success: always #[always|never|change] # default: change
     on_failure: always #[always|never|change] # default: always
-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 $REPOSITORY_NAME"
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-  - if [ $ROSWS == rosws ]; then sudo apt-get install -qq -y python-rosinstall     ; fi
-  - if [ $BUILDER == rosbuild ]; then sudo apt-get install -qq -y ros-$ROS_DISTRO-rosmake ; fi
-  # Setup rosdep
-  - sudo rosdep init
-  - rosdep update; while [ $? != 0 ]; do sleep 1; rosdep update; done
-install: # Use this to install any prerequisites or dependencies necessary to run your build
-  # Create workspace
-  - mkdir -p ~/ros/ws_$REPOSITORY_NAME/src
-  - cd ~/ros/ws_$REPOSITORY_NAME/src
-  - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS init .   ; fi
-  - if [ $USE_DEB == false ]; then $ROSWS merge http://raw.github.com/$TRAVIS_REPO_SLUG/$TRAVIS_BRANCH/.rosinstall ; fi
-  - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then if [ $ROSWS == rosws ]; then $ROSWS merge /opt/ros/$ROS_DISTRO/.rosinstall; fi  ; fi
-  - if [ $USE_DEB == false ]; then sed -i "s@^\(.*github.com/$TRAVIS_REPO_SLUG.*\)@#\1@" .rosinstall               ; fi # comment out current repo
-  - if [ $USE_DEB == false ]; then $ROSWS update   ; fi
-  - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS set $REPOSITORY_NAME http://github.com/$TRAVIS_REPO_SLUG --git -y        ; fi
-  - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
-  - cd ../
-  # Install dependencies for source repos
-  - find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated # rename manifest.xml for rosdep install
-  - rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
-  - find -L src -name manifest.xml.deprecated | xargs -n 1 -i dirname {} | xargs -n 1 -i ln -sf `pwd`/{}/manifest.xml.deprecated `pwd`/{}/manifest.xml # rename manifest.xml for rosdep install
-  - find . \! -path "*/.*" -type f | xargs egrep -i "(hoge|fuga)" ; if [ $? == 0 ]; then exit 1; fi
-before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  - if [ $BUILDER == rosbuild ]; then source src/setup.bash        ; fi
-  - if [ $BUILDER == rosbuild ]; then rospack profile              ; fi
-script: # All commands must exit with code 0 on success. Anything else is considered failure.
-  # for catkin
-  - if [ $BUILDER == catkin ]; then catkin_make -j8 -l8            ; fi
-  - if [ $BUILDER == catkin ]; then export TARGET_PKG=`find build/$REPOSITORY_NAME -name Makefile -print |  sed s@.*/\\\\\([^\/]*\\\\\)/Makefile@\\\1@g` ; fi
-  - if [ $BUILDER == catkin ]; then catkin_make test --pkg $TARGET_PKG -j8 -l8  ; fi
-  - if [ $BUILDER == catkin ]; then find build -name LastTest.log -exec echo "==== {} ====" \; -exec cat {} \;  ; fi
-  - if [ $BUILDER == catkin ]; then catkin_make -j8 -l8 install            ; fi
-  - if [ $BUILDER == catkin ]; then rm -fr devel src build                 ; fi
-  - if [ $BUILDER == catkin ]; then source install/setup.bash              ; fi
-  - if [ $BUILDER == catkin ]; then export EXIT_STATUS=0; for pkg in $TARGET_PKG; do [ "`find install/share/$pkg -iname '*.test'`" == "" ] && echo "[$pkg] No tests ware found!!!"  || find install/share/$pkg -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?; done; [ $EXIT_STATUS == 0 ] ; fi
-  # for rosbuild
-  - if [ $BUILDER == rosbuild ]; then rosmake -a --profile --pjobs=8       ; fi
-  - if [ $BUILDER == rosbuild ]; then export TARGET_PKG=`find -L src | grep $REPOSITORY_NAME | grep /build/Makefile$ | sed s@.*/\\\\\([^\/]*\\\\\)/build/Makefile@\\\1@g` ; fi
-  - if [ $BUILDER == rosbuild ]; then rosmake --test-only $TARGET_PKG --pjobs=8 ; fi
-after_failure:
-  - if [ $BUILDER == rosbuild ]; then find ${HOME}/.ros/rosmake/ -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
-  - find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \;
-  - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
-
+script:
+  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; else source ./.travis_test.sh ; fi
diff --git a/.travis/travis.sh b/.travis/travis.sh
@@ -0,0 +1,75 @@
+#!/bin/bash
+
+set -x
+
+if [ $ROS_DISTRO == "indigo" -a "$TRAVIS_JOB_ID" ]; then
+    sudo apt-get install -qq -y python-jenkins
+    ./.travis/travis_jenkins.py
+    exit $?
