From 1870db5acd1927620c5c9d5932d4a5ee3c8e34cb Mon Sep 17 00:00:00 2001
From: Joshua Whitley <jwhitley@autonomoustuff.com>
Date: Thu, 25 Apr 2019 12:21:34 -0500
Subject: [PATCH 1/4] CI: First run at ros2 CircleCI file.

---
 .circleci/config.yml | 56 +++++++++-----------------------------------
 1 file changed, 11 insertions(+), 45 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 7cde0b6af..f2c54b382 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -1,66 +1,32 @@
 version: 2
 jobs:
-  kinetic:
+  crystal:
     docker:
-      - image: ros:kinetic-perception
-    steps:
-      - checkout
-      - run:
-          name: Set Up Container
-          command: |
-            apt-get update -qq && apt-get install -y python-catkin-tools
-            source `find /opt/ros -name setup.bash | sort | head -1`
-            rosdep update
-            rosdep install --from-paths . --ignore-src
-            cd ..
-            catkin init
-            catkin config --extend /opt/ros/$ROS_DISTRO
-      - run:
-          name: Build
-          command: |
-            cd ..
-            catkin build --no-status -j4
-      - run:
-          name: Run Tests
-          command: |
-            source `find /opt/ros -name setup.bash | sort | head -1`
-            cd ..
-            catkin run_tests -j4
-            catkin_test_results
-    working_directory: ~/src
-
-  melodic:
-    docker:
-      - image: ros:melodic-perception
+      - image: ros:crystal-ros-base
     steps:
       - checkout
       - run:
           name: Set Up Container
           command: |
             apt update -qq && apt install -y python-catkin-tools
-            source `find /opt/ros -name setup.bash | sort | head -1`
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            mkdir image_pipeline && mv `find -maxdepth 1 -not -name . -not -name image_pipeline` image_pipeline/
             rosdep update
-            rosdep install --from-paths . --ignore-src
-            cd ..
-            catkin init
-            catkin config --extend /opt/ros/$ROS_DISTRO
+            rosdep install -y --from-paths . --ignore-src
       - run:
           name: Build
           command: |
-            cd ..
-            catkin build --no-status -j4
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            colcon build --no-status -j4
       - run:
           name: Run Tests
           command: |
-            source `find /opt/ros -name setup.bash | sort | head -1`
-            cd ..
-            catkin run_tests -j4
-            catkin_test_results
-    working_directory: ~/src
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            colcon test -j4
+            colcon test-result --test-result-base build/image_pipeline
 
 workflows:
   version: 2
   ros_build:
     jobs:
-      - kinetic
-      - melodic
+      - crystal

From ae0723747f07cf3ec9e41726143bee5e3b1ce34d Mon Sep 17 00:00:00 2001
From: Joshua Whitley <jwhitley@autonomoustuff.com>
Date: Thu, 25 Apr 2019 12:23:40 -0500
Subject: [PATCH 2/4] CI: Fixing folder mishap.

---
 .circleci/config.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index f2c54b382..e26cca862 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -10,7 +10,7 @@ jobs:
           command: |
             apt update -qq && apt install -y python-catkin-tools
             source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
-            mkdir image_pipeline && mv `find -maxdepth 1 -not -name . -not -name image_pipeline` image_pipeline/
+            mkdir -p src/image_pipeline && mv `find -maxdepth 1 -not -name . -not -name src` src/image_pipeline/
             rosdep update
             rosdep install -y --from-paths . --ignore-src
       - run:

From cb7708031feb749fd7993d70f8cc6dd0ddc46707 Mon Sep 17 00:00:00 2001
From: Joshua Whitley <jwhitley@autonomoustuff.com>
Date: Thu, 25 Apr 2019 12:28:11 -0500
Subject: [PATCH 3/4] CI: Installing rosdep and other tools first.

---
 .circleci/config.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index e26cca862..c40fdafe1 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -8,7 +8,7 @@ jobs:
       - run:
           name: Set Up Container
           command: |
-            apt update -qq && apt install -y python-catkin-tools
+            apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep
             source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
             mkdir -p src/image_pipeline && mv `find -maxdepth 1 -not -name . -not -name src` src/image_pipeline/
             rosdep update

From 986f47882f9ee4853da1b629abc34f4719a8da34 Mon Sep 17 00:00:00 2001
From: Joshua Whitley <jwhitley@autonomoustuff.com>
Date: Thu, 25 Apr 2019 12:36:29 -0500
Subject: [PATCH 4/4] CI: Fixing colcon commands.

---
 .circleci/config.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index c40fdafe1..4209a4c7f 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -17,13 +17,13 @@ jobs:
           name: Build
           command: |
             source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
-            colcon build --no-status -j4
+            colcon build --parallel-workers 4
       - run:
           name: Run Tests
           command: |
             source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
-            colcon test -j4
-            colcon test-result --test-result-base build/image_pipeline
+            colcon test --parallel-workers 4
+            colcon test-result
 
 workflows:
   version: 2