start-jsk · Naoki-Hiraoka · Jun 23, 2021 · Jun 24, 2021 · Jun 24, 2021
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule ".travis"]
+	path = .travis
+	url = https://github.com/jsk-ros-pkg/jsk_travis.git
diff --git a/.travis b/.travis
diff --git a/.travis.sh b/.travis.sh
@@ -31,87 +31,22 @@ if [ "$ROS_DISTRO" == "kinetic" ]; then
 fi
 #######
   # Define some config vars
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then mkdir -p ~/catkin_ws/src; ln -sf `pwd` ~/catkin_ws/src/rtmros_hironx; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then cd ~/; git clone http://github.com/fkanehiro/hrpsys-base --depth 1; cd hrpsys-base  ; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then wget https://raw.githubusercontent.com/fkanehiro/hrpsys-base/d7c339e7e8ed64bd4004ed6510ebb4a4179fd8a7/.travis.sh -O work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@sudo apt-get install -qq -y ros-hydro-$pkg@sudo apt-get install -qq -y ros-hydro-$pkg || (sudo apt-get install -qq -y ros-hydro-hrpsys-ros-bridge; echo "OK")@' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@$HAVE_MONGO_DB@1@' work_with_315_1_10_test.sh; fi # indigo does not requires mongodb hack
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i "s@hydro@$ROS_DISTRO@g" work_with_315_1_10_test.sh; fi # update to $ROS_DISTRO
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i "s@precise@$DISTRO@g" work_with_315_1_10_test.sh; fi # update to $ROS_DISTRO
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then cat work_with_315_1_10_test.sh; fi # indigo does not requires mongodb hack
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@wstool set rtmros_common http://github.com/start-jsk/rtmros_common --git -y@@' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@wstool set rtmros_hironx http://github.com/start-jsk/rtmros_hironx --git -y@@' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y@@' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i "s@sudo dpkg -r --force-depends ros-hydro-hrpsys@sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys; sudo mkdir -p /opt/ros/$ROS_DISTRO/include/hrpsys/idl@" work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's%cat hrpsys/catkin.cmake%sed -i "s@foreach(_bin_file \\${_bin_files})@list(REMOVE_DUPLICATES _bin_files)\\nforeach(_bin_file \\${_bin_files})@" hrpsys/catkin.cmake\n            cat hrpsys/catkin.cmake%' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@catkin_make_isolated -j1 -l1 --install --only-pkg-with-deps@catkin_make_isolated -j1 -l1 --install --only-pkg-with-deps hrpsys@' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then sed -i 's@git clone http://github.com/fkanehiro/hrpsys-base --depth 1 -b 315.1.9 ../build_isolated/hrpsys/build/hrpsys-base-source@(git clone http://github.com/fkanehiro/hrpsys-base ../build_isolated/hrpsys/build/hrpsys-base-source; cd ../build_isolated/hrpsys/build/hrpsys-base-source; git checkout 315.1.9; sed -i s%-mt%% lib/util/CMakeLists.txt)@' work_with_315_1_10_test.sh; fi
+mkdir -p ~/catkin_ws/src; ln -sf `pwd` ~/catkin_ws/src/rtmros_hironx
+cd ~/; git clone http://github.com/fkanehiro/hrpsys-base --depth 1; cd hrpsys-base
+wget https://raw.githubusercontent.com/fkanehiro/hrpsys-base/d7c339e7e8ed64bd4004ed6510ebb4a4179fd8a7/.travis.sh -O work_with_315_1_10_test.sh
+sed -i 's@sudo apt-get install -qq -y ros-hydro-$pkg@sudo apt-get install -qq -y ros-hydro-$pkg || (sudo apt-get install -qq -y ros-hydro-hrpsys-ros-bridge; echo "OK")@' work_with_315_1_10_test.sh
+sed -i 's@$HAVE_MONGO_DB@1@' work_with_315_1_10_test.sh # indigo does not requires mongodb hack
+sed -i "s@hydro@$ROS_DISTRO@g" work_with_315_1_10_test.sh # update to $ROS_DISTRO
+sed -i "s@precise@$DISTRO@g" work_with_315_1_10_test.sh # update to $ROS_DISTRO
+cat work_with_315_1_10_test.sh # indigo does not requires mongodb hack
+sed -i 's@wstool set rtmros_common http://github.com/start-jsk/rtmros_common --git -y@@' work_with_315_1_10_test.sh
+sed -i 's@wstool set rtmros_hironx http://github.com/start-jsk/rtmros_hironx --git -y@@' work_with_315_1_10_test.sh
+sed -i 's@wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y@@' work_with_315_1_10_test.sh
+sed -i "s@sudo dpkg -r --force-depends ros-hydro-hrpsys@sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys; sudo mkdir -p /opt/ros/$ROS_DISTRO/include/hrpsys/idl@" work_with_315_1_10_test.sh
