From 7716256ef09845dc039225376b453358438eb0c6 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 22 Mar 2016 14:25:47 +0100
Subject: [PATCH] Add travis support
---
.travis.yml | 38 +++++++++++++++
.travis/build | 115 ++++++++++++++++++++++++++++++++++++++++++++++
.travis/run | 15 ++++++
.travis/script.py | 36 +++++++++++++++
4 files changed, 204 insertions(+)
create mode 100644 .travis.yml
create mode 100755 .travis/build
create mode 100755 .travis/run
create mode 100644 .travis/script.py
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..5fcd13c
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,38 @@
+language: cpp
+sudo: required
+dist: trusty
+branches:
+ only:
+ - master
+ - devel
+compiler:
+- gcc
+addons:
+ apt:
+ packages:
+ - g++
+ - cmake
+ - libboost-dev
+ - libboost-filesystem-dev
+ - libboost-system-dev
+ - git
+ - flex
+ - bison
+ - asciidoc
+ - autoconf
+ - source-highlight
+ - doxygen
+ - libtinyxml-dev
+ - libltdl-dev
+ - liblog4cxx10-dev
+ - python2.7-dev
+ - doxygen-latex
+before_install:
+- git submodule update --init --recursive
+- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+- sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
+- sudo apt-get update -qq
+- sudo apt-get install -qq liburdfdom-dev libassimp-dev ros-indigo-xacro ros-indigo-kdl-parser ros-indigo-common-msgs ros-indigo-tf ros-indigo-tf-conversions ros-indigo-libccd ros-indigo-octomap ros-indigo-resource-retriever ros-indigo-srdfdom ros-indigo-pr2-robot libomniorb4-dev omniorb-nameserver omniidl omniidl-python
+
+script: ./.travis/build
+# after_script: ./.travis/run
diff --git a/.travis/build b/.travis/build
new file mode 100755
index 0000000..54ecd1f
--- /dev/null
+++ b/.travis/build
@@ -0,0 +1,115 @@
+#!/bin/bash
+set -ev
+
+# Directories.
+root_dir=`pwd`
+build_dir="$root_dir/_travis/build"
+install_dir="$root_dir/_travis/install"
+export DEVEL_DIR="$root_dir/_travis/"
+
+# Shortcuts.
+git_clone="git clone --recursive --quiet"
+git_branch=devel
+
+# Create layout.
+rm -rf "$build_dir" "$install_dir"
+mkdir -p "$build_dir"
+mkdir -p "$install_dir"
+
+# Setup environment variables.
+export LD_LIBRARY_PATH="$install_dir/lib:$LD_LIBRARY_PATH"
+export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
+
+cmake_args="-DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_INSTALL_PREFIX:STRING='$install_dir' -DCMAKE_BUILD_TYPE=Release"
+make_args="-s -j4"
+
+install_eigen3()
+{
+ echo "--> Compiling Eigen"
+ mkdir -p "$build_dir"
+ cd "$build_dir"
+ wget --quiet -O - "http://bitbucket.org/eigen/eigen/get/3.2.4.tar.bz2" | tar -xj
+ mv eigen-eigen-10219c95fe65 eigen3
+ cd "$build_dir/eigen3"
+ mkdir build
+ cd build
+ cmake $cmake_args -Dpkg_config_libdir="$install_dir/lib" ..
+ make $make_args install
+}
+
+install_doxygen()
+{
+ echo "--> Compiling Doxygen"
+ mkdir -p "$build_dir"
+ cd "$build_dir"
+ wget --quiet -O - "https://github.com/doxygen/doxygen/archive/Release_1_8_10.tar.gz" | tar -xz;
+ cd "$build_dir/doxygen-Release_1_8_10"
+ mkdir build
+ cd build
+ cmake $cmake_args ..
