.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

image: osrf/ros:melodic-desktop-full

stages:          # List of stages for jobs, and their order of execution
  - build

variables:
  DEBIAN_FRONTEND: noninteractive
  TZ: Europe/Berlin
  ROS_DISTRO: melodic


before_script:
  - echo "Before script section"
  - echo "For example you might run an update here or install a build dependency"
  - echo "Or perhaps you might print out some debugging details"
  ##
  ## Install ssh-agent if not already installed, it is required by Docker.
  ## (change apt-get to yum if you use an RPM-based image)
  ##
  - 'command -v ssh-agent >/dev/null || ( 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
  ##
  - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add -

  ##
  ## Create the SSH directory and give it the right permissions
  ##
  - mkdir -p ~/.ssh
  - chmod 700 ~/.ssh

  # For Docker builds disable host key checking. Be aware that by adding that
  # you are suspectible to man-in-the-middle attacks.
  # WARNING: Use this only with the Docker executor, if you use it with shell
  # you will overwrite your user's SSH config.
  - '[[ -f /.dockerenv ]] && echo -e "Host *\n\tStrictHostKeyChecking no\n\n" > ~/.ssh/config'


build-job:       # This job runs in the build stage, which runs first.
  stage: build
  script:
    - apt-get update
    - mkdir -p ~/catkin_ws/src; cd ~/catkin_ws
    - git clone --branch $CI_COMMIT_BRANCH git@git.cs.lth.se:robotlab/cartesian_impedance_controller.git ~/catkin_ws/src/cartesian_impedance_controller
    - bash src/cartesian_impedance_controller/scripts/install_dependencies.sh
    - apt-get install -y python-catkin-tools python-rosdep
    - rosdep update
    - source /opt/ros/$ROS_DISTRO/setup.bash
    - rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
    - catkin init
    - catkin config --extend /opt/ros/$ROS_DISTRO
    - catkin build
    - echo "Compile complete."
    - catkin test
    - echo "Tests complete."