From c1013a134bfde9e69eb2207371853e7184e66b84 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 19 May 2021 18:17:05 +0900
Subject: [PATCH 01/14] [rtmbuild] fix include/link path for openhrp3 (by
 ishiguroJSK)

---
 rtmbuild/cmake/rtmbuild.cmake | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/rtmbuild/cmake/rtmbuild.cmake b/rtmbuild/cmake/rtmbuild.cmake
index b6c983974..ed87ff954 100644
--- a/rtmbuild/cmake/rtmbuild.cmake
+++ b/rtmbuild/cmake/rtmbuild.cmake
@@ -137,7 +137,7 @@ macro(rtmbuild_init)
     rosbuild_gensrv()
   endif()
 
-  include_directories(${catkin_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${openhrp3_INCLUDE_DIRS})
+  include_directories( ${openhrp3_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
   # since catkin > 0.7.0, the CPATH is no longer being set by catkin, so rtmbuild manually add them
   set(_cmake_prefix_path_tmp $ENV{CMAKE_PREFIX_PATH})
   string(REPLACE ":" ";" _cmake_prefix_path_tmp ${_cmake_prefix_path_tmp})
@@ -145,7 +145,7 @@ macro(rtmbuild_init)
     include_directories(${_cmake_prefix_path}/include)
   endforeach()
 
-  link_directories(${catkin_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${openhrp3_LIBRARY_DIRS})
+  link_directories(${openhrp3_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})
 
 endmacro(rtmbuild_init)
 
@@ -308,7 +308,7 @@ macro(rtmbuild_add_executable exe)
   set_target_properties(${exe} PROPERTIES COMPILE_FLAGS "-Wno-deprecated")
   ##
   add_dependencies(${exe} RTMBUILD_${PROJECT_NAME}_genbridge ${${_package}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
-  target_link_libraries(${exe} ${catkin_LIBRARIES} ${openrtm_aist_LIBRARIES} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS} )
+  target_link_libraries(${exe} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS} ${openrtm_aist_LIBRARIES} ${catkin_LIBRARIES}  )
 endmacro(rtmbuild_add_executable)
 
 macro(rtmbuild_add_library lib)
@@ -318,6 +318,6 @@ macro(rtmbuild_add_library lib)
   else()
     rosbuild_add_library(${ARGV})
   endif()
-  target_link_libraries(${lib} ${openrtm_aist_LIBRARIES} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS})
+  target_link_libraries(${lib}  ${openhrp3_LIBRARIES} ${openrtm_aist_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS})
 endmacro(rtmbuild_add_library)
 

From 04261b49ac46ff9aca36fd93b641768fc6a62935 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 30 May 2021 13:57:17 +0900
Subject: [PATCH 02/14] jsk_travis 0.5.21

---
 .github/workflows/kinetic.yml | 103 ++++++++++++++++++++++++++++++++++
 .github/workflows/melodic.yml |  50 +++++++++++++++++
 .travis                       |   2 +-
 3 files changed, 154 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/kinetic.yml
 create mode 100644 .github/workflows/melodic.yml

diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml
new file mode 100644
index 000000000..15e3ff775
--- /dev/null
+++ b/.github/workflows/kinetic.yml
@@ -0,0 +1,103 @@
+# generated by `./generate_action_config.py kinetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  kinetic:
+    runs-on: ubuntu-latest
+    name: kinetic
+
+    container: jskrobotics/ros-ubuntu:16.04
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : kinetic
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          USE_DEB: true
+
+  kinetic-src:
+    runs-on: ubuntu-latest
+    name: kinetic-src
+
+    container: jskrobotics/ros-ubuntu:16.04
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : kinetic
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          USE_DEB: false
+          NOT_TEST_INSTALL: true
+
+  kinetic-eustest:
+    runs-on: ubuntu-latest
+    name: kinetic-eustest
+
+    container: jskrobotics/ros-ubuntu:16.04
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : kinetic
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          USE_DEB: true
+          EXTRA_DEB: 'ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
+          NOT_TEST_INSTALL: true
+          TEST_PKGS: 'hrpsys_ros_bridge'
+          ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+          IS_EUSLISP_TRAVIS_TEST: true
+
+  kinetic-src-eustest:
+    runs-on: ubuntu-latest
+    name: kinetic-src-eustest
+
+    container: jskrobotics/ros-ubuntu:16.04
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : kinetic
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          USE_DEB: false
+          EXTRA_DEB: 'ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
+          NOT_TEST_INSTALL: true
+          TEST_PKGS: 'hrpsys_ros_bridge'
+          ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+          IS_EUSLISP_TRAVIS_TEST: true
diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml
new file mode 100644
index 000000000..3b3c3e425
--- /dev/null
+++ b/.github/workflows/melodic.yml
@@ -0,0 +1,50 @@
+# generated by `./generate_action_config.py melodic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  melodic:
+    runs-on: ubuntu-latest
+    name: melodic
+
+    container: jskrobotics/ros-ubuntu:18.04
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : melodic
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          USE_DEB: true
+
+  melodic-src:
+    runs-on: ubuntu-latest
+    name: melodic-src
+
+    container: jskrobotics/ros-ubuntu:18.04
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : melodic
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.
+          USE_DEB: false
+          NOT_TEST_INSTALL: true
diff --git a/.travis b/.travis
index 54cfece8b..0955a49eb 160000
--- a/.travis
+++ b/.travis
@@ -1 +1 @@
-Subproject commit 54cfece8bf0ab09877f00070a64a93fc507b68e7
+Subproject commit 0955a49eb558dbcc8f25c032668ad25774c41a8b

From e230b30ce0bbe4d5b52193e4cb8833bc2863b601 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 30 May 2021 19:41:16 +0900
Subject: [PATCH 03/14] jsk_travis 0.5.21

