Merge pull request #163 from project-march/fix/PM-57-use-colcon

Fix use colcon

Author: RutgerVanBeek

.travis.yml

@@ -1,90 +1,41 @@
-dist: xenial
-sudo: required
-language:
-- cpp
-cache:
-- apt
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+language: generic # optional, just removes the language badge
+
+services:
+  - docker
+
 notifications:
   slack:
     secure: I7/Kqj/ZiaoW9bZzlDFYU2aFv1J3R0z5+6kDf9TI8AHsN9K/GYs05kG8gfpORmaBobF22AwpB/I5o8ga5nJGAP25SgX8bcP3jJaKUyfMxXj3ThkfINTMKeLhZqzh5c3ppBwHy62vdSDry4fyuIhtaWOa+8GqmI3D37/0yzFCPQLLYnSXoF5EKSFkKPytfVdwbOKE/uSgPbAy0xsPUKLEGdIhvFjyDzfj5KIHcYWFu9eus0GpuCJVJE/nGTz7PrQ9Rhuh3eVeJNn5CEXo+0Lgn8lghUY0xRH/0xn+mhjYZnxTNO18YRoiF8lUB+/phQx2E3GiDrtPd7BjtluKGIkgFMZM/dyzHN7lSeCJZ0nDhOuALNwdbhS8Hw18q5a6SanT4Kegno8ebDNwsEyHuiHy6D3XNE2PHIZ5SbSgX9MOaLBtarcHccAR19T+96mWJANS6rIKnhe0zW9+Jxl99mTCgcNjTmcm2YG5Axm8xOBmoK920I4ke1wfb9QLeMIOnQ/JM6DxkMbQGtoN49ztrg4cv+JwUOUnEn/yiLsz+p8EdaFiRLfAbww9VJ+1geDdGifv+TRq72RpTzGnNveNnRRysxBjfei3EwwoZqUFhZyVWQWqHuwSa8xFpxS3FMmDzP16oMAB/TuMV03MBTqNK/JDSMXq54Bs1pmtPJ4kvfGiKKo=
-addons:
-  apt:
-    packages:
-    - doxygen
-matrix:
-  include:
-  - name: Xenial kinetic
-    dist: xenial
-    env: ROS_DISTRO=kinetic
-env:
-  global:
-    ROS_DISTRO: kinetic
-    ROS_CI_DESKTOP: "`lsb_release -cs`"
-    CI_SOURCE_PATH: "$(pwd)"
-    ROSINSTALL_FILE: "$CI_SOURCE_PATH/dependencies.rosinstall"
-    CATKIN_OPTIONS: "$CI_SOURCE_PATH/catkin.options"
-    ROS_PARALLEL_JOBS: "-j8 -l6"
-    PYTHONPATH: "$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages"
-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 $ROS_KEY
-- sudo apt-get update -qq
-- sudo apt-get install dpkg
-- sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-ros-base
-- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main"
-  > /etc/apt/sources.list.d/ros-latest.list'
-- wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-- source /opt/ros/$ROS_DISTRO/setup.bash
-- sudo rosdep init
-- rosdep update
-- sudo apt-get install ros-kinetic-rosbash
-- sudo apt-get install ros-kinetic-roslaunch
-- pip install --user catkin_lint
-- pip install --user catkin_tools_document
-- sudo apt-get install python-catkin-tools
-install:
-- mkdir -p ~/catkin_ws/src
-- cd ~/catkin_ws
-- catkin init
-- catkin build
-- source devel/setup.bash
-- cd ~/catkin_ws/src
-- ln -s $CI_SOURCE_PATH .
-before_script:
-- cd ~/catkin_ws/src
-- wstool init
-- if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
-- wstool up
-- cd ~/catkin_ws
-- rosdep update
-- rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
-- cd src
-- cd ~/catkin_ws
-script:
-- source /opt/ros/$ROS_DISTRO/setup.bash
-- cd ~/catkin_ws
-- src/hardware-interface/build.sh
-- src/hardware-interface/doc.sh
+  email: false
 
