Merge pull request #120 from Nishida-Lab/fix-travis-indigo

Fix travis indigo

.ci.rosinstall

@@ -0,0 +1,21 @@
+- git:
+    local-name: motoman
+    uri: https://github.com/Nishida-Lab/motoman.git
+    version: indigo-devel
+- git:
+    local-name: motoman_tools/iai_kinect2
+    uri: https://github.com/code-iai/iai_kinect2.git
+    version: master
+- git:
+    local-name: motoman_tools/ar_tools
+    uri: https://github.com/MoriKen254/ar_tools.git
+    version: w/o_artoolkit
+- git:
+    local-name: motoman_tools/dhand_ros_pkg
+    uri: https://github.com/Nishida-Lab/dhand_ros_pkg.git
+    version: master
+- git:
+    local-name: libs/libfreenect2
+    uri: https://github.com/OpenKinect/libfreenect2.git
+    version: master
+

.gitignore

@@ -1 +1,3 @@
 core
+*~
+*.swp

.preprocess.sh

@@ -0,0 +1,60 @@
+PWD_DIR=$(pwd)
+echo "***************************************"
+echo "*****         for freenect        *****"
+echo "***************************************"
+echo "***** apt-get install software-properties-common python-software-properties *****"
+apt-get install -y software-properties-common python-software-properties
+echo "***** apt-get install build-essential cmake pkg-config *****"
+apt-get install -y build-essential cmake pkg-config
+echo "***** yes | yes | apt-add-repository ppa:floe/libusb && apt-get update -qq && apt-get install -y libusb-1.0-0-dev libusb-1.0-0-dev *****"
+yes | apt-add-repository ppa:floe/libusb && apt-get update -qq && apt-get install -y libusb-1.0-0-dev libusb-1.0-0-dev
+echo "***** apt-get install -y libturbojpeg libjpeg-turbo8-dev *****"
+apt install -y libturbojpeg libjpeg-turbo8-dev
+echo "***** dpkg -i debs/libglfw3*deb; apt-get install -f; apt-get install -y libgl1-mesa-dri-lts-vivid *****"
+dpkg -i debs/libglfw3*deb; apt install -f; apt install -y libgl1-mesa-dri-lts-vivid
+echo "***** yes | apt-add-repository ppa:pmjdebruijn/beignet-testing; apt-get update -qq; apt-get install -y beignet-dev; *****"
+yes | apt-add-repository ppa:pmjdebruijn/beignet-testing; apt update -qq; apt install -y beignet-dev;
+echo "***** pwd *****"
+pwd
+echo "***** ls -l *****"
+ls -l
+echo "***** cd /root/catkin_ws/src/libs/libfreenect2 *****"
+cd /root/catkin_ws/src/libs/libfreenect2
+echo "***** pwd *****"
+pwd
+echo "***** ls -l *****"
+ls -l
+echo "***** cmake . *****"
+cmake . 
+echo "***** make *****"
+make
+echo "***** make install *****"
+make install
+
+echo "***************************************"
+echo "*****         for PCL 1.7         *****"
+echo "***************************************"
+echo "***** yes | apt-add-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl; apt-get update -qq; apt-get install -y libpcl-all; *****"
+yes | apt-add-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl; apt-get update -qq; apt-get install -y libpcl-all;
+
+echo "***************************************"
+echo "*****       for AR Toolkit        *****"
+echo "***************************************"
+echo "***** apt install libv4l-dev *****"
+apt install -y libv4l-dev
+echo "***** cd /usr/include/linux *****"
+cd /usr/include/linux
+echo "***** ln -s ../libv4l1-videodev.h videodev.h *****"
+ln -s ../libv4l1-videodev.h videodev.h
+echo "***** wget https://github.com/MoriKen254/ARToolKit_Release/raw/master/ARToolKit_2.72.1_Ubuntu_amd64.deb *****"
+wget https://github.com/MoriKen254/ARToolKit_Release/raw/master/ARToolKit_2.72.1_Ubuntu_amd64.deb
+yes|dpkg -i ARToolKit_2.72.1_Ubuntu_amd64.deb
+
+echo "***************************************"
+echo "*****       Apply Lib Pkgs        *****"
+echo "***************************************"
+echo "***** ldconfig *****"
+ldconfig
+echo "***** ldconfig -p *****"
+ldconfig -p
+cd ${PWD_DIR}