---
 .github/workflows/indigo.yml  |  64 +++++++++++++++++
 .github/workflows/kinetic.yml | 125 +++++++++++++---------------------
 .github/workflows/melodic.yml |  43 +++++-------
 3 files changed, 127 insertions(+), 105 deletions(-)
 create mode 100644 .github/workflows/indigo.yml

diff --git a/.github/workflows/indigo.yml b/.github/workflows/indigo.yml
new file mode 100644
index 000000000..61d59b1d9
--- /dev/null
+++ b/.github/workflows/indigo.yml
@@ -0,0 +1,64 @@
+# generated by `./generate_action_config.py indigo`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  indigo:
+    runs-on: ubuntu-latest
+    name: ${{ matrix.name }}
+
+    container: jskrobotics/ros-ubuntu:14.04
+
+    strategy:
+      matrix:
+        include:
+          - name: indigo
+            USE_DEB: true
+            NOT_TEST_INSTALL: false
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: ''
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
+          - name: indigo-src
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: ''
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
+          - name: indigo-eustest
+            USE_DEB: true
+            NOT_TEST_INSTALL: false
+            TEST_PKGS: 'hrpsys_ros_bridge'
+            EXTRA_DEB: 'ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus'
+            ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+            IS_EUSLISP_TRAVIS_TEST: true
+          - name: indigo-src-eustest
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: 'hrpsys_ros_bridge'
+            EXTRA_DEB: 'ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus'
+            ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+            IS_EUSLISP_TRAVIS_TEST: true
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : indigo
+          CATKIN_PARALLEL_JOBS: '-p1'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_JOBS: "-j1"
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          USE_DEB: ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL: ${{ matrix.NOT_TEST_INSTALL }}
+          TEST_PKGS: ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB: ${{ matrix.EXTRA_DEB }}
+          ADDITIONAL_ENV_TO_DOCKER: ${{ matrix.ADDITIONAL_ENV_TO_DOCKER }}
+          IS_EUSLISP_TRAVIS_TEST: ${{ matrix.IS_EUSLISP_TRAVIS_TEST }}
diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml
index 15e3ff775..9b367a7a4 100644
--- a/.github/workflows/kinetic.yml
+++ b/.github/workflows/kinetic.yml
@@ -5,81 +5,47 @@ on: [push, pull_request]
 jobs:
   kinetic:
     runs-on: ubuntu-latest
-    name: kinetic
+    name: ${{ matrix.name }}
 
     container: jskrobotics/ros-ubuntu:16.04
 
-    steps:
-      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
-        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
-        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Run jsk_travis
-        uses: jsk-ros-pkg/jsk_travis@master
-        with:
-          ROS_DISTRO : kinetic
-          CATKIN_PARALLEL_JOBS: '-p2'
-          CATKIN_PARALLEL_TEST_JOBS: '-p1'
-          ROS_PARALLEL_TEST_JOBS: '-j1'
-          USE_DEB: true
-
-  kinetic-src:
-    runs-on: ubuntu-latest
-    name: kinetic-src
-
-    container: jskrobotics/ros-ubuntu:16.04
-
-    steps:
-      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
-        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
-        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Run jsk_travis
-        uses: jsk-ros-pkg/jsk_travis@master
-        with:
-          ROS_DISTRO : kinetic
-          CATKIN_PARALLEL_JOBS: '-p2'
-          CATKIN_PARALLEL_TEST_JOBS: '-p1'
-          ROS_PARALLEL_TEST_JOBS: '-j1'
-          USE_DEB: false
-          NOT_TEST_INSTALL: true
-
-  kinetic-eustest:
-    runs-on: ubuntu-latest
-    name: kinetic-eustest
-
-    container: jskrobotics/ros-ubuntu:16.04
-
-    steps:
-      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
-        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
-        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Run jsk_travis
-        uses: jsk-ros-pkg/jsk_travis@master
-        with:
-          ROS_DISTRO : kinetic
-          CATKIN_PARALLEL_JOBS: '-p2'
-          CATKIN_PARALLEL_TEST_JOBS: '-p1'
-          ROS_PARALLEL_TEST_JOBS: '-j1'
-          USE_DEB: true
-          EXTRA_DEB: 'ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
-          NOT_TEST_INSTALL: true
-          TEST_PKGS: 'hrpsys_ros_bridge'
-          ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
-          IS_EUSLISP_TRAVIS_TEST: true
-
-  kinetic-src-eustest:
-    runs-on: ubuntu-latest
-    name: kinetic-src-eustest
-
-    container: jskrobotics/ros-ubuntu:16.04
+    strategy:
+      matrix:
+        include:
+          - name: kinetic
+            USE_DEB: true
+            NOT_TEST_INSTALL: false
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: ''
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
+          - name: kinetic-src
+            # Install libopencv-dev manually to compile hrpsys-simulator in hrpsys-base on kinetic
+            # Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
+            #          https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611476618
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: 'libopencv-dev'
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
+          - name: kinetic-eustest
+            USE_DEB: true
+            NOT_TEST_INSTALL: false
+            TEST_PKGS: 'hrpsys_ros_bridge'
+            EXTRA_DEB: 'ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
+            ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+            IS_EUSLISP_TRAVIS_TEST: true
+          - name: kinetic-src-eustest
+            # Install libopencv-dev manually to compile hrpsys-simulator in hrpsys-base on kinetic
+            # Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
+            #          https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611476618
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: 'hrpsys_ros_bridge'
+            EXTRA_DEB: 'libopencv-dev ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
+            ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+            IS_EUSLISP_TRAVIS_TEST: true
 
