From eacf9bff6a8e9766f5f570a4b9dfa63933ce291d Mon Sep 17 00:00:00 2001
From: Abby Xu <abbyxu@amazon.com>
Date: Wed, 13 Feb 2019 15:09:07 -0800
Subject: [PATCH] create initial upload of scripts used in aws-robotics Travis
 CI

---
 README.md        |  7 +++++--
 ros1_build.sh    | 32 ++++++++++++++++++++++++++++++++
 ros1_sa_build.sh | 28 ++++++++++++++++++++++++++++
 ros2_build.sh    | 34 ++++++++++++++++++++++++++++++++++
 4 files changed, 99 insertions(+), 2 deletions(-)
 create mode 100644 ros1_build.sh
 create mode 100644 ros1_sa_build.sh
 create mode 100644 ros2_build.sh

diff --git a/README.md b/README.md
index 0610402..b0a6d42 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,10 @@
-## Travis Scripts
+# Travis Scripts
 
-contains scripts for building sample applications and AWS ROS cloud extensions.
+## Overview
+This repository contains scripts used in Travis CIs for [AWS RoboMaker] sample applications and [AWS RoboMaker] ROS Cloud Extensions.
 
 ## License
 
 This library is licensed under the Apache 2.0 License. 
+
+[AWS RoboMaker]: https://github.com/aws-robotics
\ No newline at end of file
diff --git a/ros1_build.sh b/ros1_build.sh
new file mode 100644
index 0000000..ae45358
--- /dev/null
+++ b/ros1_build.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+set -e
+
+# install dependencies
+apt update && apt install -y lcov python3-pip libgtest-dev cmake && rosdep update
+cd /usr/src/gtest && cmake CMakeLists.txt && make && cp *.a /usr/lib
+apt update && apt install -y python3-colcon-common-extensions && pip3 install -U setuptools
+
+# use colcon as build tool to build the package, and optionally build tests
+. /opt/ros/$ROS_DISTRO/setup.sh
+cd /"$ROS_DISTRO"_ws/
+rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r -y
+colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage'
+if [ -z "${NO_TEST}" ];
+then
+    if [ ! -z "${PACKAGE_NAME}" ];
+    then
+      colcon build --packages-select $PACKAGE_NAME --cmake-target tests
+    fi
+
+    # run unit tests
+    . ./install/setup.sh
+    colcon test
+    colcon test-result --all
+
+    # get unit test code coverage result
+    lcov --capture --directory . --output-file coverage.info
+    lcov --remove coverage.info '/usr/*' --output-file coverage.info
+    lcov --list coverage.info
+    cd /"$ROS_DISTRO"_ws/
+    mv coverage.info /shared
+fi
diff --git a/ros1_sa_build.sh b/ros1_sa_build.sh
new file mode 100644
index 0000000..de3a484
--- /dev/null
+++ b/ros1_sa_build.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+set -e
+
+# install dependencies
+apt update && apt install -y python3-pip python3-apt dpkg ros-$ROS_DISTRO-ros-base && rosdep update
+apt update && apt install -y python3-colcon-common-extensions && pip3 install -U setuptools
+pip3 install colcon-bundle colcon-ros-bundle
+. /opt/ros/$ROS_DISTRO/setup.sh
+
+# use colcon as build tool to build the robot workspace
+cd /"$ROS_DISTRO"_ws/"$SA_NAME"/robot_ws/
+rosws update
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --build-base build --install-base install
+colcon bundle --build-base build --install-base install --bundle-base bundle
+mv ./bundle/output.tar.gz ./bundle/robot.tar.gz
+
+# use colcon as build tool to build the simulation workspace
+cd /"$ROS_DISTRO"_ws/"$SA_NAME"/simulation_ws/
+rosws update
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --build-base build --install-base install
+colcon bundle --build-base build --install-base install --bundle-base bundle
+mv ./bundle/output.tar.gz ./bundle/simulation.tar.gz
+
+# move the artifacts to a shared mount point
+mv /"$ROS_DISTRO"_ws/"$SA_NAME"/robot_ws/bundle/robot.tar.gz /shared/robot.tar.gz
+mv /"$ROS_DISTRO"_ws/"$SA_NAME"/simulation_ws/bundle/simulation.tar.gz /shared/simulation.tar.gz
diff --git a/ros2_build.sh b/ros2_build.sh
new file mode 100644
index 0000000..973d703
--- /dev/null
+++ b/ros2_build.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+set -e
+
+# install dependencies
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
+echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
+apt update && apt install -y python3 python3-pip libgtest-dev lcov cmake && rosdep update
+cd /usr/src/gtest && cmake CMakeLists.txt && make && cp *.a /usr/lib
+apt update && apt install -y python3-colcon-common-extensions && pip3 install -U setuptools
+
+# use colcon as build tool to build the package, and optionally build tests
+. /opt/ros/$ROS_DISTRO/setup.sh
+cd /"$ROS_DISTRO"_ws/
+rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r -y
+colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage'
+if [ -z "${NO_TEST}" ];
+then
+    if [ ! -z "${PACKAGE_NAME}" ] && [ "$ROS_VERSION" == "1" ];
+    then
+      colcon build --packages-select $PACKAGE_NAME --cmake-target tests
+    fi
+
+    # run unit tests
+    . ./install/setup.sh
+    colcon test
+    colcon test-result --all
+
+    # get unit test code coverage result
+    lcov --capture --directory . --output-file coverage.info
+    lcov --remove coverage.info '/usr/*' --output-file coverage.info
+    lcov --list coverage.info
+    cd /"$ROS_DISTRO"_ws/
+    mv coverage.info /shared
+fi