Imported upstream version '0.1.11' of 'upstream'

tork-a · Apr 27, 2018 · b6ba078 · b6ba078
1 parent 6bfe12b
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diff --git a/.travis/.travis.yml b/.travis/.travis.yml
@@ -2,7 +2,7 @@
 #   Generic MoveIt Travis Continuous Integration Configuration File
 #   Works with all MoveIt! repositories/branches
 #   Author: Dave Coleman, Jonathan Bohren
-language: generic
+language: c++
 cache:
   apt: true
   pip: true
@@ -12,8 +12,6 @@ sudo: required
 dist: trusty
 services:
   - docker
-matrix:
-  fast_finish: true
 notifications:
   slack: jsk-robotics:Av7tc8wj3IWkLYvlTzHE7x2g
 env:
@@ -49,16 +47,30 @@ env:
     - USE_DOCKER=true ROS_DISTRO=jade TRAVIS_REPO_SLUG=jsk-ros-pkg/jsk_travis
     - USE_DOCKER=true ROS_DISTRO=jade TRAVIS_REPO_SLUG=jsk-ros-pkg/jsk_travis TRAVIS_BRANCH=master TRAVIS_COMMIT='HEAD' TRAVIS_PULL_REQUEST='false'
     - USE_DOCKER=true ROS_DISTRO=kinetic
+    - USE_DOCKER=true ROS_DISTRO=lunar
     # gazebo
     - USE_DOCKER=true TEST_GAZEBO=true ROS_DISTRO=indigo
     - USE_DOCKER=true TEST_GAZEBO=true ROS_DISTRO=jade
     - USE_DOCKER=true TEST_GAZEBO=true ROS_DISTRO=kinetic
     - USE_JENKINS=true TEST_GAZEBO=true ROS_DISTRO=indigo
     - USE_JENKINS=true TEST_GAZEBO=true ROS_DISTRO=jade
     - USE_JENKINS=true TEST_GAZEBO=true ROS_DISTRO=kinetic
+matrix:
+  fast_finish: true
+  allow_failures:
+    - env: USE_DOCKER=true TEST_GAZEBO=true ROS_DISTRO=jade
+    - env: USE_DOCKER=true TEST_GAZEBO=true ROS_DISTRO=kinetic
+    - env: USE_JENKINS=true TEST_GAZEBO=true ROS_DISTRO=jade
+    - env: USE_JENKINS=true TEST_GAZEBO=true ROS_DISTRO=kinetic
+  include:
+    - env:
+        - USE_DOCKER=true
+        - ROS_DISTRO=kinetic
+      sudo: false
 before_script:
+  - export ROSDEP_ADDITIONAL_OPTIONS='-n -v --ignore-src' # run rosdep without -r and -v
   - mkdir .travis; cp -r * .travis # need to copy, since directory starting from . is ignoreed by catkin build
-  - export BEFORE_SCRIPT="rm -fr jsk_travis/CATKIN_IGNORE; ${BEFORE_SCRIPT}"
+  - export BEFORE_SCRIPT="rm -fr jsk_travis/CATKIN_IGNORE; git clone https://github.com/ros/ros_tutorials -b ${ROS_DISTRO}-devel;${BEFORE_SCRIPT}"
   - if [ "${USE_CATKIN_MAKE}" == "true" ] ;then sed -i 's@catkin build -i -v --limit-status-rate 0.001@catkin_make@' .travis/travis.sh; fi
   - if [ "${USE_CATKIN_MAKE}" == "true" ] ;then sed -i 's@catkin run_tests --no-deps --limit-status-rate 0.001@catkin_make run_tests@' .travis/travis.sh; fi
   - if [ "${USE_CATKIN_MAKE}" == "true" ] ;then export CATKIN_PARALLEL_JOBS="--no-color" ; fi