+ make $make_args install
+}
+
+check_dependency()
+{
+ echo "--> Compiling $1"
+ mkdir -p "$build_dir/$1"
+ cd "$build_dir"
+ $git_clone "git://github.com/$1" "$1"
+ cd "$build_dir/$1"
+ mkdir build
+ cd build
+ cmake $cmake_args ..
+ make $make_args
+}
+
+install_dependency()
+{
+ echo "--> Compiling $1"
+ mkdir -p "$build_dir/$1"
+ cd "$build_dir"
+ if [ "$#" -eq "2" ]; then
+ branch=$2
+ else
+ branch=$git_branch
+ fi
+ $git_clone --branch $branch "git://github.com/$1" "$1"
+ cd "$build_dir/$1"
+ mkdir build
+ cd build
+ cmake $cmake_args ..
+ make $make_args install
+}
+
+# Install dependencies
+
+install_eigen3
+pkg-config --exists "eigen3 >= 3.2.4" --print-errors
+if [ ! "$?" -eq "0" ]; then echo "Wrong eigen version"; exit 1; fi
+
+install_doxygen
+
+wget --quiet -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/config.sh
+source $DEVEL_DIR/config.sh
+
+install_dependency humanoid-path-planner/hpp-util devel
+install_dependency humanoid-path-planner/hpp-fcl devel
+
+install_dependency humanoid-path-planner/hpp-model devel
+install_dependency humanoid-path-planner/qpOASES master
+install_dependency humanoid-path-planner/hpp-constraints devel
+install_dependency humanoid-path-planner/hpp-statistics devel
+install_dependency humanoid-path-planner/hpp-core devel
+install_dependency humanoid-path-planner/hpp-model-urdf devel
+install_dependency humanoid-path-planner/hpp-corbaserver devel
+install_dependency humanoid-path-planner/iai_maps devel
+
+# Compile and run tests
+cd "$build_dir"
+cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir" \
+ -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
+make $make_args
+# make $make_args test
+make $make_args install
diff --git a/.travis/run b/.travis/run
new file mode 100755
index 0000000..a5a04a8
--- /dev/null
+++ b/.travis/run
@@ -0,0 +1,15 @@
+#!/bin/bash
+set -ev
+
+# Directories.
+root_dir=`pwd`
+build_dir="$root_dir/_travis/build"
+install_dir="$root_dir/_travis/install"
+
+export DEVEL_DIR=$install_dir
+# wget -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/config.sh
+source $DEVEL_DIR/config.sh
+
+hppcorbaserver &
+
+python $build_dir/.travis/script.py
diff --git a/.travis/script.py b/.travis/script.py
new file mode 100644
index 0000000..a1e0d92
--- /dev/null
+++ b/.travis/script.py
@@ -0,0 +1,36 @@
+from hpp.corbaserver.pr2 import Robot
+robot = Robot ('pr2')
+robot.setJointBounds ("base_joint_xy", [-4, -3, -5, -3])
+
+from hpp.corbaserver import ProblemSolver
+ps = ProblemSolver (robot)
+
+from hpp.gepetto import Viewer
+r = Viewer (ps)
+
+q_init = robot.getCurrentConfig ()
+q_goal = q_init [::]
+q_init [0:2] = [-3.2, -4]
+rank = robot.rankInConfiguration ['torso_lift_joint']
+q_init [rank] = 0.2
+r (q_init)
+
+q_goal [0:2] = [-3.2, -4]
+rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
+q_goal [rank] = 0.5
+rank = robot.rankInConfiguration ['l_elbow_flex_joint']
+q_goal [rank] = -0.5
+rank = robot.rankInConfiguration ['r_shoulder_lift_joint']
+q_goal [rank] = 0.5
+rank = robot.rankInConfiguration ['r_elbow_flex_joint']
+q_goal [rank] = -0.5
+r (q_goal)
+
+r.loadObstacleModel ("iai_maps", "kitchen_area", "kitchen")
+
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+ps.addPathOptimizer ("RandomShortcut")
+
+ps.solve ()
--
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