From 3263f64d8717aef77538809f0ca89a4af9b27793 Mon Sep 17 00:00:00 2001
From: Joe Johans <lgvichy@gmail.com>
Date: Fri, 27 Jul 2018 01:34:08 -0700
Subject: [PATCH 01/33] Testing travis matrix

---
 .travis.yml | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 63263c8..b87dc4b 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,7 +7,16 @@ node_js:
   - "6"
   - "7"
   - "8"
+services:
+  - docker
+
 env:
+  - distribution: ubuntu
+    version: xenial
+  - distribution: ubuntu
+    version: trusty
+  - distribution: ubuntu
+    version: bionic
   global:
     - ROS_DISTRO=indigo
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
@@ -32,7 +41,7 @@ before_install:
   # Prepare rosdep to install dependencies.
   - sudo rosdep init
   - rosdep update
-  
+
 # Create a catkin workspace with the package under integration.
 install:
   - mkdir -p ~/catkin_ws/src
@@ -40,10 +49,10 @@ install:
   - catkin_init_workspace
   # Create the devel/setup.bash (run catkin_make with an empty workspace) and
   # source it to set the path variables.
-  - cd ~/catkin_ws  
+  - cd ~/catkin_ws
   - catkin_make
   - source devel/setup.bash
-  
+
   # Install required message packages
   - git clone https://github.com/ros/std_msgs.git src/std_msgs
   - git clone https://github.com/ros/common_msgs src/common_msgs
@@ -66,4 +75,3 @@ script:
   - npm run compile
   - npm run generate
   - npm test
-  

From 6ea5cdb4e22ea46bc88e4923a0c5ae431e8144ec Mon Sep 17 00:00:00 2001
From: Joe Johans <lgvichy@gmail.com>
Date: Fri, 27 Jul 2018 01:40:39 -0700
Subject: [PATCH 02/33] Fix travis syntax

---
 .travis.yml | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index b87dc4b..176f941 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,5 +1,3 @@
-dist: trusty
-sudo: required
 compiler:
   - gcc
 language: node_js
@@ -10,13 +8,19 @@ node_js:
 services:
   - docker
 
+matrix:
+  include:
+    - os: linux
+      dist: trusty
+      sudo: required
+    - os: linux
+      dist: xenial
+      sudo: required
+    - os: linux
+      dist: bionic
+      sudo: required
+
 env:
-  - distribution: ubuntu
-    version: xenial
-  - distribution: ubuntu
-    version: trusty
-  - distribution: ubuntu
-    version: bionic
   global:
     - ROS_DISTRO=indigo
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]

From 6ade99ca51315b23e02f088a13452f1f9467a11b Mon Sep 17 00:00:00 2001
From: Joe Johans <lgvichy@gmail.com>
Date: Fri, 27 Jul 2018 01:43:28 -0700
Subject: [PATCH 03/33] Fix syntax for multiple nodejs version for all
 distribution

---
 .travis.yml | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 176f941..47c3494 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,24 +1,30 @@
 compiler:
   - gcc
 language: node_js
-node_js:
-  - "6"
-  - "7"
-  - "8"
-services:
-  - docker
 
 matrix:
   include:
     - os: linux
       dist: trusty
       sudo: required
+      node_js:
+        - "6"
+        - "7"
+        - "8"
     - os: linux
       dist: xenial
       sudo: required
+      node_js:
+        - "6"
+        - "7"
+        - "8"
     - os: linux
       dist: bionic
       sudo: required
+      node_js:
+        - "6"
+        - "7"
+        - "8"
 
 env:
   global:

From b43087f50202daafb93b6e835c9c71c4cf90b182 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Sun, 12 Aug 2018 22:36:34 -0400
Subject: [PATCH 04/33] Update .travis.yml

---
 .travis.yml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 47c3494..a992702 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -11,6 +11,8 @@ matrix:
         - "6"
         - "7"
         - "8"
+      env:
+        - ROS_DISTRO=indigo
     - os: linux
       dist: xenial
       sudo: required
@@ -18,6 +20,8 @@ matrix:
         - "6"
         - "7"
         - "8"
+      env:
+        - ROS_DISTRO=indigo
     - os: linux
       dist: bionic
       sudo: required
@@ -25,10 +29,11 @@ matrix:
         - "6"
         - "7"
         - "8"
+      env:
+        - ROS_DISTRO=melodic 
 
 env:
   global:
-    - ROS_DISTRO=indigo
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
     - CI_SOURCE_PATH=$(pwd)
     - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall

From 2dc4e7c87a2966db7b26eb8b96f41e79e8a0d9bc Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Sun, 12 Aug 2018 22:40:22 -0400
Subject: [PATCH 05/33] Update .travis.yml

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index a992702..35f4fdb 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -21,7 +21,7 @@ matrix:
         - "7"
         - "8"
       env:
-        - ROS_DISTRO=indigo
+        - ROS_DISTRO=kinetic
     - os: linux
       dist: bionic
       sudo: required

From 0d6bbd3c4bcf51296c3da79e7d1daade19e43ede Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Sun, 12 Aug 2018 22:58:26 -0400
Subject: [PATCH 06/33] Update .travis.yml

---
 .travis.yml | 53 ++++++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 40 insertions(+), 13 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 35f4fdb..47d58db 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,31 +7,58 @@ matrix:
     - os: linux
       dist: trusty
       sudo: required
-      node_js:
-        - "6"
-        - "7"
-        - "8"
+      node_js: "6"
       env:
         - ROS_DISTRO=indigo
+    - os: linux
+      dist: trusty
+      sudo: required
+      node_js: "7"
+      env:
+        - ROS_DISTRO=indigo
+    - os: linux
+      dist: trusty
+      sudo: required
+      node_js: "8"
+      env:
+        - ROS_DISTRO=indigo
+    - os: linux
+      dist: xenial
+      sudo: required
+      node_js: "6"
+      env:
+        - ROS_DISTRO=kinetic
     - os: linux
       dist: xenial
       sudo: required
-      node_js:
-        - "6"
-        - "7"
-        - "8"
+      node_js: "7"
+      env:
+        - ROS_DISTRO=kinetic
+    - os: linux
+      dist: xenial
+      sudo: required
+      node_js: "8"
       env:
         - ROS_DISTRO=kinetic
     - os: linux
       dist: bionic
       sudo: required
-      node_js:
-        - "6"
-        - "7"
-        - "8"
+      node_js: "6"
       env:
         - ROS_DISTRO=melodic 
-
+    - os: linux
+      dist: bionic
+      sudo: required
+      node_js: "7
+      env:
+        - ROS_DISTRO=melodic
+    - os: linux
+      dist: bionic
+      sudo: required
+      node_js: "8
+      env:
+        - ROS_DISTRO=melodic
+        
 env:
   global:
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]

From 5c5b95b6931b4268a9077a621f5e386ac2965699 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Sun, 12 Aug 2018 23:00:14 -0400
Subject: [PATCH 07/33] Update .travis.yml

---
 .travis.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 47d58db..6212426 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -49,13 +49,13 @@ matrix:
     - os: linux
       dist: bionic
       sudo: required
-      node_js: "7
+      node_js: "7"
       env:
         - ROS_DISTRO=melodic
     - os: linux
       dist: bionic
       sudo: required
-      node_js: "8
+      node_js: "8"
       env:
         - ROS_DISTRO=melodic
         

From 1fd8ec59d3c8f801ee986681859cd991458a8db5 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 16:23:32 -0400
Subject: [PATCH 08/33] Try kinetic for bionic