+fi
+
+function error {
+    if [ $BUILDER == rosbuild -a -e ${HOME}/.ros/rosmake/ ]; then find ${HOME}/.ros/rosmake/ -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
+    if [ -e ${HOME}/.ros/test_results ]; then find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
+    for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
+    exit 1
+}
+
+trap error ERR
+
+### before_install: # Use this to prepare the system to install prerequisites or dependencies
+# Define some config vars
+export CI_SOURCE_PATH=$(pwd)
+export REPOSITORY_NAME=${PWD##*/}
+if [ ! "$ROS_PARALLEL_JOBS" ]; then export ROS_PARALLEL_JOBS="-j8 -l8";  fi
+echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
+wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+sudo apt-get update -qq
+sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-rosbash
+if [ $ROSWS == rosws ]; then sudo apt-get install -qq -y python-rosinstall     ; fi
+if [ $BUILDER == rosbuild ]; then sudo apt-get install -qq -y ros-$ROS_DISTRO-rosmake ; fi
+# MongoDB hack - I don't fully understand this but its for moveit_warehouse
+sudo apt-get remove -y -qq mongodb mongodb-10gen || echo "ok"
+sudo apt-get install -y -qq mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" || ecoh "ok" # default actions
+# Setup rosdep
+sudo rosdep init
+rosdep update; while [ $? != 0 ]; do sleep 1; rosdep update; done
+
+### install: # Use this to install any prerequisites or dependencies necessary to run your build
+# Create workspace
+mkdir -p ~/ros/ws_$REPOSITORY_NAME/src
+cd ~/ros/ws_$REPOSITORY_NAME/src
+if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS init .   ; fi
+if [ $USE_DEB == false ]; then $ROSWS merge file://$CI_SOURCE_PATH/.rosinstall      ; fi
+if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then if [ $ROSWS == rosws ]; then $ROSWS merge /opt/ros/$ROS_DISTRO/.rosinstall; fi  ; fi
+if [ $USE_DEB == false ]; then sed -i "s@^\(.*github.com/$TRAVIS_REPO_SLUG.*\)@#\1@" .rosinstall               ; fi # comment out current repo
+if [ $USE_DEB == false ]; then $ROSWS update   ; fi
+if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS set $REPOSITORY_NAME http://github.com/$TRAVIS_REPO_SLUG --git -y        ; fi
+ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+cd ../
+# Install dependencies for source repos
+find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated # rename manifest.xml for rosdep install
+rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
+find -L src -name manifest.xml.deprecated | xargs -n 1 -i dirname {} | xargs -n 1 -i ln -sf `pwd`/{}/manifest.xml.deprecated `pwd`/{}/manifest.xml # rename manifest.xml for rosdep install
+
+### before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
+source /opt/ros/$ROS_DISTRO/setup.bash
+if [ $BUILDER == rosbuild ]; then source src/setup.bash        ; fi
+if [ $BUILDER == rosbuild ]; then rospack profile              ; fi
+
+### script: # All commands must exit with code 0 on success. Anything else is considered failure.
