{
  "language": "cpp",
  "os": [
    "linux"
  ],
  "dist": "xenial",
  "compiler": [
    "g++"
  ],
  "jobs": {
    "include": [
      {
        "os": "linux",
        "dist": "focal"
      }
    ]
  },
  "branches": {
    "only": [
      "2.0-devel",
      "2.0-master"
    ]
  },
  "notifications": {
    "email": [
      {
        "recipients": [
          "[email protected]",
          "[email protected]",
          "[email protected]"
        ],
        "on_success": "never",
        "on_failure": "always"
      }
    ]
  },
  "before_install": [
    "rm -rf /opt/pyenv"
  ],
  "before_script": [
    "sudo apt update",
    "sudo apt install python3-pip python3-setuptools",
    "sudo pip3 install hhcm-forest==0.0.27",
    "SRC_FOLDER=$PWD",
    "cd .. && mkdir forest_ws && cd forest_ws && forest --init",
    "ln -s $SRC_FOLDER src/cartesian_interface",
    "forest -a [email protected]:advrhumanoids/multidof_recipes.git master -u --clone-protocol ssh",
    "sudo apt-get update",
    "sudo apt-get install git libgtest-dev cmake doxygen curl libboost-system-dev libmatio-dev",
    "sudo sh -c 'echo \"deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main\" > /etc/apt/sources.list.d/ros-latest.list'",
    "curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -",
    "git config --global user.name \"liesrock\"",
    "git config --global user.email \"[email protected]\"",
    "if [[ `lsb_release -cs` == \"focal\" ]]; then \n    \n    # ROS and Gazebo install\n    sudo apt update && sudo apt install -y \\\n    ros-noetic-ros-base \\\n    libgazebo11-dev liborocos-kdl-dev\n\n    . /opt/ros/noetic/setup.bash\n\n\n\nfi;\nif [[ `lsb_release -cs` == \"bionic\" ]]; then\n\n    sudo apt update && sudo apt install -y \\\n    ros-melodic-ros-base ros-melodic-orocos-kdl\\\n    libgazebo9-dev\n    \n    . /opt/ros/melodic/setup.bash\n\n\nfi;\n",
    "sudo apt install ros-$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-$ROS_DISTRO-gazebo-ros-pkgs",
    "sudo pip3 install rospkg",
    ". /opt/ros/$ROS_DISTRO/setup.bash",
    "if [[ \"$TRAVIS_BRANCH\" == *\"devel\"* ]]; then export XBOT2_DEB_TYPE=\"xbot2-nightly\"; else export XBOT2_DEB_TYPE=\"xbot2\"; fi",
    "echo $TRAVIS_BRANCH",
    "echo $XBOT2_DEB_TYPE",
    "sudo sh -c 'echo \"deb http://xbot.cloud/$XBOT2_DEB_TYPE/ubuntu/$(lsb_release -sc) /\" > /etc/apt/sources.list.d/xbot-latest.list'",
    "cat /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 cartesian_interface",
    ". /opt/xbot/setup.sh"
  ],
  "script": [
    "source setup.bash",
    "FOREST_ARGS=\"-m test --clone-protocol https --verbose -j2\"",
    "forest pybind11 $FOREST_ARGS",
    "forest cartesian_interface $FOREST_ARGS",
    "cd build/cartesian_interface",
    "ctest --output-on-failure"
  ]
}