sudo: required
cache:
  - apt

language: generic
matrix:
  include:
  - name: "Xenial kinetic"
    dist: xenial
    env: ROS_DISTRO=kinetic

env:
  global:
    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
    - CI_SOURCE_PATH=$(pwd)
    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
    - ROS_PARALLEL_JOBS='-j8 -l6'
    # Set the python path manually to include /usr/-/python2.7/dist-packages
    # as this is where apt-get installs python packages.
    - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages

################################################################################

# Install system dependencies, namely a very barebones ROS setup.
before_install:
   #install lapack
  - sudo apt-get update
  - sudo apt-get install liblapack-dev
  - sudo apt-get install libeigen3-dev
   #install ros kinetic
  - 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 -
  - sudo apt-get update
  - sudo apt-get install python-catkin-tools
  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
  - sudo apt-get update -qq
  - sudo apt-get install -y ros-$ROS_DISTRO-ros-base
  - source /opt/ros/$ROS_DISTRO/setup.bash
  # Prepare rosdep to install dependencies.
  - sudo rosdep init
  - rosdep update

# Create a catkin workspace with the package under integration.
install:
  - mkdir -p ~/catkin_ws/src
  - cd ~/catkin_ws
  - catkin init
  # Add the package under integration to the workspace using a symlink.
  - cd ~/catkin_ws/src
  - ln -s $CI_SOURCE_PATH .
  #install kindr
  - git clone https://github.com/ANYbotics/kindr.git

# Install all dependencies, using wstool first and rosdep second.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.

# Compile and test (mark the build as failed if any step fails). If the
# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
# to blacklist certain packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. Running `catkin_test_results` aggregates all the results and returns
# non-zero when a test fails (which notifies Travis the build failed).
script:
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - cd ~/catkin_ws
  - catkin clean --all
  - catkin build -DCMAKE_BUILD_TYPE=Release
  # Run the tests, ensuring the path is set correctly.
  - source devel/setup.bash
  - catkin run_tests && catkin_test_results