+sed -i 's%cat hrpsys/catkin.cmake%sed -i "s@foreach(_bin_file \\${_bin_files})@list(REMOVE_DUPLICATES _bin_files)\\nforeach(_bin_file \\${_bin_files})@" hrpsys/catkin.cmake\n            cat hrpsys/catkin.cmake%' work_with_315_1_10_test.sh
+sed -i 's@catkin_make_isolated -j1 -l1 --install --only-pkg-with-deps@catkin_make_isolated -j1 -l1 --install --only-pkg-with-deps hrpsys@' work_with_315_1_10_test.sh
+sed -i 's@git clone http://github.com/fkanehiro/hrpsys-base --depth 1 -b 315.1.9 ../build_isolated/hrpsys/build/hrpsys-base-source@(git clone http://github.com/fkanehiro/hrpsys-base ../build_isolated/hrpsys/build/hrpsys-base-source; cd ../build_isolated/hrpsys/build/hrpsys-base-source; git checkout 315.1.9; sed -i s%-mt%% lib/util/CMakeLists.txt)@' work_with_315_1_10_test.sh
 # melodic
-if [ "$TEST_TYPE" == work_with_315_1_10 -a "$ROS_DISTRO" == "melodic" ]; then sed -i 's@libcv-dev libhighgui-dev@libopencv-dev libopencv-highgui-dev ros-melodic-openrtm-aist@' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 -a "$ROS_DISTRO" == "melodic" ]; then sed -i 's!# we use latest hrpsys_ocnfig.py for this case, so do not install them!sed -i "s@OPENRTM_VERSION STREQUAL \\\"1.1.0\\\"@(NOT (OPENRTM_VERSION VERSION_LESS \\\"1.1.0\\\")) AND (OPENRTM_VERSION VERSION_LESS \\\"1.2.0\\\")@" ../build_isolated/hrpsys/build/hrpsys-base-source/cmake_modules/FindOpenRTM.cmake\n\t\tsed -i "s@\\\(boost_.*\\\)-mt@\\1@" ../build_isolated/hrpsys/build/hrpsys-base-source/lib/util/CMakeLists.txt\n\t\tsed -i "s@-DHRPSYS_PACKAGE_VERSION@-fpermissive -Wno-deprecated -DHRPSYS_PACKAGE_VERSION@" ../build_isolated/hrpsys/build/hrpsys-base-source/CMakeLists.txt!' work_with_315_1_10_test.sh; fi
-if [ "$TEST_TYPE" == work_with_315_1_10 ]; then TEST_TYPE=work_with_315_1_10  TEST_PACKAGE=hironx-ros-bridge bash ./work_with_315_1_10_test.sh; exit $?  ; fi
-
-echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-sudo -E sh -c 'echo "deb $ROS_REPOSITORY_PATH $DISTRO main" > /etc/apt/sources.list.d/ros-latest.list'
-cat /etc/apt/sources.list.d/ros-latest.list
-wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-sudo apt-get update -qq
-sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-if [ $ROSWS == rosws ]; then sudo apt-get install -qq -y python-rosinstall     ; fi
-if [ $BUILDER == rosbuild ]; then sudo apt-get install -qq -y ros-$ROS_DISTRO-rosmake ; fi
-if [ "$EXTRA_DEB" ]; then sudo apt-get install -q -qq -y $EXTRA_DEB;  fi
-  # Setup rosdep
-sudo rosdep init
-rosdep update --include-eol-distros; while [ $? != 0 ]; do sleep 1; rosdep update --include-eol-distros; done
-  ##
-### install: # Use this to install any prerequisites or dependencies necessary to run your build
-  # Create workspace
-mkdir -p ~/ros/ws_$REPOSITORY_NAME/src
-cd ~/ros/ws_$REPOSITORY_NAME/src
-env
-if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS init .   ; fi
-if [ $USE_DEB == false ]; then $ROSWS merge file://$CI_SOURCE_PATH/.rosinstall      ; fi
-  ##
-if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then if [ $ROSWS == rosws ]; then $ROSWS merge /opt/ros/$ROS_DISTRO/.rosinstall; fi  ; fi
-if [ $USE_DEB == false ]; then python -c 'import sys, yaml; yaml.dump(yaml.load(sys.stdin), sys.stdout, width=1024, indent=4)'  < .rosinstall > .rosinstall.$$; mv .rosinstall.$$ .rosinstall; fi
-if [ $USE_DEB == false ]; then sed -i "s@^\(.*github.com/.*/$REPOSITORY_NAME.*\)@#\1@" .rosinstall               ; fi # comment out current repo
-if [ $USE_DEB == false ]; then $ROSWS update   ; fi
-  # disable doc generation
-if [ $USE_DEB == false ]; then sed -i "s@if(ENABLE_DOXYGEN)@if(0)@" rtm-ros-robotics/hrpsys/CMakeLists.txt   ; fi
-ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
-cd ../
-  # Install dependencies for source repos
-find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated # rename manifest.xml for rosdep install
-rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
-find -L src -name manifest.xml.deprecated | xargs -n 1 -i dirname {} | xargs -n 1 -i ln -sf `pwd`/{}/manifest.xml.deprecated `pwd`/{}/manifest.xml # rename manifest.xml for rosdep install
-  #  find . \! -path "*/.*" -type f | xargs egrep -i "(hoge|fuga)" ; if [ $? == 0 ]; then exit 1; fi
-# Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
-source /opt/ros/$ROS_DISTRO/setup.bash
-if [ $BUILDER == rosbuild ]; then source src/setup.bash        ; fi
-if [ $BUILDER == rosbuild ]; then rospack profile              ; fi
-# All commands must exit with code 0 on success. Anything else is considered failure.