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
@@ -92,12 +58,13 @@ jobs:
         uses: jsk-ros-pkg/jsk_travis@master
         with:
           ROS_DISTRO : kinetic
-          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_JOBS: '-p1'
           CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_JOBS: "-j1"
           ROS_PARALLEL_TEST_JOBS: '-j1'
-          USE_DEB: false
-          EXTRA_DEB: 'ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
-          NOT_TEST_INSTALL: true
-          TEST_PKGS: 'hrpsys_ros_bridge'
-          ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
-          IS_EUSLISP_TRAVIS_TEST: true
+          USE_DEB: ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL: ${{ matrix.NOT_TEST_INSTALL }}
+          TEST_PKGS: ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB: ${{ matrix.EXTRA_DEB }}
+          ADDITIONAL_ENV_TO_DOCKER: ${{ matrix.ADDITIONAL_ENV_TO_DOCKER }}
+          IS_EUSLISP_TRAVIS_TEST: ${{ matrix.IS_EUSLISP_TRAVIS_TEST }}
diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml
index 3b3c3e425..17f08a7bb 100644
--- a/.github/workflows/melodic.yml
+++ b/.github/workflows/melodic.yml
@@ -5,31 +5,21 @@ on: [push, pull_request]
 jobs:
   melodic:
     runs-on: ubuntu-latest
-    name: melodic
+    name: ${{ matrix.name }}
 
     container: jskrobotics/ros-ubuntu:18.04
 
-    steps:
-      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
-        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
-        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Run jsk_travis
-        uses: jsk-ros-pkg/jsk_travis@master
-        with:
-          ROS_DISTRO : melodic
-          CATKIN_PARALLEL_JOBS: '-p2'
-          CATKIN_PARALLEL_TEST_JOBS: '-p1'
-          ROS_PARALLEL_TEST_JOBS: '-j1'
-          USE_DEB: true
-
-  melodic-src:
-    runs-on: ubuntu-latest
-    name: melodic-src
-
-    container: jskrobotics/ros-ubuntu:18.04
+    strategy:
+      matrix:
+        include:
+          - name: melodic
+            USE_DEB: true
+            NOT_TEST_INSTALL: false
+            CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status'
+          - name: melodic-src
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.
 
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
@@ -42,9 +32,10 @@ jobs:
         uses: jsk-ros-pkg/jsk_travis@master
         with:
           ROS_DISTRO : melodic
-          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_JOBS: '-p1'
           CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_JOBS: "-j1"
           ROS_PARALLEL_TEST_JOBS: '-j1'
-          CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.
-          USE_DEB: false
-          NOT_TEST_INSTALL: true
+          USE_DEB: ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL: ${{ matrix.NOT_TEST_INSTALL }}
+          CATKIN_TOOLS_BUILD_OPTIONS: ${{ matrix.CATKIN_TOOLS_BUILD_OPTIONS }}

From f3bd4265c466533f1f93305b55b56562d354470e Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 2 Jun 2021 19:12:18 +0900
Subject: [PATCH 04/14] [workflow] add more tests

---
 .github/workflows/hironx.yml  | 51 +++++++++++++++++++++++++++++++++++
 .github/workflows/kinetic.yml |  8 ++++++
 .github/workflows/melodic.yml | 29 ++++++++++++++++++++
 3 files changed, 88 insertions(+)
 create mode 100644 .github/workflows/hironx.yml

diff --git a/.github/workflows/hironx.yml b/.github/workflows/hironx.yml
new file mode 100644
index 000000000..a969c345f
--- /dev/null
+++ b/.github/workflows/hironx.yml
@@ -0,0 +1,51 @@
+on: [push, pull_request]
+
+jobs:
+  indigo:
+    runs-on: ubuntu-latest
+    name: ${{ matrix.name }}
+
+    container: ${{ matrix.container }}
+
+    strategy:
+      matrix:
+        include:
+          - name: indigo-work_with_downstream
+            ROS_DISTRO: indigo
+            container: jskrobotics/ros-ubuntu:14.04
+            EXTRA_DEB: 'ros-indigo-roslint'
+            TEST_TYPE: work_with_downstream
+          - name: indigo-work_with_315_1_10
+            ROS_DISTRO: indigo
+            container: jskrobotics/ros-ubuntu:14.04
+            EXTRA_DEB: 'ros-indigo-roslint'
+            TEST_TYPE: work_with_315_1_10
+          - name: melodic-work_with_downstream
+            ROS_DISTRO: melodic
+            container: jskrobotics/ros-ubuntu:18.04
+            EXTRA_DEB: 'ros-melodic-roslint'
+            TEST_TYPE: work_with_downstream
+          - name: melodic-work_with_315_1_10
+            ROS_DISTRO: melodic
+            container: jskrobotics/ros-ubuntu:18.04
+            EXTRA_DEB: 'ros-melodic-roslint'
+            TEST_TYPE: work_with_315_1_10
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
+        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
+        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Run jsk_travis
+        run: source ./.travis_test.sh
+        shell: bash
+        env:
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          CATKIN_PARALLEL_JOBS: '-p2'
+          CATKIN_PARALLEL_TEST_JOBS: '-p1'
+          ROS_PARALLEL_TEST_JOBS: '-j1'
+          TEST_PACKAGE: 'hironx-ros-bridge'
+          EXTRA_DEB: ${{ matrix.EXTRA_DEB }}
+          TEST_TYPE : ${{ matrix.TEST_TYPE }}
diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml
index 9b367a7a4..a93b9414d 100644
--- a/.github/workflows/kinetic.yml
+++ b/.github/workflows/kinetic.yml
@@ -46,6 +46,14 @@ jobs:
             EXTRA_DEB: 'libopencv-dev ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus'
             ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
             IS_EUSLISP_TRAVIS_TEST: true
+          - name: kinetic-src-with-libopenni2-dev-libpcl-dev
+            # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: 'libopencv-dev libopenni2-dev libpcl-dev'
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
 
