diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 89d533e50ec3edaf1b3916b80bebdb35ddf9eae8..68385d721400a095fa64173b8eb5903844be6f58 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,45 +1,206 @@
-# This file is a template, and might need editing before it works on your project.
-# To contribute improvements to CI/CD templates, please follow the Development guide at:
-# https://docs.gitlab.com/ee/development/cicd/templates.html
-# This specific template is located at:
-# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/Getting-Started.gitlab-ci.yml
-
-# This is a sample GitLab CI/CD configuration file that should run without any modifications.
-# It demonstrates a basic 3 stage CI/CD pipeline. Instead of real tests or scripts,
-# it uses echo commands to simulate the pipeline execution.
-#
-# A pipeline is composed of independent jobs that run scripts, grouped into stages.
-# Stages run in sequential order, but jobs within stages run in parallel.
-#
-# For more information, see: https://docs.gitlab.com/ee/ci/yaml/index.html#stages
-
-stages: # List of stages for jobs, and their order of execution
- - build
- - test
- - deploy
-
-build-job: # This job runs in the build stage, which runs first.
- stage: build
- script:
- - echo "Compiling the code..."
- - echo "Compile complete."
+stages:
+ - demo
-unit-test-job: # This job runs in the test stage.
- stage: test # It only starts when the job in the build stage completes successfully.
- script:
- - echo "Running unit tests... This will take about 60 seconds."
- - sleep 60
- - echo "Code coverage is 90%"
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+ ## Install ssh-agent if not already installed, it is required by Docker.
+ ## (change apt-get to yum if you use an RPM-based image)
+ - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+ ## Run ssh-agent (inside the build environment)
+ - eval $(ssh-agent -s)
+
+ ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+ ## We're using tr to fix line endings which makes ed25519 keys work
+ ## without extra base64 encoding.
+ ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+ - mkdir -p ~/.ssh
+ - chmod 700 ~/.ssh
+ - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+ # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+ - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+ # update apt
+ - apt-get update
+
+ # create ci_deps folder (if not exists)
+ - mkdir -pv ci_deps
+
+ # manually source ros setup.bash
+ - source /root/catkin_ws/devel/setup.bash
+ - roscd # check that it works
+
+.install_wolf_template: &install_wolf_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d wolf ]; then
+ - echo "directory wolf exists"
+ - cd wolf
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_CORE_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+ - cd wolf
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_laserscanutils_template: &install_laserscanutils_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d laser_scan_utils ]; then
+ - echo "directory laser_scan_utils exists"
+ - cd laser_scan_utils
+ - git pull
+ - else
+ - git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
+ - cd laser_scan_utils
+ - fi
+ - mkdir -pv build
+ - cd build
+ - rm -rf *
+ - cmake -DCMAKE_BUILD_TYPE=release ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_csm_template: &install_csm_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - apt-get install -y libgsl-dev
+ - if [ -d csm ]; then
+ - echo "directory csm exists"
+ - cd csm
+ - git pull
+ - else
+ - git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
+ - cd csm
+ - fi
+ - cmake .
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_wolflaser_template: &install_wolflaser_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d laser ]; then
+ - echo "directory laser exists"
+ - cd laser
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_LASER_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_LASER_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
+ - cd laser
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_wolfimu_template: &install_wolfimu_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d imu ]; then
+ - echo "directory imu exists"
+ - cd imu
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_IMU_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_IMU_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+ - cd imu
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.clone_wolfrosnode_template: &clone_wolfrosnode_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
+ - cd wolf_ros_node
+ - git checkout $WOLF_ROS_CORE_BRANCH
+
+.clone_wolfroslaser_template: &clone_wolfroslaser_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_laser.git
+ - cd wolf_ros_laser
+ - git checkout $WOLF_ROS_LASER_BRANCH
+
+.clone_wolfroslaser_template: &clone_wolfrosimu_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_imu.git
+ - cd wolf_ros_imu
+ - git checkout $WOLF_ROS_IMU_BRANCH
+
+.demo_template: &demo_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+ - cd wolf_demo_imu2d
+ - git checkout $CI_COMMIT_BRANCH
+ - cd ../..
+ - catkin_make
+ - roscd wolf_demo_imu2d/bag
+ - wget https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_ros/demos/demo_rosbags/-/raw/main/laser2d_imu/ana_lab_2.bag
+ - roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=ana_lab_2 test:=E robot:=ana record:=false rviz:=false 2> roslaunch_error_messages.log
+ - cat roslaunch_error_messages.log
+ - if [[ "$(cat roslaunch_error_messages.log)" == *"process has finished cleanly"* ]]; then
+ - echo "============= ROSLAUNCH FINISHED WITHOUT ANY PROBLEM! =================";
+ - else
+ - exit 1
+ - fi
-lint-test-job: # This job also runs in the test stage.
- stage: test # It can run at the same time as unit-test-job (in parallel).
+############ UBUNTU 18.04 TEST ############
+demo:bionic:
+ stage: demo
+ image: labrobotica/wolf_deps_ros:18.04
+ cache:
+ - key: wolf_and_deps-bionic
+ paths:
+ - ci_deps
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_csm_definition
+ - *install_laserscanutils_definition
+ - *install_wolflaser_definition
+ - *install_wolfimu_definition
+ - *clone_wolfrosnode_definition
+ - *clone_wolfroslaser_definition
+ - *clone_wolfrosimu_definition
script:
- - echo "Linting code... This will take about 10 seconds."
- - sleep 10
- - echo "No lint issues found."
+ - *demo_definition
-deploy-job: # This job runs in the deploy stage.
- stage: deploy # It only runs when *both* jobs in the test stage complete successfully.
+############ UBUNTU 20.04 TEST ############
+demo:focal:
+ stage: demo
+ image: labrobotica/wolf_deps_ros:20.04
+ cache:
+ - key: wolf_and_deps-focal
+ paths:
+ - ci_deps
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_csm_definition
+ - *install_laserscanutils_definition
+ - *install_wolflaser_definition
+ - *install_wolfimu_definition
+ - *clone_wolfrosnode_definition
+ - *clone_wolfroslaser_definition
+ - *clone_wolfrosimu_definition
script:
- - echo "Deploying application..."
- - echo "Application successfully deployed."
+ - *demo_definition