From 0834ed86bb5df5b912f79b778a3777f68097714c Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 13:31:00 -0500 Subject: [PATCH 1/8] Fixing python version issues in Travis build --- .travis.yml | 64 ++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 46 insertions(+), 18 deletions(-) diff --git a/.travis.yml b/.travis.yml index 4b51c95..a15fd5b 100644 --- a/.travis.yml +++ b/.travis.yml @@ -48,6 +48,7 @@ language: - generic cache: - apt + - pip # Configuration variables. All variables are global now, but this can be used to # trigger a build matrix for different ROS distributions if desired. @@ -58,6 +59,7 @@ env: - CI_SOURCE_PATH=$(pwd) - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - ROS_OS_OVERRIDE="ubuntu:14.04:trusty" - ROS_PARALLEL_JOBS='-j8 -l6' ################################################################################ @@ -67,23 +69,49 @@ before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - - sudo apt-get update -qq - - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin + - sudo apt-get install -y ros-$ROS_DISTRO-catkin + # have to apt-get install rosdep or the command-line tool won't work + - sudo apt-get install -y python-rosdep + + #use pip install, because otherwise travis can't find things + - pip install catkin-pkg + - pip install rosdep + - pip install wstool + - pip install empy + - pip install setuptools + +# These packages are installed when using apt-get +# - pip install dateutil +# - pip install docutils +# - pip install nose +# - pip install pil +# - pip install pygments +# - pip install roman +# - pip install coverage +# - pip install nose-doc +# - pip install pil-doc +# - pip install pil-dbg +# - pip install catkin-pkg-modules + # end debugging + + - sudo apt-get remove -y mongodb # For moveit + - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" - source /opt/ros/$ROS_DISTRO/setup.bash # Prepare rosdep to install dependencies. - sudo rosdep init - rosdep update - # Prereqs - - sudo apt-get install -y python-dev bison swig - - sudo apt-get install -y espeak python-espeak python-pyaudio - - sudo apt-get install -y python-pip - - yes | sudo pip install aenum - - wget https://sourceforge.net/projects/cmusphinx/files/sphinxbase/5prealpha/sphinxbase-5prealpha.tar.gz - - tar -xzvf sphinxbase-5prealpha.tar.gz && mv sphinxbase-5prealpha sphinxbase - - cd sphinxbase && ./configure && make && sudo make install && cd .. - - wget https://sourceforge.net/projects/cmusphinx/files/pocketsphinx/5prealpha/pocketsphinx-5prealpha.tar.gz - - tar -xzvf pocketsphinx-5prealpha.tar.gz && mv pocketsphinx-5prealpha pocketsphinx - - cd pocketsphinx && ./configure && make clean all && sudo make install - - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib + - sudo apt-get install -y libeigen3-dev + # Specific for freenect2 + - git clone https://github.com/OpenKinect/libfreenect2.git + - sudo apt-get install build-essential cmake pkg-config + - sudo apt-get install -y libturbojpeg libjpeg-turbo8-dev + - sudo apt-get install libopenni2-dev + - sudo apt-get install libnlopt-dev + - cd libfreenect2/depends && ./download_debs_trusty.sh && sudo dpkg -i debs/libusb*deb && sh install_ubuntu.sh + - sudo dpkg -i libglfw3*_3.0.4-1_*.deb && sudo apt-get install mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev + - cd .. && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 && make && make install + - sudo ln -sf ~/freenect2/lib/cmake/freenect2/freenect2Config.cmake /usr/share/cmake-3.2/Modules/Findfreenect2.cmake + # Create a catkin workspace with the package under integration. install: @@ -104,12 +132,14 @@ install: before_script: # source dependencies: install using wstool. - cd ~/catkin_ws/src + - git clone https://github.com/StanleyInnovation/vector_v1.git # change later + - git clone https://github.com/GT-RAIL/rail_manipulation_msgs.git - 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 + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO # Compile and test (fail if any step fails). If the CATKIN_OPTIONS file exists, # use it as an argument to catkin_make, for example to blacklist certain @@ -124,12 +154,10 @@ script: - source /opt/ros/$ROS_DISTRO/setup.bash - cd ~/catkin_ws - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) - - catkin_make install + - catkin_make install -DSETUPTOOLS_DEB_LAYOUT=OFF # Run the tests, ensuring the path is set correctly. - source devel/setup.bash - cd $CI_SOURCE_PATH - pwd - # Quick test for espeak speech_synth - - cd ~/catkin_ws/install/lib/hlpr_speech_synthesis - - python speech_synthesizer.py --say "Hello World" + # currently no tests - just verify that we didn't break catkin_make #- catkin_make run_tests && catkin_make test From 5ab150fa788f3853e9fbd23d89c1f26f5759e010 Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 13:56:08 -0500 Subject: [PATCH 2/8] making sure not to mess anything else up --- .travis.yml | 48 +++++++++++++++++------------------------------- 1 file changed, 17 insertions(+), 31 deletions(-) diff --git a/.travis.yml b/.travis.yml index a15fd5b..e1089b2 100644 --- a/.travis.yml +++ b/.travis.yml @@ -69,6 +69,7 @@ before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - - sudo apt-get update -qq + - sudo apt-get install -y ros-$ROS_DISTRO-catkin # have to apt-get install rosdep or the command-line tool won't work - sudo apt-get install -y python-rosdep @@ -80,38 +81,23 @@ before_install: - pip install empy - pip install setuptools -# These packages are installed when using apt-get -# - pip install dateutil -# - pip install docutils -# - pip install nose -# - pip install pil -# - pip install pygments -# - pip install roman -# - pip install coverage -# - pip install nose-doc -# - pip install pil-doc -# - pip install pil-dbg -# - pip install catkin-pkg-modules - # end debugging - - sudo apt-get remove -y mongodb # For moveit - - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" - source /opt/ros/$ROS_DISTRO/setup.bash # Prepare rosdep to install dependencies. - sudo rosdep init - rosdep update - - sudo apt-get install -y libeigen3-dev - # Specific for freenect2 - - git clone https://github.com/OpenKinect/libfreenect2.git - - sudo apt-get install build-essential cmake pkg-config - - sudo apt-get install -y libturbojpeg libjpeg-turbo8-dev - - sudo apt-get install libopenni2-dev - - sudo apt-get install libnlopt-dev - - cd libfreenect2/depends && ./download_debs_trusty.sh && sudo dpkg -i debs/libusb*deb && sh install_ubuntu.sh - - sudo dpkg -i libglfw3*_3.0.4-1_*.deb && sudo apt-get install mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev - - cd .. && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 && make && make install - - sudo ln -sf ~/freenect2/lib/cmake/freenect2/freenect2Config.cmake /usr/share/cmake-3.2/Modules/Findfreenect2.cmake - + # Prereqs + - sudo apt-get install -y python-dev bison swig + - sudo apt-get install -y espeak python-espeak python-pyaudio + - sudo apt-get install -y python-pip + - yes | sudo pip install aenum + - wget https://sourceforge.net/projects/cmusphinx/files/sphinxbase/5prealpha/sphinxbase-5prealpha.tar.gz + - tar -xzvf sphinxbase-5prealpha.tar.gz && mv sphinxbase-5prealpha sphinxbase + - cd sphinxbase && ./configure && make && sudo make install && cd .. + - wget https://sourceforge.net/projects/cmusphinx/files/pocketsphinx/5prealpha/pocketsphinx-5prealpha.tar.gz + - tar -xzvf pocketsphinx-5prealpha.tar.gz && mv pocketsphinx-5prealpha pocketsphinx + - cd pocketsphinx && ./configure && make clean all && sudo make install + - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib # Create a catkin workspace with the package under integration. install: @@ -132,14 +118,12 @@ install: before_script: # source dependencies: install using wstool. - cd ~/catkin_ws/src - - git clone https://github.com/StanleyInnovation/vector_v1.git # change later - - git clone https://github.com/GT-RAIL/rail_manipulation_msgs.git - 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 + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO # Compile and test (fail if any step fails). If the CATKIN_OPTIONS file exists, # use it as an argument to catkin_make, for example to blacklist certain @@ -159,5 +143,7 @@ script: - source devel/setup.bash - cd $CI_SOURCE_PATH - pwd - # currently no tests - just verify that we didn't break catkin_make + # Quick test for espeak speech_synth + - cd ~/catkin_ws/install/lib/hlpr_speech_synthesis + - python speech_synthesizer.py --say "Hello World" #- catkin_make run_tests && catkin_make test From 129094799049543374d554eda230ee0957663e9b Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 15:21:37 -0500 Subject: [PATCH 3/8] fixing dependencies for travis build --- .travis.