71 lines
3.0 KiB
YAML
71 lines
3.0 KiB
YAML
# Copyright 2018 The Cartographer Authors
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
jobs:
|
|
- job: Build
|
|
pool:
|
|
vmImage: 'vs2017-win2016'
|
|
timeoutInMinutes: 360
|
|
steps:
|
|
- script: |
|
|
choco sources add -n=roswin -s https://roswin.azurewebsites.net/api/v2/ --priority 1
|
|
rem Azure VM runs out of space on C:, so use D: for ros and rosdeps
|
|
mkdir D:\opt && mklink /J C:\opt D:\opt
|
|
choco upgrade %ROS_METAPACKAGE% -y
|
|
choco upgrade ros-melodic-perception -y
|
|
robocopy "." ".\src\cartographer_ros" /E /MOVE /XD "src" > NUL
|
|
git clone https://github.com/googlecartographer/cartographer src\cartographer
|
|
call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
|
|
env:
|
|
ROS_METAPACKAGE: 'ros-melodic-desktop'
|
|
displayName: Install prerequisites
|
|
|
|
- script: |
|
|
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
|
|
call "C:\opt\ros\melodic\x64\setup.bat"
|
|
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
|
|
catkin_make_isolated --use-ninja --install --cmake-args -DCMAKE_BUILD_TYPE=Release
|
|
displayName: Build
|
|
|
|
- script: |
|
|
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
|
|
call "C:\opt\ros\melodic\x64\setup.bat"
|
|
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
|
|
cd build_isolated\cartographer\install && ctest --no-compress-output -T Test
|
|
displayName: Run cartographer tests
|
|
|
|
- script: |
|
|
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
|
|
call "C:\opt\ros\melodic\x64\setup.bat"
|
|
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
|
|
cd build_isolated\cartographer_ros && ninja tests && ctest --no-compress-output -T Test
|
|
displayName: Build and run cartographer_ros tests
|
|
condition: always()
|
|
|
|
- script: |
|
|
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
|
|
call "C:\opt\ros\melodic\x64\setup.bat"
|
|
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
|
|
python src\cartographer\scripts\ctest_to_junit.py build_isolated\cartographer_ros
|
|
displayName: Convert tests to jUnit
|
|
condition: always()
|
|
|
|
- task: PublishTestResults@2
|
|
displayName: Publish test results
|
|
inputs:
|
|
testRunner: 'jUnit'
|
|
testResultsFiles: '**\jUnit.xml'
|
|
searchFolder: '$(Build.SourcesDirectory)\build_isolated\cartographer_ros\Testing'
|
|
condition: always()
|