---
 .travis.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 6212426..edfe922 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -45,19 +45,19 @@ matrix:
       sudo: required
       node_js: "6"
       env:
-        - ROS_DISTRO=melodic 
+        - ROS_DISTRO=kinetic 
     - os: linux
       dist: bionic
       sudo: required
       node_js: "7"
       env:
-        - ROS_DISTRO=melodic
+        - ROS_DISTRO=kinetic
     - os: linux
       dist: bionic
       sudo: required
       node_js: "8"
       env:
-        - ROS_DISTRO=melodic
+        - ROS_DISTRO=kinetic
         
 env:
   global:

From ea836b90ef4167341c213f7a033b7fdb1421e7c0 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 17:57:51 -0400
Subject: [PATCH 09/33] Using docker

Following guidance from https://www.jeffgeerling.com/blog/2018/how-i-test-ansible-configuration-on-7-different-oses-docker
---
 .travis.yml | 129 ++++++++++++++++++++++++++--------------------------
 1 file changed, 65 insertions(+), 64 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index edfe922..f85ec56 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,63 +1,54 @@
-compiler:
-  - gcc
-language: node_js
+sudo: required
+services:
+  - docker
 
 matrix:
   include:
-    - os: linux
-      dist: trusty
-      sudo: required
+    - distro: trusty
+      docker_tag: "0.0.2"
       node_js: "6"
       env:
         - ROS_DISTRO=indigo
-    - os: linux
-      dist: trusty
-      sudo: required
+    - distro: trusty
+      docker_tag: "0.0.2"
       node_js: "7"
       env:
         - ROS_DISTRO=indigo
-    - os: linux
-      dist: trusty
-      sudo: required
+    - distro: trusty
+      docker_tag: "0.0.2"
       node_js: "8"
       env:
         - ROS_DISTRO=indigo
-    - os: linux
-      dist: xenial
-      sudo: required
+    - distro: xenial
+      docker_tag: "0.0.3"
       node_js: "6"
       env:
         - ROS_DISTRO=kinetic
-    - os: linux
-      dist: xenial
-      sudo: required
+    - distro: xenial
+      docker_tag: "0.0.3"
       node_js: "7"
       env:
         - ROS_DISTRO=kinetic
-    - os: linux
-      dist: xenial
-      sudo: required
+    - distro: xenial
+      docker_tag: "0.0.3"
       node_js: "8"
       env:
         - ROS_DISTRO=kinetic
-    - os: linux
-      dist: bionic
-      sudo: required
+    - distro: bionic
+      docker_tag: "0.0.5"
       node_js: "6"
       env:
-        - ROS_DISTRO=kinetic 
-    - os: linux
-      dist: bionic
-      sudo: required
+        - ROS_DISTRO=melodic 
+    - distro: bionic
+      docker_tag: "0.0.5"
       node_js: "7"
       env:
-        - ROS_DISTRO=kinetic
-    - os: linux
-      dist: bionic
-      sudo: required
-      node_js: "8"
+        - ROS_DISTRO=melodic
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_version: "8"
       env:
-        - ROS_DISTRO=kinetic
+        - ROS_DISTRO=melodic
         
 env:
   global:
@@ -75,45 +66,55 @@ branches:
 
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
-  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-  - sudo apt-get update -qq
-  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - 'docker pull boldt/base-ubuntu-nvm-node-npm:{docker_tag}'
+  - container_id=$(mktemp)
+  - 'docker run --detach --volume="${PWD}" boldt/base-ubuntu-nvm-node-npm:{docker_tag} > "${container_id}"'
+  - >
+    docker exec "$(cat ${container_id})"
+    sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
+    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
+    sudo apt-get update -qq;
+    sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
+    source /opt/ros/$ROS_DISTRO/setup.bash;
   # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update
+    sudo rosdep init;
+    rosdep update;
 
 # Create a catkin workspace with the package under integration.
 install:
-  - mkdir -p ~/catkin_ws/src
-  - cd ~/catkin_ws/src
-  - catkin_init_workspace
+  - >
+    docker exec "$(cat ${container_id})"
+    mkdir -p ~/catkin_ws/src;
+    cd ~/catkin_ws/src;
+    catkin_init_workspace;
   # Create the devel/setup.bash (run catkin_make with an empty workspace) and
   # source it to set the path variables.
-  - cd ~/catkin_ws
-  - catkin_make
-  - source devel/setup.bash
-
+    cd ~/catkin_ws;
+    catkin_make;
+    source devel/setup.bash;
+  
   # Install required message packages
-  - git clone https://github.com/ros/std_msgs.git src/std_msgs
-  - git clone https://github.com/ros/common_msgs src/common_msgs
-  - git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs
-  - git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs
+    git clone https://github.com/ros/std_msgs.git src/std_msgs;
+    git clone https://github.com/ros/common_msgs src/common_msgs;
+    git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
+    git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
   # Install all dependencies, using wstool first and rosdep second.
   # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-  - cd ~/catkin_ws/src
-  - wstool init
-  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
-  - wstool up
+    cd ~/catkin_ws/src;
+    wstool init;
+    if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
+    wstool up;
   # package depdencies: install using rosdep.
-  - cd ~/catkin_ws
-  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
-  - source devel/setup.bash
+    cd ~/catkin_ws;
+    rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
+    source devel/setup.bash;
+    nvm install {node_version}
 
 script:
-  - cd $CI_SOURCE_PATH
-  - npm install
-  - npm run compile
-  - npm run generate
-  - npm test
+  - >
+    docker exec "$(cat ${container_id})"
+    cd $CI_SOURCE_PATH;
+    npm install;
+    npm run compile;
+    npm run generate;
+    npm test;

From f192030aa84c657a395545ebc17de95c30902b99 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:00:53 -0400
Subject: [PATCH 10/33] Fix environment

---
 .travis.yml | 87 +++++++++++++++++++++++------------------------------
 1 file changed, 38 insertions(+), 49 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index f85ec56..1b957eb 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,56 +1,45 @@
 sudo: required
+dist: trusty
 services:
   - docker
-
-matrix:
-  include:
-    - distro: trusty
-      docker_tag: "0.0.2"
-      node_js: "6"
-      env:
-        - ROS_DISTRO=indigo
-    - distro: trusty
-      docker_tag: "0.0.2"
-      node_js: "7"
-      env:
-        - ROS_DISTRO=indigo
-    - distro: trusty
-      docker_tag: "0.0.2"
-      node_js: "8"
-      env:
-        - ROS_DISTRO=indigo
-    - distro: xenial
-      docker_tag: "0.0.3"
-      node_js: "6"
-      env:
-        - ROS_DISTRO=kinetic
-    - distro: xenial
-      docker_tag: "0.0.3"
-      node_js: "7"
-      env:
-        - ROS_DISTRO=kinetic
-    - distro: xenial
-      docker_tag: "0.0.3"
-      node_js: "8"
-      env:
-        - ROS_DISTRO=kinetic
-    - distro: bionic
-      docker_tag: "0.0.5"
-      node_js: "6"
-      env:
-        - ROS_DISTRO=melodic 
-    - distro: bionic
-      docker_tag: "0.0.5"
-      node_js: "7"
-      env:
-        - ROS_DISTRO=melodic
-    - distro: bionic
-      docker_tag: "0.0.5"
-      node_version: "8"
-      env:
-        - ROS_DISTRO=melodic
-        
+ 
 env:
+  - distro: trusty
+    docker_tag: "0.0.2"
+    node_js: "6"
+    ROS_DISTRO=indigo
+  - distro: trusty
+    docker_tag: "0.0.2"
+    node_js: "7"
+    ROS_DISTRO=indigo
+  - distro: trusty
+    docker_tag: "0.0.2"
+    node_js: "8"
+    ROS_DISTRO=indigo
+  - distro: xenial
+    docker_tag: "0.0.3"
+    node_js: "6"
+    ROS_DISTRO=kinetic
+  - distro: xenial
+    docker_tag: "0.0.3"
+    node_js: "7"
+    ROS_DISTRO=kinetic
+  - distro: xenial
+    docker_tag: "0.0.3"
+    node_js: "8"
+    ROS_DISTRO=kinetic
+  - distro: bionic
+    docker_tag: "0.0.5"
+    node_js: "6"
+    ROS_DISTRO=melodic 
+  - distro: bionic
+    docker_tag: "0.0.5"
+    node_js: "7"
+    ROS_DISTRO=melodic
+  - distro: bionic
+    docker_tag: "0.0.5"
+    node_version: "8"
+    ROS_DISTRO=melodic
   global:
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
     - CI_SOURCE_PATH=$(pwd)