-  # for catkin
-if [ $BUILDER == catkin -a $USE_DEB == true  ]; then catkin_make ${ROS_PARALLEL_JOBS}            ; fi
-  # - if [ $BUILDER == catkin -a $USE_DEB == false ]; then mkdir -p $HOME/ros/ws_$REPOSITORY_NAME/devel_isolated/hrpsys/; echo "$HOME/ros/ws_$REPOSITORY_NAME/devel_isolated/hrpsys/" > $HOME/ros/ws_$REPOSITORY_NAME/devel_isolated/hrpsys/.catkin; fi
-if [ $BUILDER == catkin -a $USE_DEB == false ]; then awk '/cmake_minimum_required/,/## test/' src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/CMakeLists.txt | tee src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/CMakeLists.txt >/dev/null 2>&1; fi
-if [ $BUILDER == catkin -a $USE_DEB == false ]; then catkin_make_isolated ${ROS_PARALLEL_JOBS}   ; fi
-if [ $BUILDER == catkin ]; then export TARGET_PKG=`find build*/*hiro* -name Makefile -print | grep -v gtest | sed s@.*/\\\\\([^\/]*\\\\\)/Makefile@\\\1@g` ; echo ${TARGET_PKG}; fi
-  # - if [ $BUILDER == catkin ]; then source devel/setup.sh; export EXIT_STATUS=0; for pkg in $TARGET_PKG; do (roscd $pkg; [ "`find . -iname '*.test'`" == "" ] && echo "[$pkg] No tests were found!!!"  || find . -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?;) done; [ $EXIT_STATUS == 0 ] ; fi
-export EXIT_STATUS=$?
-if [ $BUILDER == catkin ]; then source devel*/setup.bash; env  ; fi
-if [ $BUILDER == catkin ]; then python -c 'import sys; print(sys.path); import hrpsys_ros_bridge; print(hrpsys_ros_bridge)'; fi
-if [ $BUILDER == catkin -a $USE_DEB == true  ]; then catkin_make test --pkg $TARGET_PKG ${ROS_PARALLEL_JOBS}  ; export EXIT_STATUS=$?; fi
-  #- if [ $BUILDER == catkin -a $USE_DEB == false ]; then catkin_make_isolated --make-args ${ROS_PARALLEL_JOBS} test  ; export EXIT_STATUS=$?; fi
-if [ $BUILDER == catkin -a $USE_DEB == false ]; then export EXIT_STATUS=0; for pkg in $TARGET_PKG; do make -C build_isolated/$pkg test || export EXIT_STATUS=$?; done; [ $EXIT_STATUS == 0 ] ; fi
-if [ $EXIT_STATUS != 0 -a $BUILDER == catkin ]; then find build* -name LastTest.log -exec echo "==== {} ====" \; -exec cat {} \;  ; exit 1; fi
-if [ $BUILDER == catkin -a $USE_DEB == true  ]; then source /opt/ros/$ROS_DISTRO/setup.bash       ; fi
-if [ $BUILDER == catkin -a $USE_DEB == true  ]; then catkin_make ${ROS_PARALLEL_JOBS} install            ; fi
-#if [ $BUILDER == catkin -a $USE_DEB == false ]; then rm -fr build devel; catkin_make_isolated ${ROS_PARALLEL_JOBS} --install      ; fi
-if [ $BUILDER == catkin -a $USE_DEB == true ]; then rm -fr devel src build                 ; fi
-if [ $BUILDER == catkin -a $USE_DEB == true ]; then source install*/setup.bash              ; fi
-if [ $BUILDER == catkin -a $USE_DEB == true ]; then export EXIT_STATUS=0; for pkg in $TARGET_PKG; do [ "`find install/share/$pkg -iname '*.test'`" == "" ] && echo "[$pkg] No tests were found!!!"  || find install/share/$pkg -iname "*.test" -print0 | xargs -0 -n1 rostest || export EXIT_STATUS=$?; done; [ $EXIT_STATUS == 0 ] ; fi
-  # for rosbuild
-if [ $BUILDER == rosbuild ]; then rosmake -a --profile --pjobs=8       ; fi
-if [ $BUILDER == rosbuild ]; then export TARGET_PKG=`find -L src | grep $REPOSITORY_NAME | grep /build/Makefile$ | sed s@.*/\\\\\([^\/]*\\\\\)/build/Makefile@\\\1@g` ; fi
