set up the .gitlab-ci.yml

.gitlab-ci.yml

-# 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