From 723ccb8ef8b125b6459edfb85525a34309e8c305 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:04:15 -0400
Subject: [PATCH 11/33] Add matrix back into env

---
 .travis.yml | 74 +++++++++++++++++++++++++++--------------------------
 1 file changed, 38 insertions(+), 36 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 1b957eb..6c434a3 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,42 +4,6 @@ services:
   - docker
  
 env:
-  - distro: trusty
-    docker_tag: "0.0.2"
-    node_js: "6"
-    ROS_DISTRO=indigo
-  - distro: trusty
-    docker_tag: "0.0.2"
-    node_js: "7"
-    ROS_DISTRO=indigo
-  - distro: trusty
-    docker_tag: "0.0.2"
-    node_js: "8"
-    ROS_DISTRO=indigo
-  - distro: xenial
-    docker_tag: "0.0.3"
-    node_js: "6"
-    ROS_DISTRO=kinetic
-  - distro: xenial
-    docker_tag: "0.0.3"
-    node_js: "7"
-    ROS_DISTRO=kinetic
-  - distro: xenial
-    docker_tag: "0.0.3"
-    node_js: "8"
-    ROS_DISTRO=kinetic
-  - distro: bionic
-    docker_tag: "0.0.5"
-    node_js: "6"
-    ROS_DISTRO=melodic 
-  - distro: bionic
-    docker_tag: "0.0.5"
-    node_js: "7"
-    ROS_DISTRO=melodic
-  - distro: bionic
-    docker_tag: "0.0.5"
-    node_version: "8"
-    ROS_DISTRO=melodic
   global:
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
     - CI_SOURCE_PATH=$(pwd)
@@ -49,6 +13,44 @@ env:
     # Set the python path manually to include /usr/-/python2.7/dist-packages
     # as this is where apt-get installs python packages.
     - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+  matrix:
+    - distro: trusty
+      docker_tag: "0.0.2"
+      node_js: "6"
+      ROS_DISTRO=indigo
+    - distro: trusty
+      docker_tag: "0.0.2"
+      node_js: "7"
+      ROS_DISTRO=indigo
+    - distro: trusty
+      docker_tag: "0.0.2"
+      node_js: "8"
+      ROS_DISTRO=indigo
+    - distro: xenial
+      docker_tag: "0.0.3"
+      node_js: "6"
+      ROS_DISTRO=kinetic
+    - distro: xenial
+      docker_tag: "0.0.3"
+      node_js: "7"
+      ROS_DISTRO=kinetic
+    - distro: xenial
+      docker_tag: "0.0.3"
+      node_js: "8"
+      ROS_DISTRO=kinetic
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_js: "6"
+      ROS_DISTRO=melodic 
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_js: "7"
+      ROS_DISTRO=melodic
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_version: "8"
+      ROS_DISTRO=melodic
+
 branches:
   only:
     - kinetic-devel

From 6b9b8b604c37635862e7919a7162ddf74f2d9b64 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:08:58 -0400
Subject: [PATCH 12/33] Fix minor syntax error

---
 .travis.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 6c434a3..e3c21ec 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -17,39 +17,39 @@ env:
     - distro: trusty
       docker_tag: "0.0.2"
       node_js: "6"
-      ROS_DISTRO=indigo
+      ROS_DISTRO:indigo
     - distro: trusty
       docker_tag: "0.0.2"
       node_js: "7"
-      ROS_DISTRO=indigo
+      ROS_DISTRO:indigo
     - distro: trusty
       docker_tag: "0.0.2"
       node_js: "8"
-      ROS_DISTRO=indigo
+      ROS_DISTRO:indigo
     - distro: xenial
       docker_tag: "0.0.3"
       node_js: "6"
-      ROS_DISTRO=kinetic
+      ROS_DISTRO:kinetic
     - distro: xenial
       docker_tag: "0.0.3"
       node_js: "7"
-      ROS_DISTRO=kinetic
+      ROS_DISTRO:kinetic
     - distro: xenial
       docker_tag: "0.0.3"
       node_js: "8"
-      ROS_DISTRO=kinetic
+      ROS_DISTRO:kinetic
     - distro: bionic
       docker_tag: "0.0.5"
       node_js: "6"
-      ROS_DISTRO=melodic 
+      ROS_DISTRO:melodic 
     - distro: bionic
       docker_tag: "0.0.5"
       node_js: "7"
-      ROS_DISTRO=melodic
+      ROS_DISTRO:melodic
     - distro: bionic
       docker_tag: "0.0.5"
       node_version: "8"
-      ROS_DISTRO=melodic
+      ROS_DISTRO:melodic
 
 branches:
   only:

From 6a2e5c791b965f48eaeeb1cef7030f1b550df647 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:11:06 -0400
Subject: [PATCH 13/33] Update .travis.yml

---
 .travis.yml | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index e3c21ec..225d6c0 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,40 +16,40 @@ env:
   matrix:
     - distro: trusty
       docker_tag: "0.0.2"
-      node_js: "6"
-      ROS_DISTRO:indigo
+      node_js: 6
+      ROS_DISTRO: indigo
     - distro: trusty
       docker_tag: "0.0.2"
-      node_js: "7"
-      ROS_DISTRO:indigo
+      node_js: 7
+      ROS_DISTRO: indigo
     - distro: trusty
       docker_tag: "0.0.2"
-      node_js: "8"
-      ROS_DISTRO:indigo
+      node_js: 8
+      ROS_DISTRO: indigo
     - distro: xenial
       docker_tag: "0.0.3"
-      node_js: "6"
-      ROS_DISTRO:kinetic
+      node_js: 6
+      ROS_DISTRO: kinetic
     - distro: xenial
       docker_tag: "0.0.3"
-      node_js: "7"
-      ROS_DISTRO:kinetic
+      node_js: 7
+      ROS_DISTRO: kinetic
     - distro: xenial
       docker_tag: "0.0.3"
-      node_js: "8"
-      ROS_DISTRO:kinetic
+      node_js: 8
+      ROS_DISTRO: kinetic
     - distro: bionic
       docker_tag: "0.0.5"
-      node_js: "6"
-      ROS_DISTRO:melodic 
+      node_js: 6
+      ROS_DISTRO: melodic 
     - distro: bionic
       docker_tag: "0.0.5"
-      node_js: "7"
-      ROS_DISTRO:melodic
+      node_js: 7
+      ROS_DISTRO: melodic
     - distro: bionic
       docker_tag: "0.0.5"
-      node_version: "8"
-      ROS_DISTRO:melodic
+      node_version: 8
+      ROS_DISTRO: melodic
 
 branches:
   only:

From 62ca7350c94ee63d4e13291110d4710ee2551c3a Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:14:33 -0400
Subject: [PATCH 14/33] Update .travis.yml

---
 .travis.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 193a06e..f878810 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,35 +16,35 @@ env:
   matrix:
     - distro: trusty
       docker_tag: "0.0.2"
-      node_js: 6
+      node_version: 6
       ROS_DISTRO: indigo
     - distro: trusty
       docker_tag: "0.0.2"
-      node_js: 7
+      node_version: 7
       ROS_DISTRO: indigo
     - distro: trusty
       docker_tag: "0.0.2"
-      node_js: 8
+      node_version: 8
       ROS_DISTRO: indigo
     - distro: xenial
       docker_tag: "0.0.3"
-      node_js: 6
+      node_version: 6
       ROS_DISTRO: kinetic
     - distro: xenial
       docker_tag: "0.0.3"
-      node_js: 7
+      node_version: 7
       ROS_DISTRO: kinetic
     - distro: xenial
       docker_tag: "0.0.3"
-      node_js: 8
+      node_version: 8
       ROS_DISTRO: kinetic
     - distro: bionic
       docker_tag: "0.0.5"
-      node_js: 6
+      node_version: 6
       ROS_DISTRO: melodic 
     - distro: bionic
       docker_tag: "0.0.5"
-      node_js: 7
+      node_version: 7
       ROS_DISTRO: melodic
     - distro: bionic
       docker_tag: "0.0.5"
@@ -109,4 +109,4 @@ script:
     npm install;
     npm run compile;
     npm run generate;
-    npm test;
\ No newline at end of file
+    npm test;

From b0d201e4d8414b21a6a86823cdf28e6770ee21c1 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:23:04 -0400
Subject: [PATCH 15/33] Fix indentation on comments

---
 .travis.yml | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index f878810..73406a7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -57,9 +57,9 @@ branches:
 
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
-  - 'docker pull boldt/base-ubuntu-nvm-node-npm:{docker_tag}'
+  - 'docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}'
   - container_id=$(mktemp)
-  - 'docker run --detach --volume="${PWD}" boldt/base-ubuntu-nvm-node-npm:{docker_tag} > "${container_id}"'
+  - 'docker run --detach --volume="${PWD}" boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"'
   - >
     docker exec "$(cat ${container_id})"
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
@@ -68,7 +68,7 @@ before_install:
     sudo apt-get update -qq;
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
     source /opt/ros/$ROS_DISTRO/setup.bash;
-  # Prepare rosdep to install dependencies.
+    # Prepare rosdep to install dependencies.
     sudo rosdep init;
     rosdep update;
 
@@ -79,28 +79,28 @@ install:
     mkdir -p ~/catkin_ws/src;
     cd ~/catkin_ws/src;
     catkin_init_workspace;
-  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
-  # source it to set the path variables.
+    # Create the devel/setup.bash (run catkin_make with an empty workspace) and
+    # source it to set the path variables.
     cd ~/catkin_ws;
     catkin_make;
     source devel/setup.bash;
   
-  # Install required message packages
+    # Install required message packages
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
     git clone https://github.com/ros/common_msgs src/common_msgs;
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
     git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
-  # Install all dependencies, using wstool first and rosdep second.
-  # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+    # Install all dependencies, using wstool first and rosdep second.
+    # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
     cd ~/catkin_ws/src;
     wstool init;
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
     wstool up;
-  # package depdencies: install using rosdep.
+    # package depdencies: install using rosdep.
     cd ~/catkin_ws;
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
     source devel/setup.bash;
-    nvm install {node_version}
+    nvm install ${node_version}
 
 script:
   - >

From 04dd734b093fe78694dd7e1498204a243b0bc72c Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:34:21 -0400
Subject: [PATCH 16/33] Update .travis.yml

---
 .travis.yml | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 73406a7..0be181f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -59,16 +59,20 @@ branches:
 before_install:
   - 'docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}'
   - container_id=$(mktemp)
-  - 'docker run --detach --volume="${PWD}" boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"'
+  - 'docker run --detach boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"'
   - >
     docker exec "$(cat ${container_id})"
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
+  - >
+    docker exec "$(cat ${container_id})"
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
     sudo apt-get update -qq;
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
     source /opt/ros/$ROS_DISTRO/setup.bash;
     # Prepare rosdep to install dependencies.
+  - >
+    docker exec "$(cat ${container_id})"
     sudo rosdep init;
     rosdep update;
 
@@ -81,22 +85,30 @@ install:
     catkin_init_workspace;
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
+  - >
+    docker exec "$(cat ${container_id})"
     cd ~/catkin_ws;
     catkin_make;
     source devel/setup.bash;
   
     # Install required message packages
+  - >
+    docker exec "$(cat ${container_id})"
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
     git clone https://github.com/ros/common_msgs src/common_msgs;
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
     git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+  - >
+    docker exec "$(cat ${container_id})"
     cd ~/catkin_ws/src;
     wstool init;
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
     wstool up;
     # package depdencies: install using rosdep.
+  - >
+    docker exec "$(cat ${container_id})"
     cd ~/catkin_ws;
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
     source devel/setup.bash;
@@ -104,7 +116,7 @@ install:
 
 script:
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec --tty "$(cat ${container_id})" env TERM=xterm
     cd $CI_SOURCE_PATH;
     npm install;
     npm run compile;

From f6ce7c429ca65aff0d19d80a539bf0026862445c Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:42:14 -0400
Subject: [PATCH 17/33] Update .travis.yml

---
 .travis.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 0be181f..d9ea57d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -60,6 +60,9 @@ before_install:
   - 'docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}'
   - container_id=$(mktemp)
   - 'docker run --detach boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"'
+
+# Create a catkin workspace with the package under integration.
+install:
   - >
     docker exec "$(cat ${container_id})"
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
@@ -75,9 +78,6 @@ before_install:
     docker exec "$(cat ${container_id})"
     sudo rosdep init;
     rosdep update;
-
-# Create a catkin workspace with the package under integration.
-install:
   - >
     docker exec "$(cat ${container_id})"
     mkdir -p ~/catkin_ws/src;

From 46f2835b255d5c9de8ff66c7b6aec04dd5de817e Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 18:52:35 -0400
Subject: [PATCH 18/33] Update .travis.yml

---
 .travis.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index d9ea57d..76091b3 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -57,9 +57,11 @@ branches:
 
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
-  - 'docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}'
+  - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - container_id=$(mktemp)
-  - 'docker run --detach boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"'
+  - docker run -d boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"
+  - docker ps -a
+  - cat ${container_id}
 
 # Create a catkin workspace with the package under integration.
 install:

From fb4e8ed93fe5df3bb8c5da1519001c25d3d6ca03 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 19:23:47 -0400
Subject: [PATCH 19/33] Update .travis.yml

---
 .travis.yml | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 76091b3..78ab1b1 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -58,18 +58,16 @@ branches:
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
-  - container_id=$(mktemp)
-  - docker run -d boldt/base-ubuntu-nvm-node-npm:${docker_tag} > "${container_id}"
+  - docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - docker ps -a
-  - cat ${container_id}
 