.travis.yml

@@ -1,141 +1,30 @@
-# Generic .travis.yml file for running continuous integration on Travis-CI with
-# any ROS package.
-#
-# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
-# workspace, resolves all listed dependencies, and sets environment variables
-# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
-# no compilation errors), and runs all the tests. If any of the compilation/test
-# phases fail, the build is marked as a failure.
-#
-# We handle two types of package dependencies:
-#   - packages (ros and otherwise) available through apt-get. These are installed
-#     using rosdep, based on the information in the ROS package.xml.
-#   - dependencies that must be checked out from source. These are handled by
-#     'wstool', and should be listed in a file named dependencies.rosinstall.
-#
-# There are two variables you may want to change:
-#   - ROS_DISTRO (default is indigo). Note that packages must be available for
-#     ubuntu 14.04 trusty.
-#   - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
-#     root). This should list all necessary repositories in wstool format (see
-#     the ros wiki). If the file does not exists then nothing happens.
-#
-# See the README.md for more information.
-#
-# Author: Felix Duvallet <[email protected]>
-
-# NOTE: The build lifecycle on Travis.ci is something like this:
-#    before_install
-#    install
-#    before_script
-#    script
-#    after_success or after_failure
-#    after_script
-#    OPTIONAL before_deploy
-#    OPTIONAL deploy
-#    OPTIONAL after_deploy
-
-################################################################################
-
-# Use ubuntu trusty (14.04) with sudo privileges.
-dist: trusty
-sudo: required
-language:
-  - generic
-  - cpp
-  - python
-cache:
-  - apt
-python:
-  - "2.7"
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+sudo: required 
+dist: trusty 
+services:
+  - docker
+language: generic 
 compiler:
   - gcc
 notifications:
   email:
-    on_success: never
-    on_failue: never
-  slack: nishida-lab:Sczvu4bdpbngcXGeiZAEdHGx
-
-# Configuration variables. All variables are global now, but this can be used to
-# trigger a build matrix for different ROS distributions if desired.
+    on_success: change
+    on_failue: always
 env:
   global:
-    - ROS_DISTRO=indigo
-    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
-    - CI_SOURCE_PATH=$(pwd)
-    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
-    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
-    - ROS_PARALLEL_JOBS='-j8 -l6'
-
-################################################################################
-
-before_install:
-  # Install system dependencies, namely a very barebones ROS setup.
-  - 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
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Install PCL
-  - yes | sudo apt-add-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl; sudo apt-get update -qq; sudo apt-get install -y libpcl-all;
-  # Install OpenCV
-  - sudo apt-get install -y libopencv-dev python-opencv
-  # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update
-  # Arduino Makefile
-  - sudo apt-get install -y arduino-mk screen
-  # libfreenect2
-  - yes | sudo apt-add-repository ppa:floe/libusb && sudo apt-get update -qq && sudo apt-get install -y libusb-1.0-0-dev
-  - sudo apt-get install -y libturbojpeg libjpeg-turbo8-dev
-  - sudo dpkg -i debs/libglfw3*deb; sudo apt-get install -f; sudo apt-get install -y libgl1-mesa-dri-lts-vivid
-  - yes | sudo apt-add-repository ppa:pmjdebruijn/beignet-testing; sudo apt-get update -qq; sudo apt-get install -y beignet-dev;
-  - git clone https://github.com/OpenKinect/libfreenect2.git
-  - cd libfreenect2
-  - mkdir build && cd build
-  - cmake ..
-  - make
-  - sudo make install
-  - sudo ldconfig
-  - cd ~
-
-# Create a catkin workspace with the package under integration.
+    - CATKIN_PARALLEL_JOBS=-p1
+    - CATKIN_PARALLEL_TEST_JOBS=-p1
+    - ROS_PARALLEL_TEST_JOBS=-j1
+    - NOT_TEST_INSTALL=true
+    - ROSDEP_SKIP_KEYS="artoolkit ar_tools ar_pose motoman_description motoman_gazebo motoman_control motoman_sia5_moveit_config motoman_moveit"
+    - UPSTREAM_WORKSPACE=file
+    - ROSINSTALL_FILENAME=.ci.rosinstall
+    - BEFORE_SCRIPT='./.preprocess.sh'
+  matrix:
+    - ROS_DISTRO="indigo"  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu 
+    - ROS_DISTRO="indigo"  ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
 install:
-  - mkdir -p ~/catkin_ws/src
-  - cd ~/catkin_ws/src
-  - catkin_init_workspace
-  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
-  # source it to set the path variables.
-  - cd ~/catkin_ws
-  - catkin_make
-  - source devel/setup.bash
-  # Add the package under integration to the workspace using a symlink.
-  - cd ~/catkin_ws/src
-  - ln -s $CI_SOURCE_PATH .
-
-# Install all dependencies, using wstool and rosdep.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-before_script:
-  # source dependencies: install using wstool.
-  - cd ~/catkin_ws/src
-  - 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
-
-# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to
-# catkin_make.
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:
-  # for Arduino
-  - cd ~/catkin_ws/src/motoman_project/motoman_gripper/Arduino/JammingTest
-  - make
-  - cd ~/catkin_ws/src/motoman_project/motoman_gripper/Arduino/Kawashima
-  - make
-  # for ROS
-  - cd ~/catkin_ws
-  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
-  # Testing: Use both run_tests (to see the output) and test (to error out).
-  - catkin_make run_tests  # This always returns 0, but looks pretty.
-  - catkin_make test  # This will return non-zero if a test fails.
+- source .ci_config/travis.sh 