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml
index 17f08a7bb..62e3f6cb7 100644
--- a/.github/workflows/melodic.yml
+++ b/.github/workflows/melodic.yml
@@ -16,10 +16,35 @@ jobs:
             USE_DEB: true
             NOT_TEST_INSTALL: false
             CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status'
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: ''
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
           - name: melodic-src
             USE_DEB: false
             NOT_TEST_INSTALL: true
             CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.
+            TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
+            EXTRA_DEB: ''
+            ADDITIONAL_ENV_TO_DOCKER: ''
+            IS_EUSLISP_TRAVIS_TEST: false
+          - name: melodic-eustest
+            USE_DEB: true
+            NOT_TEST_INSTALL: false
+            CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status'
+            TEST_PKGS: 'hrpsys_ros_bridge'
+            EXTRA_DEB: 'ros-melodic-hrpsys-ros-bridge ros-melodic-pr2eus'
+            ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+            IS_EUSLISP_TRAVIS_TEST: true
+          - name: melodic-src-eustest
+            USE_DEB: false
+            NOT_TEST_INSTALL: true
+            CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.
+            TEST_PKGS: 'hrpsys_ros_bridge'
+            EXTRA_DEB: 'ros-melodic-hrpsys-ros-bridge ros-melodic-pr2eus'
+            ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
+            IS_EUSLISP_TRAVIS_TEST: true
+
 
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
@@ -39,3 +64,7 @@ jobs:
           USE_DEB: ${{ matrix.USE_DEB }}
           NOT_TEST_INSTALL: ${{ matrix.NOT_TEST_INSTALL }}
           CATKIN_TOOLS_BUILD_OPTIONS: ${{ matrix.CATKIN_TOOLS_BUILD_OPTIONS }}
+          TEST_PKGS: ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB: ${{ matrix.EXTRA_DEB }}
+          ADDITIONAL_ENV_TO_DOCKER: ${{ matrix.ADDITIONAL_ENV_TO_DOCKER }}
+          IS_EUSLISP_TRAVIS_TEST: ${{ matrix.IS_EUSLISP_TRAVIS_TEST }}

From 0a148a25b47191c0e069683e8d11564c10cd8d60 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 3 Jun 2021 12:54:20 +0900
Subject: [PATCH 05/14] update .travis.yml

---
 .travis.yml | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index ff2f94143..a88759c36 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -3,11 +3,15 @@
 #   Works with all MoveIt! repositories/branches
 #   Author: Dave Coleman, Jonathan Bohren
 sudo: required
-dist: trusty
+dist: bionic
 language: c++
 cache:
-  - ccache
-  - apt
+  apt: true
+  pip: true
+  directories:
+    - $HOME/.ccache
+    - $HOME/.cache/pip
+    - $HOME/apt-cacher-ng
 env:
   global:
     - ROSWS=wstool

From 098a8b7da599f7f1c34ccd06cabf63a47fc491b5 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 19 Jun 2021 12:25:19 +0900
Subject: [PATCH 06/14] [.travis.yml] not use jenkins. use docker in travis

---
 .travis.yml | 50 ++++++++++++++++++++++++++------------------------
 1 file changed, 26 insertions(+), 24 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index a88759c36..1cb2c005b 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,41 +16,43 @@ env:
   global:
     - ROSWS=wstool
     - BUILDER=catkin
+    - USE_DOCKER=true
+    - USE_TRAVIS=true
     - CATKIN_PARALLEL_JOBS='-p2'
     - CATKIN_PARALLEL_TEST_JOBS='-p1'
     - ROS_PARALLEL_TEST_JOBS='-j1'
     - ADDITIONAL_ENV_TO_DOCKER='IS_EUSLISP_TRAVIS_TEST'
     - secure: "QxLoOR83QHxGdMJ3BJ0TwRJdezWZaiWfoe4O88XMSG8LFMZLRbqNmOsrLn9b/VgMQpz44CP7tXXQvNz0FDRSTpgSdyNT+p1UA7iEhFYI4G3OEsYf0r6/4rjvtM7FCoIsBiPYBwofVAUP+U9d8Scjn+2+xjjKwOpEbaE/yc+zwrc="
   matrix:
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="libopenni2-dev libpcl-dev" NOT_TEST_INSTALL=true  # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=true
-    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
+    - ROS_DISTRO=hydro  USE_DEB=true
+    - ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
+    - ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
+    - ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true
+    - ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+    - ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+    - ROS_DISTRO=indigo USE_DEB=true
+    - ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
+    - ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
+    - ROS_DISTRO=kinetic USE_DEB=true
+    - ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
+    - ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="libopenni2-dev libpcl-dev" NOT_TEST_INSTALL=true  # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
+    - ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - ROS_DISTRO=melodic USE_DEB=true
+    - ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
 matrix:
   fast_finish: true
   allow_failures:
   # hydro + euslisp test
-  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
-  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+  - env: ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
+  - env: ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+  - env: ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
   # Running euslisp test on travis often takes more than 50 min
-  - env: USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+  - env: ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
 notifications:
   email:
     recipients:

From 722d32a719d19469ed43d795a2685ec3f5f1e530 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 20 Jun 2021 17:38:28 +0900
Subject: [PATCH 07/14] [.travis_test.sh] use ros-testing

---
 .travis_test.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis_test.sh b/.travis_test.sh
index b6702f133..725f04300 100644
--- a/.travis_test.sh
+++ b/.travis_test.sh
@@ -22,7 +22,7 @@ export CI_SOURCE_PATH=$(pwd)
 export REPOSITORY_NAME=${PWD##*/}
 if [ ! "$ROS_PARALLEL_JOBS" ]; then export ROS_PARALLEL_JOBS="-j8 -l8";  fi
 echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo sh -c 'echo "deb http://packages.ros.org/ros-testing/ubuntu `lsb_release -cs` main" > /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 -y --force-yes -q -qq dpkg # https://github.com/travis-ci/travis-ci/issues/9361#issuecomment-408431262 dpkg-deb: error: archive has premature member 'control.tar.xz' before 'control.tar.gz' #9361

From 13dfd610f44afc9ef57dffbc3021a99d4906b77e Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 20 Jun 2021 19:44:52 +0900
Subject: [PATCH 08/14] reduce periodic rate for ros-bridge