 # Create a catkin workspace with the package under integration.
 install:
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
     sudo apt-get update -qq;
@@ -77,25 +75,25 @@ install:
     source /opt/ros/$ROS_DISTRO/setup.bash;
     # Prepare rosdep to install dependencies.
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     sudo rosdep init;
     rosdep update;
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     mkdir -p ~/catkin_ws/src;
     cd ~/catkin_ws/src;
     catkin_init_workspace;
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     cd ~/catkin_ws;
     catkin_make;
     source devel/setup.bash;
   
     # Install required message packages
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
     git clone https://github.com/ros/common_msgs src/common_msgs;
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
@@ -103,14 +101,14 @@ install:
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     cd ~/catkin_ws/src;
     wstool init;
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
     wstool up;
     # package depdencies: install using rosdep.
   - >
-    docker exec "$(cat ${container_id})"
+    docker exec build
     cd ~/catkin_ws;
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
     source devel/setup.bash;
@@ -118,7 +116,7 @@ install:
 
 script:
   - >
-    docker exec --tty "$(cat ${container_id})" env TERM=xterm
+    docker exec --tty build env TERM=xterm
     cd $CI_SOURCE_PATH;
     npm install;
     npm run compile;

From 8026fbe9f675a36cd4772c84bbad5f5179cadceb Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 19:34:46 -0400
Subject: [PATCH 20/33] Update .travis.yml

---
 .travis.yml | 35 +++++++++++++++++++++++++----------
 1 file changed, 25 insertions(+), 10 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 78ab1b1..95c419f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -67,58 +67,73 @@ install:
     docker exec build
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
     sudo apt-get update -qq;
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
     source /opt/ros/$ROS_DISTRO/setup.bash;
+    '
     # Prepare rosdep to install dependencies.
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     sudo rosdep init;
     rosdep update;
+    '
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     mkdir -p ~/catkin_ws/src;
     cd ~/catkin_ws/src;
     catkin_init_workspace;
+    '
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     cd ~/catkin_ws;
     catkin_make;
     source devel/setup.bash;
-  
+    '
     # Install required message packages
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
     git clone https://github.com/ros/common_msgs src/common_msgs;
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
     git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
+    '
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     cd ~/catkin_ws/src;
     wstool init;
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
     wstool up;
+    '
     # package depdencies: install using rosdep.
   - >
-    docker exec build
+    docker exec build bash -c 
+    '
     cd ~/catkin_ws;
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
     source devel/setup.bash;
     nvm install ${node_version}
-
+    '
+    
 script:
   - >
-    docker exec --tty build env TERM=xterm
+    docker exec --tty build env TERM=xterm bash -c
+    '
     cd $CI_SOURCE_PATH;
     npm install;
     npm run compile;
     npm run generate;
     npm test;
+    '

From 51d2263af378f3798ab9ebda7d7df4cdbf3ea570 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 19:49:56 -0400
Subject: [PATCH 21/33] Update .travis.yml

---
 .travis.yml | 77 ++++++++++++++++++++++++++++++++++++-----------------
 1 file changed, 53 insertions(+), 24 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 95c419f..b33c89c 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -67,73 +67,102 @@ install:
     docker exec build
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec build bash -c 
-    '
+    docker exec build 
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
+  - >
+    docker exec build 
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
+  - >
+    docker exec build
     sudo apt-get update -qq;
+  - >
+    docker exec build
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
+  - >
+    docker exec build
     source /opt/ros/$ROS_DISTRO/setup.bash;
-    '
+    
     # Prepare rosdep to install dependencies.
   - >
-    docker exec build bash -c 
-    '
+    docker exec build
     sudo rosdep init;
+  - >
+    docker exec build
     rosdep update;
-    '
   - >
-    docker exec build bash -c 
-    '
+    docker exec build
     mkdir -p ~/catkin_ws/src;
+  - >
+    docker exec build
     cd ~/catkin_ws/src;
+  - >
+    docker exec build
     catkin_init_workspace;
-    '
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec build bash -c 
-    '
+    docker exec build
     cd ~/catkin_ws;
+  - >
+    docker exec build
     catkin_make;
+  - >
+    docker exec build
     source devel/setup.bash;
-    '
     # Install required message packages
   - >
-    docker exec build bash -c 
-    '
+    docker exec build
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
+  - >
+    docker exec build
     git clone https://github.com/ros/common_msgs src/common_msgs;
+  - >
+    docker exec build
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
+  - >
+    docker exec build
     git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
-    '
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec build bash -c 
-    '
+    docker exec build
     cd ~/catkin_ws/src;
+  - >
+    docker exec build
     wstool init;
+  - >
+    docker exec build
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
+  - >
+    docker exec build
     wstool up;
-    '
     # package depdencies: install using rosdep.
   - >
-    docker exec build bash -c 
-    '
+    docker exec build
     cd ~/catkin_ws;
+  - >
+    docker exec build
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
+  - >
+    docker exec build
     source devel/setup.bash;
+  - >
+    docker exec build
     nvm install ${node_version}
-    '
     
 script:
   - >
-    docker exec --tty build env TERM=xterm bash -c
-    '
+    docker exec --tty build env TERM=xterm
     cd $CI_SOURCE_PATH;
+  - >
+    docker exec --tty build env TERM=xterm
     npm install;
+  - >
+    docker exec --tty build env TERM=xterm
     npm run compile;
+  - >
+    docker exec --tty build env TERM=xterm
     npm run generate;
+  - >
+    docker exec --tty build env TERM=xterm
     npm test;
-    '

From 0d4868b23c8890dda6cd1781442e0cee79828a65 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 23:27:15 -0400
Subject: [PATCH 22/33] Update .travis.yml

---
 .travis.yml | 62 ++++++++++++++++++++++++++---------------------------
 1 file changed, 31 insertions(+), 31 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index b33c89c..5d1b805 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -64,105 +64,105 @@ before_install:
 # Create a catkin workspace with the package under integration.
 install:
   - >
-    docker exec build
+    docker exec build bash -c
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec build 
+    docker exec build bash -c
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
   - >
-    docker exec build 
+    docker exec build bash -c
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
   - >
-    docker exec build
+    docker exec build bash -c
     sudo apt-get update -qq;
   - >
-    docker exec build
+    docker exec build bash -c
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
   - >
-    docker exec build
+    docker exec build bash -c
     source /opt/ros/$ROS_DISTRO/setup.bash;
     