+# include the following block if the C/C++ build artifacts should get cached by Travis,
+# CCACHE_DIR needs to get set as well to actually fill the cache
+cache:
+  directories:
+    - $HOME/.ccache
 
-# Code coverage
-after_success:
-- catkin build march_hardware -v --no-deps --catkin-make-args march_hardware_coverage
-- catkin build march_hardware_builder -v --no-deps --catkin-make-args march_hardware_builder_coverage
-- catkin build march_hardware_interface -v --no-deps --catkin-make-args march_hardware_interface_coverage
-- catkin build march_temperature_sensor_controller -v --no-deps --catkin-make-args march_temperature_sensor_controller_coverage
-- cd ~/catkin_ws/src/hardware-interface
-- bash <(curl -s https://codecov.io/bash) -f ~/catkin_ws/build/march_hardware/march_hardware_coverage.info
-- bash <(curl -s https://codecov.io/bash) -f ~/catkin_ws/build/march_hardware_builder/march_hardware_builder_coverage.info
-- bash <(curl -s https://codecov.io/bash) -f ~/catkin_ws/build/march_hardware_interface/march_hardware_interface_coverage.info
-- bash <(curl -s https://codecov.io/bash) -f ~/catkin_ws/build/march_temperature_sensor_controller/march_temperature_sensor_controller_coverage.info
+git:
+  quiet: true # optional, silences the cloning of the target repository
 
+# configure the build environment(s)
+# https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#variables-you-can-configure
+env:
+  global:
+    - ROS_REPO=ros
+    - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci
+    - BUILDER=colcon
+    - CATKIN_LINT=pedantic
+    - UPSTREAM_WORKSPACE='dependencies.rosinstall -march-iv/march_gait_scheduler -march-iv/march_gait_selection -march-iv/march_launch -march-iv/march_rqt_gait_selection -march-iv/march_rqt_input_device -march-iv/march_rqt_training_log -march-iv/march_safety -march-iv/march_sound_scheduler'
+    - AFTER_SCRIPT='builder_run_build "$target_ws/install" "$target_ws" --cmake-target-skip-unavailable --cmake-target roslint'
+  matrix:
+    - ROS_DISTRO=kinetic
+    - ROS_DISTRO=melodic
 
-deploy:
-  provider: pages
-  skip_cleanup: true
-  local_dir: "/home/travis/catkin_ws/docs/html"
-  github_token: "$GH_REPO_TOKEN"
-  on:
-    branch: develop
+# clone and run industrial_ci
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
+script:
+  - .industrial_ci/travis.sh

build.sh

@@ -1,16 +1,4 @@
-- git:
-    local-name: gait-generation
-    uri: https://github.com/project-march/gait-generation
-    version: develop
 - git:
     local-name: march-iv
     uri: https://github.com/project-march/march-iv
     version: develop
-- git:
-    local-name: simulation
-    uri: https://github.com/project-march/simulation
-    version: develop
-- git:
-    local-name: state-machine
-    uri: https://github.com/project-march/state-machine
-    version: develop

dependencies.rosinstall

@@ -4,18 +4,14 @@ project(march_hardware)
 add_compile_options(-std=c++11)
 
 find_package(catkin REQUIRED COMPONENTS
-    code_coverage
     roscpp
     roslint
-    rostest
     soem
 )
 
 catkin_package(
     INCLUDE_DIRS include
     CATKIN_DEPENDS
-    roscpp
-    soem
     LIBRARIES ${PROJECT_NAME}
 )
 
@@ -91,6 +87,8 @@ install(TARGETS slave_count_check
 
 ## Add gtest based cpp test target and link libraries
 if (CATKIN_ENABLE_TESTING)
+    find_package(code_coverage REQUIRED)
+    find_package(rostest REQUIRED)
 
     if(ENABLE_COVERAGE_TESTING)
         include(CodeCoverage)
@@ -120,7 +118,7 @@ if (CATKIN_ENABLE_TESTING)
     target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES} ${PROJECT_NAME} gtest)
 
     if(ENABLE_COVERAGE_TESTING)
-        set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*" "*/${PROJECT_NAME}/soem*")
+        set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*")
         add_code_coverage(
             NAME ${PROJECT_NAME}_coverage
             DEPENDS tests

march_hardware/CMakeLists.txt

@@ -12,16 +12,11 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>soem</build_depend>
-  <build_depend>code_coverage</build_depend>
-  <build_depend>roslint</build_depend>
-  <build_depend>rostest</build_depend>
+  <depend>roscpp</depend>
+  <depend>soem</depend>
 