-if [ $BUILDER == rosbuild ]; then rosmake --test-only $TARGET_PKG --pjobs=8 ; fi
-
+if [ "$ROS_DISTRO" == "melodic" ]; then sed -i 's@libcv-dev libhighgui-dev@libopencv-dev libopencv-highgui-dev ros-melodic-openrtm-aist@' work_with_315_1_10_test.sh; fi
+if [ "$ROS_DISTRO" == "melodic" ]; then sed -i 's!# we use latest hrpsys_ocnfig.py for this case, so do not install them!sed -i "s@OPENRTM_VERSION STREQUAL \\\"1.1.0\\\"@(NOT (OPENRTM_VERSION VERSION_LESS \\\"1.1.0\\\")) AND (OPENRTM_VERSION VERSION_LESS \\\"1.2.0\\\")@" ../build_isolated/hrpsys/build/hrpsys-base-source/cmake_modules/FindOpenRTM.cmake\n\t\tsed -i "s@\\\(boost_.*\\\)-mt@\\1@" ../build_isolated/hrpsys/build/hrpsys-base-source/lib/util/CMakeLists.txt\n\t\tsed -i "s@-DHRPSYS_PACKAGE_VERSION@-fpermissive -Wno-deprecated -DHRPSYS_PACKAGE_VERSION@" ../build_isolated/hrpsys/build/hrpsys-base-source/CMakeLists.txt!' work_with_315_1_10_test.sh; fi
+TEST_TYPE=work_with_315_1_10  TEST_PACKAGE=hironx-ros-bridge bash ./work_with_315_1_10_test.sh; exit $?
diff --git a/.travis.yml b/.travis.yml
@@ -1,28 +1,35 @@
 #   Original Author: Kei Okada, William Woodall, Mani Monajjemi
 sudo: required
-dist: trusty
+dist: bionic
 # Force travis to use its minimal image with default Python settings
 language: generic
+cache:
+  apt: true
+  pip: true
+  directories:
+    - $HOME/.ccache
+    - $HOME/.cache/pip
+    - $HOME/apt-cacher-ng
 env:
+  global:
+    - ROSWS=wstool
+    - BUILDER=catkin
+    - USE_TRAVIS=true
+    - USE_DOCKER=true
   matrix:
-  - ROS_DISTRO=indigo  ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - ROS_DISTRO=indigo  ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-  - ROS_DISTRO=indigo  ROSWS=wstool BUILDER=catkin    USE_DEB=false ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - ROS_DISTRO=indigo  TEST_TYPE=work_with_315_1_10
-  - ROS_DISTRO=kinetic ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - ROS_DISTRO=kinetic ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-  - ROS_DISTRO=kinetic ROSWS=wstool BUILDER=catkin    USE_DEB=false ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+  - ROS_DISTRO=indigo USE_DEB=true
+  - ROS_DISTRO=indigo USE_DEB=false
+  - ROS_DISTRO=indigo TEST_TYPE=work_with_315_1_10
+  - ROS_DISTRO=kinetic USE_DEB=true
+  - ROS_DISTRO=kinetic USE_DEB=false
   - ROS_DISTRO=kinetic TEST_TYPE=work_with_315_1_10
-  - ROS_DISTRO=melodic ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - ROS_DISTRO=melodic ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-  - ROS_DISTRO=melodic ROSWS=wstool BUILDER=catkin    USE_DEB=false ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+  - ROS_DISTRO=melodic USE_DEB=true
+  - ROS_DISTRO=melodic USE_DEB=false
   - ROS_DISTRO=melodic TEST_TYPE=work_with_315_1_10
 matrix:
   allow_failures:
-  - env: ROS_DISTRO=kinetic ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - env: ROS_DISTRO=kinetic ROSWS=wstool BUILDER=catkin    USE_DEB=false ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - env: ROS_DISTRO=melodic ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-  - env: ROS_DISTRO=melodic ROSWS=wstool BUILDER=catkin    USE_DEB=false ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+  - env: ROS_DISTRO=kinetic USE_DEB=false
