.travis.yml

os: linux
language: cpp
compiler: g++

jobs:
  include:
    - os: linux
      dist: focal

branches:
  only:
    - devel
    - 4.0-devel

notifications:
  email:
    recipients:
      - luca.muratore89@gmail.com
      - arturo.laurenzi@iit.it
      - enrico.mingo-hoffman@inria.fr
    on_success: never
    on_failure: always

before_script:
- rm -rf /opt/pyenv
# forest magic
- sudo apt update
- sudo apt install python3-pip python3-setuptools
- sudo pip3 install hhcm-forest
- SRC_FOLDER=$PWD
- cd .. && mkdir forest_ws && cd forest_ws && forest init  # create forest ws for building
- ln -s $SRC_FOLDER src/$(basename $SRC_FOLDER)  # symlink original source folder
- forest add-recipes git@github.com:advrhumanoids/multidof_recipes.git -t next --clone-protocol https  # get recipes

# apt update and core packages installation
- sudo apt-get update
- sudo apt-get install git libgtest-dev cmake doxygen curl libboost-system-dev libmatio-dev 

# ROS source.list and keys
- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

# config git
- git config --global user.name "liesrock"
- git config --global user.email "luca.muratore@iit.it"

- >
  if [[ `lsb_release -cs` == "focal" ]]; then 
      
      # ROS and Gazebo install
      sudo apt update && sudo apt install -y \
      ros-noetic-ros-base \
      libgazebo11-dev liborocos-kdl-dev

      . /opt/ros/noetic/setup.bash
 


  fi;

  if [[ `lsb_release -cs` == "bionic" ]]; then
  
      sudo apt update && sudo apt install -y \
      ros-melodic-ros-base ros-melodic-orocos-kdl\
      libgazebo9-dev
      
      . /opt/ros/melodic/setup.bash


  fi;



- sudo apt install ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-kdl-parser ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-rosmon
- sudo apt install ros-$ROS_DISTRO-eigen-conversions ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-moveit-core 
- sudo apt install ros-$ROS_DISTRO-rviz ros-$ROS_DISTRO-interactive-markers ros-$ROS_DISTRO-tf-conversions ros-$ROS_DISTRO-tf2-eigen 
- sudo apt install qttools5-dev libqt5charts5-dev qtdeclarative5-dev
- sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs  
- sudo pip3 install rospkg

# re-source ros in case we got bash env hooks
- . /opt/ros/$ROS_DISTRO/setup.bash

# xbot2 framework install 
- sudo sh -c 'echo "deb http://xbot.cloud/xbot2/ubuntu/$(lsb_release -sc) /" > /etc/apt/sources.list.d/xbot-latest.list'
- wget -q -O - http://xbot.cloud/xbot2/ubuntu/KEY.gpg | sudo apt-key add -  
- sudo apt update
- sudo apt install xbot2_desktop_full
- sudo apt remove xbotinterface

# source xbot2 framework
- . /opt/xbot/setup.sh


script: 
- source setup.bash  # source forest ws
- FOREST_ARGS="-m test --clone-protocol https --verbose -j2"
- forest grow fcl $FOREST_ARGS  # note, first build fcl so we are sure to use our own
- forest grow OpenSoT $FOREST_ARGS  # compile opensot + dependencies
- cd build/OpenSoT  # run tests
- ctest --output-on-failure