     # Prepare rosdep to install dependencies.
   - >
-    docker exec build
+    docker exec build bash -c
     sudo rosdep init;
   - >
-    docker exec build
+    docker exec build bash -c
     rosdep update;
   - >
-    docker exec build
+    docker exec build bash -c
     mkdir -p ~/catkin_ws/src;
   - >
-    docker exec build
+    docker exec build bash -c
     cd ~/catkin_ws/src;
   - >
-    docker exec build
+    docker exec build bash -c
     catkin_init_workspace;
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec build
+    docker exec build bash -c
     cd ~/catkin_ws;
   - >
-    docker exec build
+    docker exec build bash -c
     catkin_make;
   - >
-    docker exec build
+    docker exec build bash -c
     source devel/setup.bash;
     # Install required message packages
   - >
-    docker exec build
+    docker exec build bash -c
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
   - >
-    docker exec build
+    docker exec build bash -c
     git clone https://github.com/ros/common_msgs src/common_msgs;
   - >
-    docker exec build
+    docker exec build bash -c
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
   - >
-    docker exec build
+    docker exec build bash -c
     git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec build
+    docker exec build bash -c
     cd ~/catkin_ws/src;
   - >
-    docker exec build
+    docker exec build bash -c
     wstool init;
   - >
-    docker exec build
+    docker exec build bash -c
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
   - >
-    docker exec build
+    docker exec build bash -c
     wstool up;
     # package depdencies: install using rosdep.
   - >
-    docker exec build
+    docker exec build bash -c
     cd ~/catkin_ws;
   - >
-    docker exec build
+    docker exec build bash -c
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
   - >
-    docker exec build
+    docker exec build bash -c
     source devel/setup.bash;
   - >
-    docker exec build
+    docker exec build bash -c
     nvm install ${node_version}
     
 script:
   - >
-    docker exec --tty build env TERM=xterm
+    docker exec --tty build env TERM=xterm bash -c
     cd $CI_SOURCE_PATH;
   - >
-    docker exec --tty build env TERM=xterm
+    docker exec --tty build env TERM=xterm bash -c
     npm install;
   - >
-    docker exec --tty build env TERM=xterm
+    docker exec --tty build env TERM=xterm bash -c
     npm run compile;
   - >
-    docker exec --tty build env TERM=xterm
+    docker exec --tty build env TERM=xterm bash -c
     npm run generate;
   - >
-    docker exec --tty build env TERM=xterm
+    docker exec --tty build env TERM=xterm bash -c
     npm test;

From 9fbc6095201f5a86997302e341ba14c0b2e95605 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Mon, 20 Aug 2018 23:38:16 -0400
Subject: [PATCH 23/33] Update .travis.yml

---
 .travis.yml | 64 ++++++++++++++++++++++++++---------------------------
 1 file changed, 32 insertions(+), 32 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 5d1b805..df84756 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -58,111 +58,111 @@ branches:
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
-  - docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag}
+  - docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag} bash
   - docker ps -a
 
 # Create a catkin workspace with the package under integration.
 install:
   - >
-    docker exec build bash -c
+    docker exec build
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec build bash -c
+    docker exec build 
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
   - >
-    docker exec build bash -c
+    docker exec build 
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
   - >
-    docker exec build bash -c
+    docker exec build 
     sudo apt-get update -qq;
   - >
-    docker exec build bash -c
+    docker exec build 
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
   - >
-    docker exec build bash -c
+    docker exec build 
     source /opt/ros/$ROS_DISTRO/setup.bash;
     
     # Prepare rosdep to install dependencies.
   - >
-    docker exec build bash -c
+    docker exec build 
     sudo rosdep init;
   - >
-    docker exec build bash -c
+    docker exec build 
     rosdep update;
   - >
-    docker exec build bash -c
+    docker exec build 
     mkdir -p ~/catkin_ws/src;
   - >
-    docker exec build bash -c
+    docker exec build 
     cd ~/catkin_ws/src;
   - >
-    docker exec build bash -c
+    docker exec build 
     catkin_init_workspace;
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec build bash -c
+    docker exec build 
     cd ~/catkin_ws;
   - >
-    docker exec build bash -c
+    docker exec build 
     catkin_make;
   - >
-    docker exec build bash -c
+    docker exec build 
     source devel/setup.bash;
     # Install required message packages
   - >
-    docker exec build bash -c
+    docker exec build 
     git clone https://github.com/ros/std_msgs.git src/std_msgs;
   - >
-    docker exec build bash -c
+    docker exec build 
     git clone https://github.com/ros/common_msgs src/common_msgs;
   - >
-    docker exec build bash -c
+    docker exec build 
     git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
   - >
-    docker exec build bash -c
+    docker exec build 
     git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec build bash -c
+    docker exec build 
     cd ~/catkin_ws/src;
   - >
-    docker exec build bash -c
+    docker exec build 
     wstool init;
   - >
-    docker exec build bash -c
+    docker exec build 
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
   - >
-    docker exec build bash -c
+    docker exec build 
     wstool up;
     # package depdencies: install using rosdep.
   - >
-    docker exec build bash -c
+    docker exec build 
     cd ~/catkin_ws;
   - >
-    docker exec build bash -c
+    docker exec build 
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
   - >
-    docker exec build bash -c
+    docker exec build 
     source devel/setup.bash;
   - >
-    docker exec build bash -c
+    docker exec build 
     nvm install ${node_version}
     
 script:
   - >
-    docker exec --tty build env TERM=xterm bash -c
+    docker exec --tty build env TERM=xterm 
     cd $CI_SOURCE_PATH;
   - >
-    docker exec --tty build env TERM=xterm bash -c
+    docker exec --tty build env TERM=xterm 
     npm install;
   - >
-    docker exec --tty build env TERM=xterm bash -c
+    docker exec --tty build env TERM=xterm 
     npm run compile;
   - >
-    docker exec --tty build env TERM=xterm bash -c
+    docker exec --tty build env TERM=xterm 
     npm run generate;
   - >
-    docker exec --tty build env TERM=xterm bash -c
+    docker exec --tty build env TERM=xterm 
     npm test;

From ac485d8b6578eadd3e94262f7f6130d2af1f690b Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 01:05:02 -0400
Subject: [PATCH 24/33] Update .travis.yml

---
 .travis.yml | 81 ++++++++++++++++++++++-------------------------------
 1 file changed, 33 insertions(+), 48 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index df84756..98b50ad 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -63,106 +63,91 @@ before_install:
 
 # Create a catkin workspace with the package under integration.
 install:
+  - docker exec -it build bash
   - >
-    docker exec build
+    docker exec -it build
     sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec build 
+    docker exec -it build 
     sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
   - >
-    docker exec build 
+    docker exec -it build 
     sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
   - >
-    docker exec build 
+    docker exec -it build 
     sudo apt-get update -qq;
   - >
-    docker exec build 
+    docker exec -it build 
     sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
   - >
-    docker exec build 
-    source /opt/ros/$ROS_DISTRO/setup.bash;
-    
+    docker exec -it build
+    source /opt/ros/$ROS_DISTRO/setup.bash
     # Prepare rosdep to install dependencies.
   - >
-    docker exec build 
+    docker exec -it build
     sudo rosdep init;
   - >
-    docker exec build 
+    docker exec -it build
     rosdep update;
   - >
-    docker exec build 
+    docker exec -it build
     mkdir -p ~/catkin_ws/src;
-  - >
-    docker exec build 
-    cd ~/catkin_ws/src;
-  - >
-    docker exec build 
+  - > 
+    docker exec -it -w ~/catkin_ws/src build
     catkin_init_workspace;
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec build 
-    cd ~/catkin_ws;
-  - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws build
     catkin_make;
   - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws build
     source devel/setup.bash;
     # Install required message packages
   - >
-    docker exec build 
-    git clone https://github.com/ros/std_msgs.git src/std_msgs;
+    docker exec -it -w ~/catkin_ws/src build
+    git clone https://github.com/ros/std_msgs.git
   - >
-    docker exec build 
-    git clone https://github.com/ros/common_msgs src/common_msgs;
+    docker exec -it -w ~/catkin_ws/src build
+    git clone https://github.com/ros/common_msgs
   - >
-    docker exec build 
-    git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs;
+    docker exec -it -w ~/catkin_ws/src build
+    git clone https://github.com/RethinkRobotics-opensource/test_msgs.git
   - >
-    docker exec build 
-    git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs;
+    docker exec -it -w ~/catkin_ws/src build
+    git clone https://github.com/ros/ros_comm_msgs.git
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec build 
-    cd ~/catkin_ws/src;
-  - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws/src build 
     wstool init;
   - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws/src build
     if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
   - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws/src build
     wstool up;
     # package depdencies: install using rosdep.
   - >
-    docker exec build 
-    cd ~/catkin_ws;
-  - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws build
     rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
   - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws build
     source devel/setup.bash;
   - >
-    docker exec build 
+    docker exec -it -w ~/catkin_ws build
     nvm install ${node_version}
     
