.travis.yml

################################################################################

cache:
  - apt

# Build all valid Ubuntu/ROS combinations available on Travis VMs.
language: cpp
os: linux
matrix:
  include:
  - name: "Bionic melodic AMD64"
    arch: amd64
    dist: bionic
    env: ROS_DISTRO=melodic
  - name: "Bionic melodic ARM64"
    arch: arm64
    dist: bionic
    env: ROS_DISTRO=melodic
  - name: "Focal noetic AMD64"
    arch: amd64
    dist: focal
    env: ROS_DISTRO=noetic
  - name: "Focal noetic ARM64"
    arch: arm64
    dist: focal
    env: ROS_DISTRO=noetic

# 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=$(pwd)
    - ROS_PARALLEL_JOBS='-j8 -l6'
    # Set the python path manually to include /usr/-/python2.7/dist-packages
    # as this is where apt-get installs python packages.
    - PYTHONPATH=$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 apt-get install dpkg curl
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
  - sudo apt-get update -qq
  - if [ $ROS_DISTRO = noetic ]; then PYTHON=python3; else PYTHON=python; fi
  - sudo apt-get install -y $PYTHON-catkin-pkg $PYTHON-catkin-tools $PYTHON-rosdep $PYTHON-wstool ros-$ROS_DISTRO-ros-base ros-$ROS_DISTRO-code-coverage
  - source /opt/ros/$ROS_DISTRO/setup.bash
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update

# Create a catkin workspace with the package under integration.
install:
  - mkdir -p ~/catkin_ws/src
  - cd ~/catkin_ws/src
  - catkin init
  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
  # source it to set the path variables.
  - cd ~/catkin_ws
  - catkin config -j 2 # To avoid out-of-memory errors on build
  - CXXFLAGS=-Werror 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 .

# Install all dependencies
before_script:
  # package depdencies: install using rosdep.
  - cd ~/catkin_ws
  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# Compile and test (mark the build as failed if any step fails). 
#
# 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
  - CXXFLAGS=-Werror catkin build
  # Run the tests, ensuring the path is set correctly.
  - source devel/setup.bash
  - catkin run_tests && catkin_test_results
  # Generate coverage
  - catkin clean -y
  - catkin build ros_babel_fish -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
  - catkin build ros_babel_fish --no-deps -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug -v --catkin-make-args ros_babel_fish_coverage
  - bash <(curl -s https://codecov.io/bash) -f ./build/ros_babel_fish/ros_babel_fish_coverage.info -R ./src/ros_babel_fish