+  - env: ROS_DISTRO=melodic USE_DEB=false
   - env: ROS_DISTRO=melodic TEST_TYPE=work_with_315_1_10
 notifications:
   email:
@@ -31,10 +38,11 @@ notifications:
     on_success: always #[always|never|change] # default: change
     on_failure: always #[always|never|change] # default: always
 before_install: # Use this to prepare the system to install prerequisites or dependencies
-  - case $ROS_DISTRO in "hydro") export DISTRO=precise;; "indigo") export DISTRO=trusty;; "kinetic") export DISTRO=xenial;; "melodic") export DISTRO=bionic;; "noetic") export DISTRO=focal;; esac;
-  - export DOCKER_IMAGE=ubuntu:$DISTRO
-  - export CI_SOURCE_PATH=$(pwd)
-  - export REPOSITORY_NAME=${PWD##*/}
-  - docker images
+  - if [ "${TEST_TYPE}" != "" ] ; then case $ROS_DISTRO in "hydro") export DISTRO=precise;; "indigo") export DISTRO=trusty;; "kinetic") export DISTRO=xenial;; "melodic") export DISTRO=bionic;; "noetic") export DISTRO=focal;; esac; fi
+  - if [ "${TEST_TYPE}" != "" ] ; then export DOCKER_IMAGE=ubuntu:$DISTRO; fi
+  - if [ "${TEST_TYPE}" != "" ] ; then export CI_SOURCE_PATH=$(pwd); fi
+  - if [ "${TEST_TYPE}" != "" ] ; then export REPOSITORY_NAME=${PWD##*/}; fi
+  - if [ "${TEST_TYPE}" != "" ] ; then docker images; fi
 script:
-  - docker run -v $HOME:$HOME -e CI_SOURCE_PATH -e REPOSITORY_NAME -e HOME -e DISTRO -e ROS_DISTRO -e ROS_LOG_DIR -e TEST_TYPE -e TEST_PACKAGE -e USE_DEB -e ROSWS -e BUILDER -e ROS_REPOSITORY_PATH -e CI_SOURCE_PATH -e REPOSITORY_NAME -e ROS_PARALLEL_JOBS -e COMILE_OPTION $DOCKER_IMAGE bash -c 'cd $CI_SOURCE_PATH; source .travis.sh'
+  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; fi
+  - if [ "${TEST_TYPE}" != "" ] ; then docker run -v $HOME:$HOME -e CI_SOURCE_PATH -e REPOSITORY_NAME -e HOME -e DISTRO -e ROS_DISTRO -e ROS_LOG_DIR -e TEST_TYPE -e TEST_PACKAGE -e USE_DEB -e ROSWS -e BUILDER -e ROS_REPOSITORY_PATH -e CI_SOURCE_PATH -e REPOSITORY_NAME -e ROS_PARALLEL_JOBS -e COMILE_OPTION $DOCKER_IMAGE bash -c 'cd $CI_SOURCE_PATH; source .travis.sh'; fi
diff --git a/hironx_ros_bridge/launch/hironx_ros_bridge.launch b/hironx_ros_bridge/launch/hironx_ros_bridge.launch
@@ -39,6 +39,7 @@
     <arg name="USE_SERVOCONTROLLER" value="$(arg USE_SERVOCONTROLLER)" />
 
     <arg name="corbaport" default="$(arg corbaport)" />
+    <arg name="periodic_rate" default="200" />
   </include>
 <!--
   <node name="hironx_rviz" pkg="rviz" type="rviz" respawn="true"

diff --git a/hironx_ros_bridge/test/test-hironx-ros-bridge.test b/hironx_ros_bridge/test/test-hironx-ros-bridge.test
@@ -9,7 +9,7 @@
 
   <param name="joint_states_test/topic" value="/joint_states" />
   <param name="joint_states_test/hz" value="200" />
-  <param name="joint_states_test/hzerror" value="10" />
+  <param name="joint_states_test/hzerror" value="50" />
   <param name="joint_states_test/test_duration" value="5.0" />
   <param name="joint_states_test/wait_time" value="60.0" /> <!-- as opposed to its default: 20.0 -->