dependencies.rosinstall

@@ -13,4 +13,9 @@
 - git:
     local-name: motoman_tools/dhand_ros_pkg
     uri: https://github.com/Nishida-Lab/dhand_ros_pkg.git
-    version: master
+    version: master
+- git:
+    local-name: libs/libfreenect2
+    uri: https://github.com/OpenKinect/libfreenect2.git
+    version: master
+

motoman_control/CMakeLists.txt

@@ -1,45 +1,54 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(motoman_control)
+
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
   actionlib
   actionlib_msgs
-  trajectory_msgs
   control_msgs
+  motoman_description
+  roscpp
+  roslaunch
   sensor_msgs
+  trajectory_msgs
   )
 
 catkin_package(
   CATKIN_DEPENDS actionlib_msgs
   )
 
+# Build
 add_definitions("-std=c++11")
 
-
-find_package(roslaunch)
-roslaunch_add_file_check(test/sia5_launch_test.xml)
-roslaunch_add_file_check(test/sia5_with_jamming_launch_test.xml)
-roslaunch_add_file_check(test/sia5_with_jamming_and_kinectv2_launch_test.xml)
-roslaunch_add_file_check(test/sia5_with_kinectv2_launch_test.xml)
-roslaunch_add_file_check(test/sia5_with_dhand_launch_test.xml)
-roslaunch_add_file_check(test/sia5_with_dhand_and_multi_kinect_launch_test.xml)
-
-
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a cpp executable
 add_executable(motoman_control_node
   src/motoman_control_node.cpp
 )
 
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
 add_dependencies(motoman_control_node motoman_control_generate_messages_cpp)
 
-## Specify libraries to link a library or executable target against
 target_link_libraries(motoman_control_node
   ${catkin_LIBRARIES}
 )
+
+# Install
+foreach(modules motoman_control_node)
+  install(TARGETS ${modules}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endforeach(modules)
+
+foreach(dir config launch)
+  install(DIRECTORY ${dir}/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
+
+# Test
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch)
+endif()

motoman_control/package.xml

@@ -24,6 +24,7 @@
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>ros_controllers</run_depend>
   <run_depend>motoman_driver</run_depend>
+  <run_depend>motoman_description</run_depend>
   <run_depend>industrial_robot_client</run_depend>
   <run_depend>dhand_control</run_depend>
 

motoman_demo/CMakeLists.txt

@@ -1,14 +1,32 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(motoman_demo)
 find_package(catkin REQUIRED
-  rospy
+  #ar_pose
+  image_proc
+  motoman_demo_msgs
   moveit_commander
   tf
-  motoman_demo_msgs
   sensor_msgs
+  rosbridge_server
+  roslaunch
+  rospy
   )
 
-
 catkin_package(
   CATKIN_DEPENDS
   )
+
+# Install
+foreach(dir config launch)
+  install(DIRECTORY ${dir}/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
+
+# Test
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch/ar_pose_multip.launch)
+  roslaunch_add_file_check(launch/ar_pose_single.launch)
+  roslaunch_add_file_check(launch/handring_parallel.launch)
+  roslaunch_add_file_check(launch/pepper_websocket.launch)
+endif()