+# for catkin
+if [ $BUILDER == catkin ]; then catkin_make $ROS_PARALLEL_JOBS            ; fi
+if [ $BUILDER == catkin ]; then export TARGET_PKG=`find build/$REPOSITORY_NAME -name Makefile -print |  sed s@.*/\\\\\([^\/]*\\\\\)/Makefile@\\\1@g` ; fi
+if [ $BUILDER == catkin ]; then catkin_make test --pkg $TARGET_PKG $ROS_PARALLEL_JOBS  ; fi
+if [ $BUILDER == catkin ]; then find build -name LastTest.log -exec echo "==== {} ====" \; -exec cat {} \;  ; fi
+if [ $BUILDER == catkin ]; then catkin_make $ROS_PARALLEL_JOBS install            ; fi
+if [ $BUILDER == catkin ]; then rm -fr devel src build                 ; fi
+if [ $BUILDER == catkin ]; then source install/setup.bash              ; fi
+if [ $BUILDER == catkin ]; then export EXIT_STATUS=0; for pkg in $TARGET_PKG; do [ "`find install/share/$pkg -iname '*.test'`" == "" ] && echo "[$pkg] No tests ware found!!!"  || find install/share/$pkg -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?; done; [ $EXIT_STATUS == 0 ] ; fi
+# for rosbuild
+if [ $BUILDER == rosbuild ]; then rosmake -a --profile            ; fi
+if [ $BUILDER == rosbuild ]; then export TARGET_PKG=`find -L src | grep $REPOSITORY_NAME | grep /build/Makefile$ | sed s@.*/\\\\\([^\/]*\\\\\)/build/Makefile@\\\1@g` ; fi
+if [ $BUILDER == rosbuild ]; then rosmake --test-only $TARGET_PKG ; fi
+
diff --git a/.travis_test.sh b/.travis_test.sh
@@ -0,0 +1,100 @@
+#!/bin/bash
+
+set -x
+
+function error {
+    if [ -e ${HOME}/.ros/rosmake/ ]; then find ${HOME}/.ros/rosmake/ -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
+    if [ -e ${HOME}/.ros/test_results ]; then find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
+    for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
+    exit 1
+}
+
+trap error ERR
+
+### before_install: # Use this to prepare the system to install prerequisites or dependencies
+# Define some config vars
+export CI_SOURCE_PATH=$(pwd)
+export REPOSITORY_NAME=${PWD##*/}
+if [ ! "$ROS_PARALLEL_JOBS" ]; then export ROS_PARALLEL_JOBS="-j8 -l8";  fi
+echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
+wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+sudo apt-get update -qq
+sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-rosbash
+
+###
+pkg=$TEST_PACKAGE
+sudo apt-get install -y ros-hydro-$pkg
+
+# this is hotfix
+sudo wget https://raw.githubusercontent.com/start-jsk/rtmros_common/master/hrpsys_tools/test/test-pa10.test -O /opt/ros/hydro/share/hrpsys_tools/test/test-pa10.test
+
+sudo apt-get install -y -qq ros-hydro-rqt-robot-dashboard
+
+#
+source /opt/ros/hydro/setup.bash
+
+# set hrpsys (hrpsys wrapper for ROS, just for compile and test)
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+ln -sf ${CI_SOURCE_PATH} src/rtmros_common
+
+if [ "$TEST_TYPE" == "work_with_downstream" ]; then
+    echo "
+            #
+            # check newer version of hrpsys works on current rtmros_common deb package
+            # [rtmros_common:new] <-> [rtmros_<robot>:old]
+            "
+    sudo dpkg -r --force-depends ros-hydro-hrpsys-ros-bridge
+    sudo dpkg -r --force-depends ros-hydro-hrpsys-tools
+    sudo dpkg -r --force-depends ros-hydro-rtmbuild
+    catkin_make -j8 -l8
+    catkin_make install -j8 -l8
+else
+    echo "
+            #
+            # check rtmros_<robot> compiled on newer version of rtmros_common works with deb version of rtmros_common
+            # [rtmros_common:old] <-> [rtmros_<robot>:new] + [rtmros_common:new]
+            "
+            # set up sorce code of downstream package
+    cd src
+    wstool init
+    wstool set rtmros_hironx http://github.com/start-jsk/rtmros_hironx --git -y
+    wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y
+    wstool update
+    cd ..
+    # do not install rtmros_common because we want to use them
+    find src
+    for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do
+        if [ -e src/rtmros_common/${_pkg}/CMakeLists.txt ] ; then
+            sed -i "1imacro(dummy_install)\nmessage(\"install(\${ARGN})\")\nendmacro()" src/rtmros_common/${_pkg}/CMakeLists.txt
+            sed -i "s@install(@dummy_install(@g" src/rtmros_common/${_pkg}/CMakeLists.txt
+        fi
+        if [ -e src/rtmros_common/${_pkg}/catkin.cmake ] ; then
+            sed -i "s@install(@dummy_install(@g" src/rtmros_common/${_pkg}/catkin.cmake
+        fi
+    done
+    catkin_make -j8 -l8 --only-pkg-with-deps `echo $pkg | sed s/-/_/g`
+    catkin_make install -j8 -l8
+
+fi
+
+rospack profile
+source install/setup.bash
+
+export EXIT_STATUS=0;
+pkg_path=`rospack find \`echo $pkg | sed s/-/_/g\``
+if [ "`find $pkg_path/test -iname '*.test'`" == "" ]; then
+    echo "[$pkg] No tests ware found!!!"
+else
+    find $pkg_path/test -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?;
+fi
+
+if [ -e build ]; then find build -name LastTest.log -exec echo "==== {} ====" \; -exec cat {} \;  ; fi
+if [ -e ${HOME}/.ros/test_results ]; then find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \; ; fi
+if [ $EXIT_STATUS == 0 ] ; then
+    exit 0
+else
+    exit 1
+fi
+