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.travis.yml b/.travis.yml index e1089b2..0d1763a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -80,6 +80,9 @@ before_install: - pip install wstool - pip install empy - pip install setuptools + - pip install aenum + - pip install espeak + - pip install pyaudio - source /opt/ros/$ROS_DISTRO/setup.bash From 90a1505020a054a87b14d6db2750f1331d33ee5a Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 15:25:02 -0500 Subject: [PATCH 4/8] fixing dependencies for travis build --- .travis.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 0d1763a..14840d2 100644 --- a/.travis.yml +++ b/.travis.yml @@ -81,7 +81,6 @@ before_install: - pip install empy - pip install setuptools - pip install aenum - - pip install espeak - pip install pyaudio From 43b8165d1edd78fb687616f768e266b2e2cf2445 Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 15:28:51 -0500 Subject: [PATCH 5/8] fixing dependencies for travis build --- .travis.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.yml b/.travis.yml index 14840d2..d94c7a8 100644 --- a/.travis.yml +++ b/.travis.yml @@ -73,6 +73,7 @@ before_install: - sudo apt-get install -y ros-$ROS_DISTRO-catkin # have to apt-get install rosdep or the command-line tool won't work - sudo apt-get install -y python-rosdep + - sudo apt-get install libportaudio2 #use pip install, because otherwise travis can't find things - pip install catkin-pkg From 51949aba85529d92852c6694d77f6d8726762c13 Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 15:34:33 -0500 Subject: [PATCH 6/8] fixing dependencies for travis build --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index d94c7a8..33b1d08 100644 --- a/.travis.yml +++ b/.travis.yml @@ -73,7 +73,7 @@ before_install: - sudo apt-get install -y ros-$ROS_DISTRO-catkin # have to apt-get install rosdep or the command-line tool won't work - sudo apt-get install -y python-rosdep - - sudo apt-get install libportaudio2 + - sudo apt-get install python-pyaudio #use pip install, because otherwise travis can't find things - pip install catkin-pkg @@ -91,7 +91,7 @@ before_install: - rosdep update # Prereqs - sudo apt-get install -y python-dev bison swig - - sudo apt-get install -y espeak python-espeak python-pyaudio + - sudo apt-get install -y espeak python-espeak - sudo apt-get install -y python-pip - yes | sudo pip install aenum - wget https://sourceforge.net/projects/cmusphinx/files/sphinxbase/5prealpha/sphinxbase-5prealpha.tar.gz From 9ef5c8794e33b41ec586d614e357648da61584e3 Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 15:45:07 -0500 Subject: [PATCH 7/8] fixing dependencies for travis build --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 33b1d08..98c3d28 100644 --- a/.travis.yml +++ b/.travis.yml @@ -73,7 +73,7 @@ before_install: - sudo apt-get install -y ros-$ROS_DISTRO-catkin # have to apt-get install rosdep or the command-line tool won't work - sudo apt-get install -y python-rosdep - - sudo apt-get install python-pyaudio + - sudo apt-get install python-pyaudio libportaudio2 #use pip install, because otherwise travis can't find things - pip install catkin-pkg From ce95886fbb6befc7524e47e4dd66466d7563671c Mon Sep 17 00:00:00 2001 From: Elaine Date: Fri, 28 Jul 2017 15:48:56 -0500 Subject: [PATCH 8/8] fixing dependencies for travis build --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 98c3d28..4f2b6e0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -82,7 +82,7 @@ before_install: - pip install empy - pip install setuptools - pip install aenum - - pip install pyaudio + #- pip install pyaudio - source /opt/ros/$ROS_DISTRO/setup.bash