---
 .travis.rosinstall         |  6 +++---
 .travis.rosinstall.kinetic | 17 -----------------
 .travis.rosinstall.melodic |  8 --------
 .travis_test.sh            |  9 +++++++++
 4 files changed, 12 insertions(+), 28 deletions(-)

diff --git a/.travis.rosinstall b/.travis.rosinstall
index 09f5eda5f..9c2cad868 100644
--- a/.travis.rosinstall
+++ b/.travis.rosinstall
@@ -9,10 +9,10 @@
 ### latest source is checked with use_deb==source, so we're ok with released source in here
 ###
 - git:
-    uri: https://github.com/tork-a/openhrp3-release
-    local-name: openhrp3
+    uri: https://github.com/Naoki-Hiraoka/openhrp3
+    local-name: for-travis
 - git:
-    uri: https://github.com/tork-a/hrpsys-release
+    uri: https://github.com/fkanehiro/hrpsys-base
     local-name: hrpsys
 # - git:
 #     uri: https://github.com/tork-a/rtshell-release
diff --git a/.travis.rosinstall.kinetic b/.travis.rosinstall.kinetic
index 4d4444529..e69de29bb 100644
--- a/.travis.rosinstall.kinetic
+++ b/.travis.rosinstall.kinetic
@@ -1,17 +0,0 @@
-- git:
-    uri: https://github.com/tork-a/openhrp3-release
-    version: release/kinetic/openhrp3
-    local-name: openhrp3
-# We want to use source of released hrpsys, but building it fails when libpcl-dev and libopenni2-dev exist.
-# Waiting for https://github.com/fkanehiro/hrpsys-base/pull/1242 to be released.
-# Details: https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
-# Don't forget to remove libopencv-dev installation from .travis.yml and README when using hrpsys-release again.
-# Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
-# - git:
-#     uri: https://github.com/tork-a/hrpsys-release
-#     version: release/kinetic/hrpsys
-#     local-name: hrpsys
-- git:
-    uri: https://github.com/fkanehiro/hrpsys-base
-    version: master
-    local-name: hrpsys
diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic
index 0dd96e466..e69de29bb 100644
--- a/.travis.rosinstall.melodic
+++ b/.travis.rosinstall.melodic
@@ -1,8 +0,0 @@
-- git:
-    uri: https://github.com/tork-a/openhrp3-release
-    version: release/melodic/openhrp3
-    local-name: openhrp3
-- git:
-    uri: https://github.com/fkanehiro/hrpsys-base
-    version: master
-    local-name: hrpsys
diff --git a/.travis_test.sh b/.travis_test.sh
index 725f04300..b5a11b059 100644
--- a/.travis_test.sh
+++ b/.travis_test.sh
@@ -49,6 +49,13 @@ if [ "$TEST_TYPE" == "work_with_downstream" ]; then
             # check newer version of hrpsys works on current rtmros_common deb package
             # [rtmros_common:new] <-> [rtmros_<robot>:old]
             "
+    cd src
+    wstool init
+    wstool set hrpsys http://github.com/fkanehiro/hrpsys-base --git -y
+    wstool set openhrp3 http://github.com/Naoki-Hiraoka/openhrp3 --git -y -v for-travis
+    wstool update
+    cd ..
+
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-ros-bridge
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-tools
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-rtmbuild
@@ -65,6 +72,8 @@ else
             # set up sorce code of downstream package
     cd src
     wstool init
+    wstool set hrpsys http://github.com/fkanehiro/hrpsys-base --git -y
+    wstool set openhrp3 http://github.com/Naoki-Hiraoka/openhrp3 --git -y -v for-travis
     wstool set rtmros_hironx http://github.com/start-jsk/rtmros_hironx --git -y
     wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y
     wstool update

From 572718e95cefb0ec71c9984c68a80eadcad79d68 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 20 Jun 2021 20:23:57 +0900
Subject: [PATCH 09/14] [.travis.yml] fix

---
 .travis.rosinstall | 3 ++-
 .travis.yml        | 2 ++
 .travis_test.sh    | 8 ++++----
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/.travis.rosinstall b/.travis.rosinstall
index 9c2cad868..4783acd89 100644
--- a/.travis.rosinstall
+++ b/.travis.rosinstall
@@ -10,7 +10,8 @@
 ###
 - git:
     uri: https://github.com/Naoki-Hiraoka/openhrp3
-    local-name: for-travis
+    local-name: openhrp3
+    version: for-travis
 - git:
     uri: https://github.com/fkanehiro/hrpsys-base
     local-name: hrpsys
diff --git a/.travis.yml b/.travis.yml
index 1cb2c005b..a92b13ad1 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -83,6 +83,8 @@ script:
   - if [ "${IS_EUSLISP_TRAVIS_TEST}" != "true" ] ; then export ROS_PARALLEL_JOBS="-j2 -l2" ; fi
   - if [ "${ROS_DISTRO}" == "hydro" ] ; then sudo apt-get install -y --force-yes gdebi && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-tools_0.3.1-1_all.deb && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-tools_0.3.1-1_all.deb && sudo apt-mark hold python-catkin-tools; fi
   - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; else source ./.travis_test.sh ; fi
+  - if [ "${TEST_TYPE}" != "" ] ; then case $ROS_DISTRO in "hydro") export DISTRO=precise;; "indigo") export DISTRO=trusty;; "kinetic") export DISTRO=xenial;; "melodic") export DISTRO=bionic;; esac; fi
+  - if [ "${TEST_TYPE}" != "" ] ; then docker run -v $HOME:$HOME -e CI_SOURCE_PATH -e HOME -e ROS_DISTRO -e TEST_TYPE -e TEST_PACKAGE -e EXTRA_DEB -e ROS_PARALLEL_JOBS ubuntu:$DISTRO bash -c 'cd $CI_SOURCE_PATH; source ./.travis_test.sh'; fi
   - ccache -s
 after_success:
   - if [ "${TRAVIS_SECURE_ENV_VARS}" == "true" ]; then cd ${TRAVIS_BUILD_DIR}; openssl aes-256-cbc -K $encrypted_b79fc5843df3_key -iv $encrypted_b79fc5843df3_iv -in .secrets.tar.enc -out .secrets.tar -d; tar -C ~/ -xvf .secrets.tar; fi
diff --git a/.travis_test.sh b/.travis_test.sh
index b5a11b059..86e20d341 100644
--- a/.travis_test.sh
+++ b/.travis_test.sh
@@ -55,14 +55,14 @@ if [ "$TEST_TYPE" == "work_with_downstream" ]; then
     wstool set openhrp3 http://github.com/Naoki-Hiraoka/openhrp3 --git -y -v for-travis
     wstool update
     cd ..
+    sudo apt-get install -qq -y doxygen
 
