use docker in travis to run on modern ROS distros

.travis.yml

@@ -1,125 +1,20 @@
-# Generic .travis.yml file for running continuous integration on Travis-CI for
-# any ROS package.
-#
-# Available here:
-#   - http://felixduvallet.github.io/ros-travis-integration
-#   - https://github.com/felixduvallet/ros-travis-integration
-#
-# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
-# workspace, resolves all listed dependencies, and sets environment variables
-# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
-# no compilation errors), and runs all the tests. If any of the compilation/test
-# phases fail, the build is marked as a failure.
-#
-# We handle two types of package dependencies specified in the package manifest:
-#   - system dependencies that can be installed using `rosdep`, including other
-#     ROS packages and system libraries. These dependencies must be known to
-#     `rosdistro` and get installed using apt-get.
-#   - package dependencies that must be checked out from source. These are handled by
-#     `wstool`, and should be listed in a file named dependencies.rosinstall.
-#
-# There are two variables you may want to change:
-#   - ROS_DISTRO (default is indigo). Note that packages must be available for
-#     ubuntu 14.04 trusty.
-#   - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
-#     root). This should list all necessary repositories in wstool format (see
-#     the ros wiki). If the file does not exists then nothing happens.
-#
-# See the README.md for more information.
-#
-# Author: Felix Duvallet <[email protected]>
-
-# NOTE: The build lifecycle on Travis.ci is something like this:
-#    before_install
-#    install
-#    before_script
-#    script
-#    after_success or after_failure
-#    after_script
-#    OPTIONAL before_deploy
-#    OPTIONAL deploy
-#    OPTIONAL after_deploy
-
-################################################################################
-
-# Use ubuntu trusty (14.04) with sudo privileges.
-dist: trusty
+# We cannot use latest ROS distributions in travis since we are limited to trusty
+# So, let's use docker.
 sudo: required
-language:
-  - generic
-cache:
-  - apt
-
-# Configuration variables. All variables are global now, but this can be used to
-# trigger a build matrix for different ROS distributions if desired.
+dist: trusty
+language: c++
+notifications:
 env:
-  global:
-    - ROS_DISTRO=indigo
-    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
-    - 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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-  - sudo apt-get update -qq
-  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  # === Install a more recent MRPT version from PPA repo ===
-  - sudo add-apt-repository ppa:joseluisblancoc/mrpt -y 
-  - sudo apt-get update -qq
-  - sudo apt-get -y install libmrpt-dev
-  # ======
-  - rosdep update
-
-# 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 .
-
-# Install all dependencies, using wstool first and rosdep second.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+  matrix:
+    - CI_ROS_DISTRO=kinetic MRPT_BRANCH="2.0" MRPT_PPA="ppa:joseluisblancoc/mrpt"
+    - CI_ROS_DISTRO=kinetic MRPT_BRANCH="1.5" MRPT_PPA="ppa:joseluisblancoc/mrpt-1.5"
+#    - ROS_DISTRO=kinetic BUILDER='catkin_make_isolated'   BUILDER='catkin_make'
 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
-
-# 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).
+  - case $CI_ROS_DISTRO in "kinetic") export DISTRO=xenial;; "lunar") export DISTRO=xenial;; esac;
+  - export DOCKER_IMAGE=ubuntu:$DISTRO
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - if [ ! "$ROS_PARALLEL_JOBS" ]; then export ROS_PARALLEL_JOBS="-j8 -l8";  fi
+  - docker images
 script:
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  - cd ~/catkin_ws
-  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
-  # Run the tests, ensuring the path is set correctly.
-  - source devel/setup.bash
-  - catkin_make run_tests && catkin_test_results
+  - docker run -v $HOME:$HOME -e MRPT_PPA -e CI_SOURCE_PATH -e REPOSITORY_NAME -e HOME -e DISTRO -e CI_ROS_DISTRO -e ROS_PARALLEL_JOBS $DOCKER_IMAGE bash -c 'cd $CI_SOURCE_PATH; source .travis.sh'