[WIP] [Depends on #239] Add indigo & kinetic tests

[pazeshun]

Depends on #239 今は#237 がないのでkineticのテストで落ちると思いますが、そこまでは行けることを確認します。

[pazeshun]

indigoでも失敗しちゃいました。

Errors << hrpsys_gazebo_atlas:make /home/travis/ros/ws_rtmros_gazebo/logs/hrpsys_gazebo_atlas/build.make.000.log

/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/controller_config_converter.py:33: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.

  lst = yaml.load(open(inputfile).read())

/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/controller_config_converter.py:33: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.

  lst = yaml.load(open(inputfile).read())

Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint

Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 

Writing project files to .... /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.xml

Writing conf files to ....... /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.conf

Writing hardware files to ... /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.RobotHardware.conf

Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint

Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 

Writing project files to .... /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3_nosim.xml

Writing conf files to ....... /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3_nosim.conf

Writing hardware files to ... /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3_nosim.RobotHardware.conf

;; Adding gazebo description

;; Use assimp export

;; output file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.urdf

;; mesh_prefix is: package://hrpsys_gazebo_atlas/models/atlas_v3_meshes

;; Mesh output directory is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3_meshes

;; Input file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.dae

;; Input file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.dae

;; Config file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.yaml

;; Output file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.l

;; robot_name is: atlas

torso@5

larm@10

rarm@18

lleg@26

rleg@34

head@42

/home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/iob/iob.cpp:7:20: fatal error: io/iob.h: No such file or directory

 #include "io/iob.h"

                    ^

compilation terminated.

make[2]: *** [iob/CMakeFiles/hrpIo_atlas.dir/iob.cpp.o] Error 1

make[1]: *** [iob/CMakeFiles/hrpIo_atlas.dir/all] Error 2

make: *** [all] Error 2
...
Failed << hrpsys_gazebo_atlas:make                    [ Exited with code 2 ]

219 と同種の問題のように見えて、#221 で治る気がするけど、現代的にはiob.hのパスを直したほうが良い気がします(https://github.com/fkanehiro/hrpsys-base/pull/842 )。

[pazeshun]

https://github.com/start-jsk/rtmros_gazebo/pull/240#issuecomment-552775815 は解決しましたが、別のエラーが出ています。

;; Adding gazebo description

;; Use assimp export

;; output file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.urdf

;; mesh_prefix is: package://hrpsys_gazebo_atlas/models/atlas_v3_meshes

;; Mesh output directory is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3_meshes

;; Input file is: /home/travis/ros/ws_rtmros_gazebo/src/rtmros_gazebo/hrpsys_gazebo_atlas/models/atlas_v3.dae

/usr/bin/ld: CMakeFiles/RobotHardwareComp_atlas.dir/opt/ros/indigo/share/hrpsys/src/rtc/RobotHardware/RobotHardwareComp.cpp.o: undefined reference to symbol 'dlerror@@GLIBC_2.2.5'

//lib/x86_64-linux-gnu/libdl.so.2: error adding symbols: DSO missing from command line

collect2: error: ld returned 1 exit status

make[2]: *** [/home/travis/ros/ws_rtmros_gazebo/devel/.private/hrpsys_gazebo_atlas/lib/hrpsys_gazebo_atlas/RobotHardwareComp] Error 1

make[1]: *** [iob/CMakeFiles/RobotHardwareComp_atlas.dir/all] Error 2

make: *** [all] Error 2

cd /home/travis/ros/ws_rtmros_gazebo/build/hrpsys_gazebo_atlas; catkin build --get-env hrpsys_gazebo_atlas | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

...............................................................................

Failed << hrpsys_gazebo_atlas:make                    [ Exited with code 2 ]

[pazeshun]

indigoのテストは通りました。次は #237 を修正しつつ加えて、kineticのテストを通します。

[pazeshun]

apt-getの途中で突然スタックしてログが出なくなり、テストが失敗してしまう現象によって何回かリスタートしましたが、hydro, indigo, kineticでtravisが通りました。

[pazeshun]

Split into #241 and #242