diff --git a/.travis/CHANGELOG.rst b/.travis/CHANGELOG.rst
@@ -2,6 +2,91 @@
 Changelog for package jsk_travis
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.35 (2017-12-30)
+-------------------
+* Merge pull request `#353 <https://github.com/jsk-ros-pkg/jsk_travis/issues/353>`_ from k-okada/exit_rosdep
+  when rosdep install is called with -r, do not exit with 1
+* when rosdep install is called with -r, do not exit with 1
+* Merge pull request `#351 <https://github.com/jsk-ros-pkg/jsk_travis/issues/351>`_ from furushchev/fix-eof-error
+  travis.sh: fix EOFError
+* travis.sh: fix EOFError
+* Contributors: Furushchev, Kei Okada
+
+0.4.34 (2017-11-01)
+-------------------
+* travis.sh: use get-pip.py to get pipt (`#349 <https://github.com/jsk-ros-pkg/jsk_travis/issues/349>`_)
+* Contributors: Yuki Furuta
+
+0.4.33 (2017-08-30)
+-------------------
+* Fix typo about docker pulling DOCKER_IMAGE_JENKINS (`#346 <https://github.com/jsk-ros-pkg/jsk_travis/issues/346>`_)
+* Contributors: Kentaro Wada
+
+0.4.32 (2017-08-29)
+-------------------
+* Run docker pull to get latest docker image if possible (`#345 <https://github.com/jsk-ros-pkg/jsk_travis/issues/345>`_)
+* Support sudo: false of Travis option (`#344 <https://github.com/jsk-ros-pkg/jsk_travis/issues/344>`_)
+* Documentize NOT_TEST_INSTALL (`#343 <https://github.com/jsk-ros-pkg/jsk_travis/issues/343>`_)
+* Support testing on lunar (`#342 <https://github.com/jsk-ros-pkg/jsk_travis/issues/342>`_)
+* Contributors: Kentaro Wada
+
+0.4.31 (2017-08-19)
+-------------------
+* use http instaed of https (`#341 <https://github.com/jsk-ros-pkg/jsk_travis/issues/341>`_)
+* Contributors: Kei Okada
+
+0.4.30 (2017-08-06)
+-------------------
+* job_name = 'jenkins+ job_name + TRAVIS_REPO_SLUG' (`#340 <https://github.com/jsk-ros-pkg/jsk_travis/issues/340>`_)
+* Contributors: Kei Okada
+
+0.4.29 (2017-08-05)
+-------------------
+* filename must be less than 255 length (`#339 <https://github.com/jsk-ros-pkg/jsk_travis/issues/339>`_)
+* Contributors: Kei Okada
+
+0.4.28 (2017-08-05)
+-------------------
+* run travis without rosdep -r (`#337 <https://github.com/jsk-ros-pkg/jsk_travis/issues/337>`_)
+  * add -v rosdep options
+  * add ros_tutorials to workspece for test
+  * run travis without rosdep -r
+
+* to run docker, we do not need -ti option (`#338 <https://github.com/jsk-ros-pkg/jsk_travis/issues/338>`_)
+  -i, --interactive             Keep STDIN open even if not attached
+  -t, --tty                     Allocate a pseudo-TTY
+* Contributors: Kei Okada
+
+0.4.27 (2017-07-18)
+-------------------
+* apt-get install patch command (`#332 <https://github.com/jsk-ros-pkg/jsk_travis/issues/332>`_ )
+* Support ROSDEP_ADDITIONAL_OPTIONS on Jenkins (`#333 <https://github.com/jsk-ros-pkg/jsk_travis/issues/333>`_)
+* use language: c++ , to avoid custom python (`#334 <https://github.com/jsk-ros-pkg/jsk_travis/issues/334>`_)
+* Contributors: Kei Okada, Kentaro Wada
+
+0.4.26 (2017-07-01)
+-------------------
+* Correct exit status in rosdep-install.sh (`#331 <https://github.com/jsk-ros-pkg/jsk_travis/issues/331>`_ )
+* Add option to use custom docker image in Jenkins job (`#330 <https://github.com/jsk-ros-pkg/jsk_travis/issues/330>`_ )
+  * Update README for DOCKER_IMAGE_JENKINS env
+  * Add DOCKER_IMAGE_JENKINS option
+
+* Run rosdep init when required (`#327 <https://github.com/jsk-ros-pkg/jsk_travis/issues/327>`_)
+  * This is necessary to use ros:indigo docker image by DOCKER_IMAGE env,
+     because rosdep init has already been called.
+* Contributors: Kentaro Wada
+
+0.4.25 (2017-02-17)
+-------------------
+* Use X server of travis node (`#323 <https://github.com/jsk-ros-pkg/jsk_travis/issues/323>`_)
+  * [.travis.yml] allow failures on jade / kinetic gazebo test
+  * enable gazebo camera test
+  * Use host X11 server for docker
+* [travis_jenkins.py] delete: remove containers more than 48 hours ago (`#324 <https://github.com/jsk-ros-pkg/jsk_travis/issues/324>`_)
+  * [README.md] add description of DOCKER_RUN_OPTION
+  * [travis_jenkins.py] delete: remove containers more than 48 hours ago
+* Contributors: Kei Okada, Yuki Furuta
+
 0.4.24 (2017-02-14)
 -------------------
 * [travis.sh] fix typo EXTRA_DEBS -> EXTRA_DEBS