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-ros-bridge
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-tools
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-rtmbuild
     # https://github.com/start-jsk/rtmros_hironx/issues/287
     sudo sed -i s@test_tf_and_controller@_test_tf_and_controller@ /opt/ros/$ROS_DISTRO/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py
-    catkin_make $ROS_PARALLEL_JOBS
-    catkin_make install $ROS_PARALLEL_JOBS
+    catkin_make_isolated --install $ROS_PARALLEL_JOBS
 else
     echo "
             #
@@ -78,6 +78,7 @@ else
     wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y
     wstool update
     cd ..
+    sudo apt-get install -qq -y doxygen
     # do not install rtmros_common because we want to use them
     find src
     for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do
@@ -89,8 +90,7 @@ else
             sed -i "s@install(@dummy_install(@g" src/rtmros_common/${_pkg}/catkin.cmake
         fi
     done
-    catkin_make $ROS_PARALLEL_JOBS --only-pkg-with-deps `echo $pkg | sed s/-/_/g`
-    catkin_make install $ROS_PARALLEL_JOBS
+    catkin_make_isolated --install $ROS_PARALLEL_JOBS --only-pkg-with-deps `echo $pkg | sed s/-/_/g`
     # make sure to kill test
     for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do
 	rm -fr install/lib/${_pkg}

From 1e7f2323114d792f5ea43f8bdd05b3cdd9a57ee1 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 20 Jun 2021 23:27:27 +0900
Subject: [PATCH 10/14] fix

---
 .travis_test.sh | 27 +++++++++++++++++++++++++--
 1 file changed, 25 insertions(+), 2 deletions(-)

diff --git a/.travis_test.sh b/.travis_test.sh
index 86e20d341..69ab971d7 100644
--- a/.travis_test.sh
+++ b/.travis_test.sh
@@ -55,7 +55,18 @@ if [ "$TEST_TYPE" == "work_with_downstream" ]; then
     wstool set openhrp3 http://github.com/Naoki-Hiraoka/openhrp3 --git -y -v for-travis
     wstool update
     cd ..
-    sudo apt-get install -qq -y doxygen
+    # for build hrpsys
+    sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libopencv-contrib-dev
+    if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "indigo" || "$ROS_DISTRO" ==  "kinetic" ]]; then
+        sudo apt-get install -qq -y libcv-dev libhighgui-dev
+    else
+        sudo apt-get install -qq -y libopencv-dev
+    fi
+    sudo apt-get install -qq -y python-wstool ros-${ROS_DISTRO}-catkin ros-${ROS_DISTRO}-mk ros-${ROS_DISTRO}-rostest ros-${ROS_DISTRO}-rtmbuild ros-${ROS_DISTRO}-roslint
+    sudo apt-get install -qq -y ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-moveit-commander ros-${ROS_DISTRO}-rqt-robot-dashboard
+    sudo apt-get install -qq -y ros-${ROS_DISTRO}-hrpsys ros-${ROS_DISTRO}-hrpsys-ros-bridge ros-${ROS_DISTRO}-hrpsys-tools ros-${ROS_DISTRO}-hironx-ros-bridge
+    sudo apt-get install -qq -y ros-${ROS_DISTRO}-urdf
+    source /opt/ros/${ROS_DISTRO}/setup.bash
 
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-ros-bridge
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-tools
@@ -78,7 +89,19 @@ else
     wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y
     wstool update
     cd ..
-    sudo apt-get install -qq -y doxygen
+    # for build hrpsys
+    sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libopencv-contrib-dev
+    if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "indigo" || "$ROS_DISTRO" ==  "kinetic" ]]; then
+        sudo apt-get install -qq -y libcv-dev libhighgui-dev
+    else
+        sudo apt-get install -qq -y libopencv-dev
+    fi
+    sudo apt-get install -qq -y python-wstool ros-${ROS_DISTRO}-catkin ros-${ROS_DISTRO}-mk ros-${ROS_DISTRO}-rostest ros-${ROS_DISTRO}-rtmbuild ros-${ROS_DISTRO}-roslint
+    sudo apt-get install -qq -y ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-moveit-commander ros-${ROS_DISTRO}-rqt-robot-dashboard
+    sudo apt-get install -qq -y ros-${ROS_DISTRO}-hrpsys ros-${ROS_DISTRO}-hrpsys-ros-bridge ros-${ROS_DISTRO}-hrpsys-tools ros-${ROS_DISTRO}-hironx-ros-bridge
+    sudo apt-get install -qq -y ros-${ROS_DISTRO}-urdf
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+
     # do not install rtmros_common because we want to use them
     find src
     for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do

From 8478078e82d85f7e0065f638838a0a4e63505dff Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 21 Jun 2021 00:23:00 +0900
Subject: [PATCH 11/14] revert

