Travis-CI build test on OSX

.travis.yml

@@ -1,24 +1,28 @@
 language: cpp
+os:
+  - linux
+  - osx
 compiler:
   - gcc
   - clang
 before_install:
-  - 'ci/before_install.sh'
+  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/before_install_linux.sh' ; fi
+  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/before_install_osx.sh'   ; fi
 env:
-  global:
-  matrix:
-    - BUILD_CORE_ONLY=OFF BUILD_TYPE=Debug
-    - BUILD_CORE_ONLY=OFF BUILD_TYPE=Release
-    - BUILD_CORE_ONLY=ON BUILD_TYPE=Debug
-    - BUILD_CORE_ONLY=ON BUILD_TYPE=Release
-before_script: cmake -DBUILD_CORE_ONLY=$BUILD_CORE_ONLY -DCMAKE_BUILD_TYPE=$BUILD_TYPE .
+  - BUILD_CORE_ONLY=OFF BUILD_TYPE=Debug
+  - BUILD_CORE_ONLY=OFF BUILD_TYPE=Release
+  - BUILD_CORE_ONLY=ON  BUILD_TYPE=Debug
+  - BUILD_CORE_ONLY=ON  BUILD_TYPE=Release
+matrix:
+  exclude:
+    - os: osx
+      compiler: gcc
+before_script: 
+  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then cmake -DBUILD_CORE_ONLY=$BUILD_CORE_ONLY -DCMAKE_BUILD_TYPE=$BUILD_TYPE .; fi
+  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then cmake -DBUILD_CORE_ONLY=$BUILD_CORE_ONLY -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_BUILD_UNITTESTS=OFF .; fi
 script:
-  - make
-  - sudo ldconfig --verbose # So the test executeables can detect libtinyxml2
-  - if [ $BUILD_CORE_ONLY = OFF ]; then make test; fi
-  # - cd tools/
-  # - ./code_check.sh
-  # - ./abi_check.sh 4.1.0  # Check with DART 4.1.0
+  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/script_linux.sh' ; fi
+  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/script_osx.sh'   ; fi
 after_failure:
-  - cat Testing/Temporary/LastTest.log
-  - cat Testing/Temporary/LastTestsFailed.log
+  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/after_failure_linux.sh' ; fi
+  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/after_failure_osx.sh'   ; fi

ci/after_failure_linux.sh

@@ -0,0 +1,2 @@
+cat Testing/Temporary/LastTest.log
+cat Testing/Temporary/LastTestsFailed.log

ci/before_install_osx.sh

@@ -0,0 +1,19 @@
+brew tap dartsim/dart
+brew tap homebrew/science
+
+brew install git
+# brew install cmake   # installed cmake-3.0.2
+brew install assimp
+brew install fcl
+brew install flann     # 1.8.14
+# brew install boost   # installed boost-1.55.2
+brew install eigen     # 3.2.2
+brew install tinyxml   # 2.6.2
+brew install tinyxml2  # 2.2.0
+brew install libccd    #
+brew install nlopt     # 2.4.2
+brew install ros/deps/urdfdom
+brew install ros/deps/urdfdom_headers
+brew install ros/deps/console_bridge
+brew install ros/deps/gtest
+

ci/script_linux.sh

@@ -0,0 +1,6 @@
+ make
+ sudo ldconfig --verbose # So the test executeables can detect libtinyxml2
+ if [ $BUILD_CORE_ONLY = OFF ]; then make test; fi
+ # cd tools/
+ # ./code_check.sh
+ # ./abi_check.sh 4.1.0  # Check with DART 4.1.0

ci/script_osx.sh

@@ -0,0 +1,5 @@
+make
+# if [ $BUILD_CORE_ONLY = OFF ]; then make test; fi  # Disabled until gtest issue is resolved
+# cd tools/
+# ./code_check.sh
+# ./abi_check.sh 4.1.0  # Check with DART 4.1.0