travis_ci: Add OSX build

.travis.yml

@@ -1,26 +1,71 @@
-language: cpp
-
-services:
-  - docker
-
-cache:
-  ccache: true
-
 env:
   global:
     - CCACHE_DIR=$HOME/.ccache
     - PX4_DOCKER_REPO=px4io/px4-dev-ros:2018-04-22
-    - BUILD_WITH_CMAKE = "mkdir Build; cd Build; cmake ..; make"
-    - BUILD_WITH_CATKIN = "source /opt/ros/kinetic/setup.bash; mkdir -p ~/catkin_ws/src; cd ~/catkin_ws/src; catkin_init_workspace; ln -s ${TRAVIS_BUILD_DIR} .; cd ~/catkin_ws; catkin_make"
-    - VALIDATE_SDF_SCHEMAS = "source ./scripts/validate_sdf.bash"
 
-  matrix:
-    # Cmake build
-    - STEP=${BUILD_WITH_CMAKE}
-    # Catkin build
-    - STEP=${BUILD_WITH_CATKIN}
-    # Validate SDF schemas
-    - STEP=${VALIDATE_SDF_SCHEMAS}
+matrix:
+    include:
+        - os: linux
+          language: cpp
+          services:
+            - docker
+          cache:
+            ccache: true
+          env: # Cmake build
+            - BUILD="mkdir Build; cd Build; cmake ..; make -j$(nproc) -l$(nproc)"
+        - os: linux
+          language: cpp
+          services:
+            - docker
+          cache:
+            ccache: true
+          env: # Catkin build
+            - BUILD="source /opt/ros/kinetic/setup.bash; mkdir -p ~/catkin_ws/src; cd ~/catkin_ws/src; catkin_init_workspace; ln -s ${TRAVIS_BUILD_DIR} .; cd ~/catkin_ws; catkin_make -j$(nproc) -l$(nproc)"
+        - os: linux
+          language: cpp
+          services:
+            - docker
+          cache:
+            ccache: true
+          env: # Validate SDF schemas
+            - BUILD="source ./scripts/validate_sdf.bash"
+        - os: osx
+          osx_image: xcode9.3
+          language: cpp
+          cache:
+            ccache: true
+          env:
+            - GAZEBO_VERSION="gazebo8"
+        - os: osx
+          osx_image: xcode9.3
+          language: cpp
+          cache:
+            ccache: true
+          env:
+            - GAZEBO_VERSION="gazebo9"
+
+before_install:
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
+    brew update;
+    git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0;
+    rm -rf /usr/local/include/mavlink/v2.0/.git;
+    fi
+
+install:
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
+    brew tap PX4/px4;
+    brew install px4-dev;
+    brew tap osrf/simulation;
+    brew install opencv ${GAZEBO_VERSION};
+    brew link --overwrite numpy;
+    brew cask reinstall xquartz java;
+    sudo -H pip2 install --upgrade pip setuptools;
+    sudo -H pip2 install rospkg pyserial empy toml numpy pandas jinja2;
+    fi
 
 script:
-  - docker run -it --rm -w ${TRAVIS_BUILD_DIR} --env=CCACHE_DIR="${CCACHE_DIR}" --env=LOCAL_USER_ID="$(id -u)" --volume=${CCACHE_DIR}:${CCACHE_DIR}:rw --volume=${TRAVIS_BUILD_DIR}:${TRAVIS_BUILD_DIR}:rw ${PX4_DOCKER_REPO} /bin/bash -e -c "${STEP}"
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
+    mkdir Build;
+    cd Build && cmake .. && make -j$(sysctl -n hw.physicalcpu) -l$(sysctl -n hw.physicalcpu);
+    else docker run -it --rm -w ${TRAVIS_BUILD_DIR} --env=CCACHE_DIR="${CCACHE_DIR}" --env=LOCAL_USER_ID="$(id -u)" --volume=${CCACHE_DIR}:${CCACHE_DIR}:rw --volume=${TRAVIS_BUILD_DIR}:${TRAVIS_BUILD_DIR}:rw ${PX4_DOCKER_REPO} /bin/bash -e -c "${BUILD}";
+    fi

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 cmake_policy(SET CMP0042 NEW)
 cmake_policy(SET CMP0048 NEW)
 cmake_policy(SET CMP0054 NEW)
@@ -25,7 +25,7 @@ option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" "OFF")
 option(BUILD_ROS_INTERFACE "Enable building ROS dependent plugins" "OFF")
 
 ## System dependencies are found with CMake's conventions
-find_package(Boost 1.40 REQUIRED COMPONENTS system thread timer)
+find_package(Boost 1.58 REQUIRED COMPONENTS system thread timer)
 find_package(gazebo REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_program(px4 REQUIRED)
@@ -287,10 +287,6 @@ add_library(gazebo_motor_model SHARED src/gazebo_motor_model.cpp)
 add_library(gazebo_multirotor_base_plugin SHARED src/gazebo_multirotor_base_plugin.cpp)
 #add_library(gazebo_wind_plugin SHARED src/gazebo_wind_plugin.cpp)
 
-target_link_libraries(gazebo_gimbal_controller_plugin ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${TinyXML_LIBRARIES})
-target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
-target_link_libraries(gazebo_mavlink_interface ${TinyXML_LIBRARIES})
-
 set(plugins
   gazebo_geotagged_images_plugin
   gazebo_gps_plugin
@@ -309,6 +305,11 @@ set(plugins
   #gazebo_wind_plugin
   )
 
+foreach(plugin ${plugins})
+  target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${TinyXML_LIBRARIES})
+endforeach()
+target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
+
 # If BUILD_ROS_INTERFACE set to ON, build plugins that have ROS dependencies
 # Current plugins that can be used with ROS interface: gazebo_motor_failure_plugin
 if (BUILD_ROS_INTERFACE)