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>soem</build_export_depend>
-  <build_export_depend>rostest</build_export_depend>
+  <build_depend>roslint</build_depend>
 
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>soem</exec_depend>
+  <test_depend>rostest</test_depend>
+  <test_depend>code_coverage</test_depend>
 </package>

march_hardware/package.xml

@@ -14,6 +14,7 @@ PowerDistributionBoard::PowerDistributionBoard(int slaveIndex, NetMonitorOffsets
   this->netDriverOffsets = netDriverOffsets;
   this->highVoltage = HighVoltage(slaveIndex, netMonitoringOffsets, netDriverOffsets);
   this->lowVoltage = LowVoltage(slaveIndex, netMonitoringOffsets, netDriverOffsets);
+  this->masterOnlineToggle = false;
 }
 
 float PowerDistributionBoard::getPowerDistributionBoardCurrent()

march_hardware/src/PowerDistributionBoard.cpp

@@ -4,18 +4,15 @@ project(march_hardware_builder)
 add_compile_options(-std=c++11 -Wall -g)
 
 find_package(catkin REQUIRED COMPONENTS
-    code_coverage
     march_hardware
     roscpp
     roslib
     roslint
-    rostest
 )
 
 catkin_package(
     INCLUDE_DIRS include
     CATKIN_DEPENDS
-    roscpp
     LIBRARIES ${PROJECT_NAME}
 )
 
@@ -58,6 +55,8 @@ install(TARGETS ${PROJECT_NAME}
 
 ## Add gtest based cpp test target and link libraries
 if (CATKIN_ENABLE_TESTING)
+    find_package(code_coverage REQUIRED)
+    find_package(rostest REQUIRED)
 
     if(ENABLE_COVERAGE_TESTING)
         include(CodeCoverage)

march_hardware_builder/CMakeLists.txt

@@ -8,25 +8,15 @@
 
   <license>TODO</license>
 
-
-
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>code_coverage</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>roslint</build_depend>
-  <build_depend>rostest</build_depend>
-  <build_depend>march_hardware</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
 
+  <depend>roscpp</depend>
+  <depend>roslib</depend>
+  <depend>march_hardware</depend>
+  <depend>yaml-cpp</depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
+  <build_depend>roslint</build_depend>
 
-  </export>
+  <test_depend>rostest</test_depend>
+  <test_depend>code_coverage</test_depend>
 </package>

march_hardware_builder/package.xml

@@ -4,23 +4,33 @@ project(march_hardware_interface)
 add_compile_options(-std=c++11)
 
 find_package(catkin REQUIRED COMPONENTS
-    code_coverage
+    control_toolbox
     controller_manager
+    joint_limits_interface
+    march_description
     march_hardware
     march_hardware_builder
     march_shared_resources
     realtime_tools
     roscpp
     roslint
-    rostest
     std_msgs
     urdf
 )
 
 catkin_package(
     INCLUDE_DIRS include
     CATKIN_DEPENDS
+    controller_manager
+    joint_limits_interface
+    march_description
+    march_hardware
+    march_hardware_builder
+    march_shared_resources
+    realtime_tools
+    roscpp
     std_msgs
+    urdf
 )
 
 set(ROSLINT_CPP_OPTS "--filter=-build/include,-build/header_guard,-runtime/references" "--linelength=120")
@@ -59,6 +69,8 @@ install(DIRECTORY config launch
 
 ## Add gtest based cpp test target and link libraries
 if (CATKIN_ENABLE_TESTING)
+    find_package(code_coverage REQUIRED)
+    find_package(rostest REQUIRED)
 
     if(ENABLE_COVERAGE_TESTING)
         include(CodeCoverage)