 script:
   - >
-    docker exec --tty build env TERM=xterm 
-    cd $CI_SOURCE_PATH;
-  - >
-    docker exec --tty build env TERM=xterm 
+    docker exec -it -w $CI_SOURCE_PATH build
     npm install;
   - >
-    docker exec --tty build env TERM=xterm 
+    docker exec -it -w $CI_SOURCE_PATH build
     npm run compile;
   - >
-    docker exec --tty build env TERM=xterm 
+    docker exec -it -w $CI_SOURCE_PATH build
     npm run generate;
   - >
-    docker exec --tty build env TERM=xterm 
+    docker exec -it -w $CI_SOURCE_PATH build
     npm test;

From a9f7419ec0e6f1155b2ba4cc1a068e80370cb04a Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 01:22:48 -0400
Subject: [PATCH 25/33] Update .travis.yml

---
 .travis.yml | 118 ++++++++++++++++++++++++++++------------------------
 1 file changed, 64 insertions(+), 54 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 98b50ad..26535b7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -58,96 +58,106 @@ branches:
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
-  - docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag} bash
+  - > 
+    docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag} bash  
+    -e ROS_REPO
+    -e ROS_DISTRO 
+    -e ROSINSTALL_FILE
+    -e ROS_CI_DESKTOP
+    -e CATKIN_OPTIONS
+    -e CI_SOURCE_PATH
+    -e PYTHONPATH
+    -e node_version
+
   - docker ps -a
 
 # Create a catkin workspace with the package under integration.
 install:
-  - docker exec -it build bash
   - >
-    docker exec -it build
-    sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
+    docker exec build bash -c
+    'sudo apt-get install -y dpkg'
+    # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
   - >
-    docker exec -it build 
-    sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
+    docker exec build bash -c
+    'sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"'
   - >
-    docker exec -it build 
-    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
+    docker exec build bash -c
+    'sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;'
   - >
-    docker exec -it build 
-    sudo apt-get update -qq;
+    docker exec build bash -c
+    'sudo apt-get update -qq;'
   - >
-    docker exec -it build 
-    sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;
+    docker exec build bash -c
+    'sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;'
   - >
-    docker exec -it build
-    source /opt/ros/$ROS_DISTRO/setup.bash
+    docker exec build bash -c
+    'source /opt/ros/$ROS_DISTRO/setup.bash'
     # Prepare rosdep to install dependencies.
   - >
-    docker exec -it build
-    sudo rosdep init;
+    docker exec build bash -c
+    'sudo rosdep init;'
   - >
-    docker exec -it build
-    rosdep update;
+    docker exec build bash -c
+    'rosdep update;'
   - >
-    docker exec -it build
-    mkdir -p ~/catkin_ws/src;
+    docker exec build bash -c
+    'mkdir -p ~/catkin_ws/src;'
   - > 
-    docker exec -it -w ~/catkin_ws/src build
-    catkin_init_workspace;
+    docker exec -w ~/catkin_ws/src build bash -c
+    'catkin_init_workspace;'
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec -it -w ~/catkin_ws build
-    catkin_make;
+    docker exec -w ~/catkin_ws build bash -c
+    'catkin_make;'
   - >
-    docker exec -it -w ~/catkin_ws build
-    source devel/setup.bash;
+    docker exec -w ~/catkin_ws build bash -c
+    'source devel/setup.bash;'
     # Install required message packages
   - >
-    docker exec -it -w ~/catkin_ws/src build
-    git clone https://github.com/ros/std_msgs.git
+    docker exec -w ~/catkin_ws/src build bash -c
+    'git clone https://github.com/ros/std_msgs.git'
   - >
-    docker exec -it -w ~/catkin_ws/src build
-    git clone https://github.com/ros/common_msgs
+    docker exec -w ~/catkin_ws/src build bash -c
+    'git clone https://github.com/ros/common_msgs'
   - >
-    docker exec -it -w ~/catkin_ws/src build
-    git clone https://github.com/RethinkRobotics-opensource/test_msgs.git
+    docker exec -w ~/catkin_ws/src build bash -c
+    'git clone https://github.com/RethinkRobotics-opensource/test_msgs.git'
   - >
-    docker exec -it -w ~/catkin_ws/src build
-    git clone https://github.com/ros/ros_comm_msgs.git
+    docker exec -w ~/catkin_ws/src build bash -c
+    'git clone https://github.com/ros/ros_comm_msgs.git'
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec -it -w ~/catkin_ws/src build 
-    wstool init;
+    docker exec -w ~/catkin_ws/src build bash -c 
+    'wstool init;'
   - >
-    docker exec -it -w ~/catkin_ws/src build
-    if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;
+    docker exec -w ~/catkin_ws/src build bash -c
+    'if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;'
   - >
-    docker exec -it -w ~/catkin_ws/src build
-    wstool up;
+    docker exec -w ~/catkin_ws/src build bash -c
+    'wstool up;'
     # package depdencies: install using rosdep.
   - >
-    docker exec -it -w ~/catkin_ws build
-    rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;
+    docker exec -w ~/catkin_ws build bash -c
+    'rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;'
   - >
-    docker exec -it -w ~/catkin_ws build
-    source devel/setup.bash;
+    docker exec -w ~/catkin_ws build bash -c
+    'source devel/setup.bash;'
   - >
-    docker exec -it -w ~/catkin_ws build
-    nvm install ${node_version}
+    docker exec -w ~/catkin_ws build bash -c
+    'nvm install $node_version'
     
 script:
   - >
-    docker exec -it -w $CI_SOURCE_PATH build
-    npm install;
+    docker exec -w $CI_SOURCE_PATH build bash -c
+    'npm install;'
   - >
-    docker exec -it -w $CI_SOURCE_PATH build
-    npm run compile;
+    docker exec -w $CI_SOURCE_PATH build bash -c
+    'npm run compile;'
   - >
-    docker exec -it -w $CI_SOURCE_PATH build
-    npm run generate;
+    docker exec -w $CI_SOURCE_PATH build bash -c
+    'npm run generate;'
   - >
-    docker exec -it -w $CI_SOURCE_PATH build
-    npm test;
+    docker exec -w $CI_SOURCE_PATH build bash -c
+    'npm test;'

From 0f7c20c05473c952a259bf3b5d00c52006ab04cd Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 01:26:09 -0400
Subject: [PATCH 26/33] Update .travis.yml

---
 .travis.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 26535b7..9e13a40 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -59,7 +59,7 @@ branches:
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - > 
-    docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag} bash  
+    docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag}
     -e ROS_REPO
     -e ROS_DISTRO 
     -e ROSINSTALL_FILE
@@ -68,7 +68,7 @@ before_install:
     -e CI_SOURCE_PATH
     -e PYTHONPATH
     -e node_version
-
+    bash
   - docker ps -a
 
 # Create a catkin workspace with the package under integration.

From b6acf716e8e5acd6c2f395b88613cbb30c180bf6 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 01:39:53 -0400
Subject: [PATCH 27/33] Update .travis.yml