diff --git a/.travis/README.md b/.travis/README.md
@@ -74,6 +74,15 @@ see [this document](https://github.com/jsk-ros-pkg/jsk_common#restart-travis-fro
 
   Force to use docker on travis.
 
+* `DOCKER_IMAGE_JENKINS` (defualt: `ros-ubuntu:$(lsb_release -sr)`)
+
+  Docker image used in Jenkins.
+
+* `DOCKER_RUN_OPTION` (default: `--rm`)
+
+  Options passed to `docker run` if `USE_DOCKER` is `true`. Ignored otherwise.  
+  **NOTE** If `--rm` is not set, the container remains even after job is finished. You must be responsible for removing it.
+
 * `USE_JENKINS` (default: `false`)
 
   Force to run test on jenkins. jenkins server is more powerful than travis environment,
@@ -109,6 +118,10 @@ see [this document](https://github.com/jsk-ros-pkg/jsk_common#restart-travis-fro
 
   The options passed when rosdep install.
 
+* `NOT_TEST_INSTALL` (none or `true`, default: none)
+
+  Flag to skip testing catkin install in addition to devel build.
+
 ## Config Files
 
 * `.travis.rosinstall`, `.travis.rosinstall.{{ ROS_DISTRO }}`
@@ -123,7 +136,7 @@ see [this document](https://github.com/jsk-ros-pkg/jsk_common#restart-travis-fro
 
 ```
 mv CATKIN_IGNORE CATKIN_IGNORE.bak
-catkin_generate_changelog --skip-merges
+catkin_generate_changelog
 emacs -nw CHANGELOG.rst                 # prettify CHANGELOG so we can understand what has changed
 git commit -m "update CHANGELOG" CHANGELOG.rst
 catkin_prepare_release --no-push        # please type "Y" to all

diff --git a/.travis/docker.sh b/.travis/docker.sh
@@ -106,21 +106,17 @@ if [ "$(which sudo)" = "" ]; then
 fi
 # install fundamental packages
 sudo -E apt-get -y -qq update
-sudo -E apt-get -y -qq install apt-utils build-essential git lsb-release python-pip python-setuptools wget
+sudo -E apt-get -y -qq install apt-utils build-essential curl git lsb-release python-pip python-setuptools wget
 
 # add user for testing
 adduser --disabled-password --gecos "" travis
 adduser travis sudo
 chown -R travis:travis $HOME
 echo "travis ALL=(ALL) NOPASSWD:ALL" | sudo tee -a /etc/sudoers
 
-# setup virtual display
-sudo -E apt-get -y -qq install mesa-utils xserver-xorg-video-dummy xvfb
-export DISPLAY=:0
-sudo -E Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config dummy.xorg.conf $DISPLAY &
-sleep 3
+# check display
+sudo -E apt-get -y -qq install mesa-utils
 glxinfo | grep GLX
-export QT_X11_NO_MITSHM=1 # see http://wiki.ros.org/docker/Tutorials/GUI
 
 # ensure setting testing environment same as travis
 export USE_JENKINS=false

diff --git a/.travis/package.xml b/.travis/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>jsk_travis</name>
-  <version>0.4.24</version>
+  <version>0.4.35</version>
   <description>jsk_travis scripts</description>
   <license>BSD</license>
   <maintainer email="[email protected]">Kei Okada</maintainer>
@@ -13,6 +13,7 @@
   <build_depend>rostest</build_depend>
   <test_depend>rospy_tutorials</test_depend>
   <test_depend>gazebo_ros</test_depend>
+  <test_depend>gazebo_plugins</test_depend>
 
   <export/>
 </package>
diff --git a/.travis/rosdep-install.sh b/.travis/rosdep-install.sh
@@ -13,7 +13,14 @@ while [ $EXIT_STATUS == 1 -a $COUNT -lt 3 ] ; do  # try 3 times with "Continue i