---
 .travis.yml     | 52 ++++++++++++++++++++++++-------------------------
 .travis_test.sh | 40 ++++---------------------------------
 2 files changed, 29 insertions(+), 63 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index a92b13ad1..dea815236 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,43 +16,41 @@ env:
   global:
     - ROSWS=wstool
     - BUILDER=catkin
-    - USE_DOCKER=true
-    - USE_TRAVIS=true
     - CATKIN_PARALLEL_JOBS='-p2'
     - CATKIN_PARALLEL_TEST_JOBS='-p1'
     - ROS_PARALLEL_TEST_JOBS='-j1'
     - ADDITIONAL_ENV_TO_DOCKER='IS_EUSLISP_TRAVIS_TEST'
     - secure: "QxLoOR83QHxGdMJ3BJ0TwRJdezWZaiWfoe4O88XMSG8LFMZLRbqNmOsrLn9b/VgMQpz44CP7tXXQvNz0FDRSTpgSdyNT+p1UA7iEhFYI4G3OEsYf0r6/4rjvtM7FCoIsBiPYBwofVAUP+U9d8Scjn+2+xjjKwOpEbaE/yc+zwrc="
   matrix:
-    - ROS_DISTRO=hydro  USE_DEB=true
-    - ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
-    - ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
-    - ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true
-    - ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-    - ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-    - ROS_DISTRO=indigo USE_DEB=true
-    - ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
-    - ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
-    - ROS_DISTRO=kinetic USE_DEB=true
-    - ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
-    - ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="libopenni2-dev libpcl-dev" NOT_TEST_INSTALL=true  # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
-    - ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - ROS_DISTRO=melodic USE_DEB=true
-    - ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
+    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true
+    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
+    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
+    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true
+    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true
+    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
+    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
+    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true
+    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
+    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="libopenni2-dev libpcl-dev" NOT_TEST_INSTALL=true  # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
+    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=true
+    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
 matrix:
   fast_finish: true
   allow_failures:
   # hydro + euslisp test
-  - env: ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
-  - env: ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-  - env: ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
+  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+  - env: USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
   # Running euslisp test on travis often takes more than 50 min
-  - env: ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+  - env: USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
 notifications:
   email:
     recipients:
@@ -82,7 +80,7 @@ before_script:
 script:
   - if [ "${IS_EUSLISP_TRAVIS_TEST}" != "true" ] ; then export ROS_PARALLEL_JOBS="-j2 -l2" ; fi
   - if [ "${ROS_DISTRO}" == "hydro" ] ; then sudo apt-get install -y --force-yes gdebi && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-tools_0.3.1-1_all.deb && wget https://bintray.com/artifact/download/furushchev/ros-shadow-fixed/python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-pkg_0.2.10-1_all.deb && sudo gdebi -n -q python-catkin-tools_0.3.1-1_all.deb && sudo apt-mark hold python-catkin-tools; fi
-  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; else source ./.travis_test.sh ; fi
+  - if [ "${TEST_TYPE}" == "" ] ; then source .travis/travis.sh; fi
   - if [ "${TEST_TYPE}" != "" ] ; then case $ROS_DISTRO in "hydro") export DISTRO=precise;; "indigo") export DISTRO=trusty;; "kinetic") export DISTRO=xenial;; "melodic") export DISTRO=bionic;; esac; fi
   - if [ "${TEST_TYPE}" != "" ] ; then docker run -v $HOME:$HOME -e CI_SOURCE_PATH -e HOME -e ROS_DISTRO -e TEST_TYPE -e TEST_PACKAGE -e EXTRA_DEB -e ROS_PARALLEL_JOBS ubuntu:$DISTRO bash -c 'cd $CI_SOURCE_PATH; source ./.travis_test.sh'; fi
   - ccache -s
diff --git a/.travis_test.sh b/.travis_test.sh
index 69ab971d7..725f04300 100644
--- a/.travis_test.sh
+++ b/.travis_test.sh
@@ -49,31 +49,13 @@ if [ "$TEST_TYPE" == "work_with_downstream" ]; then
             # check newer version of hrpsys works on current rtmros_common deb package
             # [rtmros_common:new] <-> [rtmros_<robot>:old]
             "
-    cd src
-    wstool init
-    wstool set hrpsys http://github.com/fkanehiro/hrpsys-base --git -y
-    wstool set openhrp3 http://github.com/Naoki-Hiraoka/openhrp3 --git -y -v for-travis
-    wstool update
-    cd ..
-    # for build hrpsys
-    sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libopencv-contrib-dev
-    if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "indigo" || "$ROS_DISTRO" ==  "kinetic" ]]; then
-        sudo apt-get install -qq -y libcv-dev libhighgui-dev
-    else
-        sudo apt-get install -qq -y libopencv-dev
-    fi
-    sudo apt-get install -qq -y python-wstool ros-${ROS_DISTRO}-catkin ros-${ROS_DISTRO}-mk ros-${ROS_DISTRO}-rostest ros-${ROS_DISTRO}-rtmbuild ros-${ROS_DISTRO}-roslint
-    sudo apt-get install -qq -y ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-moveit-commander ros-${ROS_DISTRO}-rqt-robot-dashboard
-    sudo apt-get install -qq -y ros-${ROS_DISTRO}-hrpsys ros-${ROS_DISTRO}-hrpsys-ros-bridge ros-${ROS_DISTRO}-hrpsys-tools ros-${ROS_DISTRO}-hironx-ros-bridge
-    sudo apt-get install -qq -y ros-${ROS_DISTRO}-urdf
-    source /opt/ros/${ROS_DISTRO}/setup.bash
-
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-ros-bridge
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-hrpsys-tools
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-rtmbuild
     # https://github.com/start-jsk/rtmros_hironx/issues/287
     sudo sed -i s@test_tf_and_controller@_test_tf_and_controller@ /opt/ros/$ROS_DISTRO/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py
-    catkin_make_isolated --install $ROS_PARALLEL_JOBS
+    catkin_make $ROS_PARALLEL_JOBS
+    catkin_make install $ROS_PARALLEL_JOBS
 else
     echo "
             #
@@ -83,25 +65,10 @@ else
             # set up sorce code of downstream package
     cd src
     wstool init
-    wstool set hrpsys http://github.com/fkanehiro/hrpsys-base --git -y
-    wstool set openhrp3 http://github.com/Naoki-Hiraoka/openhrp3 --git -y -v for-travis
     wstool set rtmros_hironx http://github.com/start-jsk/rtmros_hironx --git -y
     wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y
     wstool update
     cd ..
-    # for build hrpsys
-    sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libopencv-contrib-dev
-    if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "indigo" || "$ROS_DISTRO" ==  "kinetic" ]]; then
-        sudo apt-get install -qq -y libcv-dev libhighgui-dev
-    else
-        sudo apt-get install -qq -y libopencv-dev
-    fi
-    sudo apt-get install -qq -y python-wstool ros-${ROS_DISTRO}-catkin ros-${ROS_DISTRO}-mk ros-${ROS_DISTRO}-rostest ros-${ROS_DISTRO}-rtmbuild ros-${ROS_DISTRO}-roslint
-    sudo apt-get install -qq -y ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-moveit-commander ros-${ROS_DISTRO}-rqt-robot-dashboard
-    sudo apt-get install -qq -y ros-${ROS_DISTRO}-hrpsys ros-${ROS_DISTRO}-hrpsys-ros-bridge ros-${ROS_DISTRO}-hrpsys-tools ros-${ROS_DISTRO}-hironx-ros-bridge
-    sudo apt-get install -qq -y ros-${ROS_DISTRO}-urdf
-    source /opt/ros/${ROS_DISTRO}/setup.bash
-
     # do not install rtmros_common because we want to use them
     find src
     for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do
@@ -113,7 +80,8 @@ else
             sed -i "s@install(@dummy_install(@g" src/rtmros_common/${_pkg}/catkin.cmake
         fi
     done
-    catkin_make_isolated --install $ROS_PARALLEL_JOBS --only-pkg-with-deps `echo $pkg | sed s/-/_/g`
+    catkin_make $ROS_PARALLEL_JOBS --only-pkg-with-deps `echo $pkg | sed s/-/_/g`
+    catkin_make install $ROS_PARALLEL_JOBS
     # make sure to kill test
     for _pkg in hrpsys_ros_bridge hrpsys_tools rtmbuild; do
 	rm -fr install/lib/${_pkg}