---
 .travis.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 9e13a40..58fa4bd 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -59,7 +59,7 @@ branches:
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - > 
-    docker run -it -d --name build boldt/base-ubuntu-nvm-node-npm:${docker_tag}
+    docker run
     -e ROS_REPO
     -e ROS_DISTRO 
     -e ROSINSTALL_FILE
@@ -68,6 +68,8 @@ before_install:
     -e CI_SOURCE_PATH
     -e PYTHONPATH
     -e node_version
+    -it -d --name build 
+    boldt/base-ubuntu-nvm-node-npm:${docker_tag}
     bash
   - docker ps -a
 

From e56804f508f869bf9dc15a88aa18b11c213c984e Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 02:05:40 -0400
Subject: [PATCH 28/33] Update .travis.yml

---
 .travis.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 58fa4bd..b0283d0 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -2,7 +2,11 @@ sudo: required
 dist: trusty
 services:
   - docker
- 
+
+addons:
+  apt:
+    packages:
+      - docker-ce
 env:
   global:
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]

From 02f6423a5628798d2a02558ef218043c9b7bb685 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 04:51:46 -0400
Subject: [PATCH 29/33] Update .travis.yml

---
 .travis.yml | 43 ++++++++++++++++++++++++-------------------
 1 file changed, 24 insertions(+), 19 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index b0283d0..1201652 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -11,6 +11,8 @@ env:
   global:
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
     - CI_SOURCE_PATH=$(pwd)
+    - CATKIN_WS_PATH=/root/catkin_ws
+    - DOCKER_SOURCE_PATH=/root/app
     - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
     - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
     - ROS_PARALLEL_JOBS='-j8 -l6'
@@ -68,11 +70,14 @@ before_install:
     -e ROS_DISTRO 
     -e ROSINSTALL_FILE
     -e ROS_CI_DESKTOP
+    -e CATKIN_WS_PATH
     -e CATKIN_OPTIONS
     -e CI_SOURCE_PATH
     -e PYTHONPATH
+    -e DOCKER_SOURCE_PATH
     -e node_version
-    -it -d --name build 
+    -d --name build
+    -v $(pwd):${DOCKER_SOURCE_PATH}
     boldt/base-ubuntu-nvm-node-npm:${docker_tag}
     bash
   - docker ps -a
@@ -107,63 +112,63 @@ install:
     'rosdep update;'
   - >
     docker exec build bash -c
-    'mkdir -p ~/catkin_ws/src;'
+    'mkdir -p $CATKIN_WS_PATH/src;'
   - > 
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'catkin_init_workspace;'
     # Create the devel/setup.bash (run catkin_make with an empty workspace) and
     # source it to set the path variables.
   - >
-    docker exec -w ~/catkin_ws build bash -c
+    docker exec -w $CATKIN_WS_PATH build bash -c
     'catkin_make;'
   - >
-    docker exec -w ~/catkin_ws build bash -c
+    docker exec -w $CATKIN_WS_PATH build bash -c
     'source devel/setup.bash;'
     # Install required message packages
   - >
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'git clone https://github.com/ros/std_msgs.git'
   - >
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'git clone https://github.com/ros/common_msgs'
   - >
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'git clone https://github.com/RethinkRobotics-opensource/test_msgs.git'
   - >
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'git clone https://github.com/ros/ros_comm_msgs.git'
     # Install all dependencies, using wstool first and rosdep second.
     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
   - >
-    docker exec -w ~/catkin_ws/src build bash -c 
+    docker exec -w $CATKIN_WS_PATH/src build bash -c 
     'wstool init;'
   - >
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;'
   - >
-    docker exec -w ~/catkin_ws/src build bash -c
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
     'wstool up;'
     # package depdencies: install using rosdep.
   - >
-    docker exec -w ~/catkin_ws build bash -c
+    docker exec -w $CATKIN_WS_PATH build bash -c
     'rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;'
   - >
-    docker exec -w ~/catkin_ws build bash -c
+    docker exec -w $CATKIN_WS_PATH build bash -c
     'source devel/setup.bash;'
   - >
-    docker exec -w ~/catkin_ws build bash -c
+    docker exec -w $CATKIN_WS_PATH build bash -c
     'nvm install $node_version'
     
 script:
   - >
-    docker exec -w $CI_SOURCE_PATH build bash -c
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
     'npm install;'
   - >
-    docker exec -w $CI_SOURCE_PATH build bash -c
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
     'npm run compile;'
   - >
-    docker exec -w $CI_SOURCE_PATH build bash -c
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
     'npm run generate;'
   - >
-    docker exec -w $CI_SOURCE_PATH build bash -c
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
     'npm test;'

From c442a11744409a0179ed6bfbaa7d48fe965bb169 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 05:25:01 -0400
Subject: [PATCH 30/33] Update .travis.yml

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 1201652..f250d54 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,5 +1,5 @@
 sudo: required
-dist: trusty
+dist: xenial
 services:
   - docker
 

From 3a09d3f7939af85e0f714c18d86a3a9c88cbdfd5 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 05:32:55 -0400
Subject: [PATCH 31/33] Update .travis.yml

---
 .travis.yml | 25 ++++++++++++-------------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index f250d54..d343233 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -65,21 +65,20 @@ branches:
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - > 
-    docker run
-    -e ROS_REPO
+    docker run -d 
+    -e ROS_REPO 
     -e ROS_DISTRO 
-    -e ROSINSTALL_FILE
-    -e ROS_CI_DESKTOP
-    -e CATKIN_WS_PATH
-    -e CATKIN_OPTIONS
-    -e CI_SOURCE_PATH
-    -e PYTHONPATH
-    -e DOCKER_SOURCE_PATH
-    -e node_version
-    -d --name build
-    -v $(pwd):${DOCKER_SOURCE_PATH}
+    -e ROSINSTALL_FILE 
+    -e ROS_CI_DESKTOP 
+    -e CATKIN_WS_PATH 
+    -e CATKIN_OPTIONS 
+    -e CI_SOURCE_PATH 
+    -e PYTHONPATH 
+    -e DOCKER_SOURCE_PATH 
+    -e node_version 
+    --name build 
+    -v $(pwd):${DOCKER_SOURCE_PATH} 
     boldt/base-ubuntu-nvm-node-npm:${docker_tag}
-    bash
   - docker ps -a
 
 # Create a catkin workspace with the package under integration.

From 300735e5f7cf1fdaeb9aedde54d5b3294d90b483 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 06:33:43 -0400
Subject: [PATCH 32/33] Update .travis.yml

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index d343233..e159639 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -76,8 +76,8 @@ before_install:
     -e PYTHONPATH 
     -e DOCKER_SOURCE_PATH 
     -e node_version 
-    --name build 
     -v $(pwd):${DOCKER_SOURCE_PATH} 
+    --name build
     boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - docker ps -a
 

From c35d8ae678f9cc26cbf2ee79739df0519e96fdc8 Mon Sep 17 00:00:00 2001
From: L <lgvichy@gmail.com>
Date: Tue, 21 Aug 2018 07:20:57 -0400
Subject: [PATCH 33/33] Update .travis.yml

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index e159639..f6d22e7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -65,7 +65,7 @@ branches:
 before_install:
   - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
   - > 
-    docker run -d 
+    docker run -d -it
     -e ROS_REPO 
     -e ROS_DISTRO 
     -e ROSINSTALL_FILE