     EXIT_STATUS=$?
     [ $EXIT_STATUS == 0 ] || sleep 30
 done
-[ $EXIT_STATUS == 0 ] || rosdep install -q -y --rosdistro $ROS_DISTRO $ROSDEP_ADDITIONAL_OPTIONS --from-paths ${ROS_PACKAGE_PATH_REVERSED} .
+if [ $EXIT_STATUS != 0 ]; then
+    rosdep install -q -y --rosdistro $ROS_DISTRO $ROSDEP_ADDITIONAL_OPTIONS --from-paths ${ROS_PACKAGE_PATH_REVERSED} .
+    EXIT_STATUS=$?
+fi
 
 find -L . -name manifest.xml.deprecated | xargs -n 1 -i dirname {} | xargs -n 1 -i mv `pwd`/{}/manifest.xml.deprecated `pwd`/{}/manifest.xml
 
+#if -r is included in ROSDEP_ADDITIONAL_OPTIONS, always returns true
+[[ "$ROSDEP_ADDITIONAL_OPTIONS" =~ " -r " ]] && exit 0
+
+exit $EXIT_STATUS
diff --git a/.travis/test/camera.sdf b/.travis/test/camera.sdf
@@ -0,0 +1,59 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="cam_robot">
+    <static>true</static>
+    <pose>0 0 0 0 0 0</pose>
+    <link name="camera_link">
+      <visual name="visual">
+        <pose>-0.055 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.04 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7 0.7 0.7 1</ambient>
+          <diffuse>0.7 0.7 0.7 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="visual">
+        <pose>0 0 0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.013</radius>
+            <length>0.01</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.1 0.1 0.1 1</ambient>
+          <diffuse>0.1 0.1 0.1 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <sensor name="cam" type="camera">
+        <camera>
+          <horizontal_fov>1.047</horizontal_fov>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>5.0</far>
+          </clip>
+        </camera>
+        <update_rate>15.0</update_rate>
+        <plugin filename="libgazebo_ros_camera.so" name="cam">
+          <cameraName>camera</cameraName>
+          <imageTopicName>image_raw</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <frameName>camera_link</frameName>
+        </plugin>
+      </sensor>
+    </link>
+  </model>
+</sdf>
diff --git a/.travis/test/gazebo.test b/.travis/test/gazebo.test
@@ -1,14 +1,29 @@
 <launch>
-  <include file="$(find gazebo_ros)/launch/shapes_world.launch" />
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="gui" value="false" />
+    <arg name="headless" value="true"/>
+  </include>
+  <node name="$(anon spawn_camera)" pkg="gazebo_ros" type="spawn_model" output="screen"
+        args="-sdf -file $(find jsk_travis)/test/camera.sdf -model cam"/>
 
   <test test-name="gazebo_sanity_checker" pkg="rostest" type="hztest"
-        retry="3" time-limit="180">
+        retry="3" time-limit="300">
     <rosparam>
       topic: /gazebo/model_states
       hz: 1000.0
-      hzerror: 500.0
+      hzerror: 800.0
       test_duration: 10.0
-      wait_time: 180.0
+      wait_time: 300.0
+    </rosparam>
+  </test>
+  <test test-name="gazebo_camera_sanity_checker" pkg="rostest" type="hztest"
+        retry="3" time-limit="300">
+    <rosparam>
+      topic: /camera/image_raw
+      hz: 15.0
+      hzerror: 15.0
+      test_duration: 10.0
+      wait_time: 300.0
     </rosparam>
   </test>
 </launch>