.travis.sh

#!/bin/bash

set -ex

apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg git sed build-essential # for docker
echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections

echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
sudo sh -c "echo \"deb ${REPOSITORY} `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

# Install ROS
if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
    sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon python-is-python3
else
    sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
fi
sudo apt-get install -y -q ros-$ROS_DISTRO-catkin

source /opt/ros/${ROS_DISTRO}/setup.bash

# Setup for rosdep
sudo rosdep init
# use snapshot of rosdep list
    # https://github.com/ros/rosdistro/pull/31570#issuecomment-1000497517
if [[ "$ROS_DISTRO" = "kinetic" ]]; then
    sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
    sudo wget https://gist.githubusercontent.com/cottsay/b27a46e53b8f7453bf9ff637d32ea283/raw/476b3714bb90cfbc6b8b9d068162fc6408fa7f76/30-xenial.list -O /etc/ros/rosdep/sources.list.d/30-xenial.list
fi
rosdep update --include-eol-distros

# Install source code
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
cp -r ${CI_SOURCE_PATH} src/${REPOSITORY_NAME} # copy the whole contents instead of create symbolic link
wstool init src
wstool merge -t src src/${REPOSITORY_NAME}/aerial_robot_${ROS_DISTRO}.rosinstall
wstool update -t src
rosdep install --from-paths src -y -q -r --ignore-src --rosdistro ${ROS_DISTRO} # -r is indisapensible

if [ ${ROS_DISTRO} = 'kinetic' ]; then
    path=~/.gazebo/models/sun
    echo "manually download the sun gazebo model to ${path}"
    mkdir -p ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_2.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_3.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_4.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model.config -P ${path}

    path=~/.gazebo/models/ground_plane
    echo "manually download the ground_plane gazebo model to ${path}"
    mkdir -p ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_2.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_3.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_4.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.sdf -P ${path}
    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.config -P ${path}
fi

if [[ "$ROS_DISTRO" = "kinetic" ]]; then
    # to use c++17
    sudo apt-get install -y software-properties-common
    sudo add-apt-repository ppa:ubuntu-toolchain-r/test
    sudo apt update
    sudo apt install -y g++-7
    export CXX='g++-7'
    export CC='gcc-7'
fi

# Build
catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
catkin build --no-status
catkin build --catkin-make-args run_tests -- -i --no-deps --no-status -p 1 -j 1 aerial_robot
catkin_test_results --verbose build || catkin_test_results --all build