From 2d1ced13e03e03e6541d53e65b875c63f6178e98 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 21 Jun 2021 10:44:10 +0900
Subject: [PATCH 12/14] fix

---
 .github/workflows/indigo.yml  | 5 +++++
 .github/workflows/kinetic.yml | 6 ++++++
 .github/workflows/melodic.yml | 5 +++++
 3 files changed, 16 insertions(+)

diff --git a/.github/workflows/indigo.yml b/.github/workflows/indigo.yml
index 61d59b1d9..da35f92af 100644
--- a/.github/workflows/indigo.yml
+++ b/.github/workflows/indigo.yml
@@ -6,6 +6,7 @@ jobs:
   indigo:
     runs-on: ubuntu-latest
     name: ${{ matrix.name }}
+    continue-on-error: ${{ matrix.continue-on-error }}
 
     container: jskrobotics/ros-ubuntu:14.04
 
@@ -13,6 +14,7 @@ jobs:
       matrix:
         include:
           - name: indigo
+            continue-on-error: true
             USE_DEB: true
             NOT_TEST_INSTALL: false
             TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
@@ -20,6 +22,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: ''
             IS_EUSLISP_TRAVIS_TEST: false
           - name: indigo-src
+            continue-on-error: false
             USE_DEB: false
             NOT_TEST_INSTALL: true
             TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
@@ -27,6 +30,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: ''
             IS_EUSLISP_TRAVIS_TEST: false
           - name: indigo-eustest
+            continue-on-error: true
             USE_DEB: true
             NOT_TEST_INSTALL: false
             TEST_PKGS: 'hrpsys_ros_bridge'
@@ -34,6 +38,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
             IS_EUSLISP_TRAVIS_TEST: true
           - name: indigo-src-eustest
+            continue-on-error: false
             USE_DEB: false
             NOT_TEST_INSTALL: true
             TEST_PKGS: 'hrpsys_ros_bridge'
diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml
index a93b9414d..a56902166 100644
--- a/.github/workflows/kinetic.yml
+++ b/.github/workflows/kinetic.yml
@@ -6,6 +6,7 @@ jobs:
   kinetic:
     runs-on: ubuntu-latest
     name: ${{ matrix.name }}
+    continue-on-error: ${{ matrix.continue-on-error }}
 
     container: jskrobotics/ros-ubuntu:16.04
 
@@ -13,6 +14,7 @@ jobs:
       matrix:
         include:
           - name: kinetic
+            continue-on-error: true
             USE_DEB: true
             NOT_TEST_INSTALL: false
             TEST_PKGS: 'hrpsys_tools openrtm_tools rosnode_rtc rtmbuild hrpsys_ros_bridge openrtm_ros_bridge'
@@ -20,6 +22,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: ''
             IS_EUSLISP_TRAVIS_TEST: false
           - name: kinetic-src
+            continue-on-error: false
             # Install libopencv-dev manually to compile hrpsys-simulator in hrpsys-base on kinetic
             # Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
             #          https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611476618
@@ -30,6 +33,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: ''
             IS_EUSLISP_TRAVIS_TEST: false
           - name: kinetic-eustest
+            continue-on-error: true
             USE_DEB: true
             NOT_TEST_INSTALL: false
             TEST_PKGS: 'hrpsys_ros_bridge'
@@ -37,6 +41,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
             IS_EUSLISP_TRAVIS_TEST: true
           - name: kinetic-src-eustest
+            continue-on-error: false
             # Install libopencv-dev manually to compile hrpsys-simulator in hrpsys-base on kinetic
             # Details: https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611457804
             #          https://github.com/start-jsk/rtmros_common/pull/1091#issuecomment-611476618
@@ -47,6 +52,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
             IS_EUSLISP_TRAVIS_TEST: true
           - name: kinetic-src-with-libopenni2-dev-libpcl-dev
+            continue-on-error: false
             # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
             USE_DEB: false
             NOT_TEST_INSTALL: true
diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml
index 62e3f6cb7..cfc60c924 100644
--- a/.github/workflows/melodic.yml
+++ b/.github/workflows/melodic.yml
@@ -6,6 +6,7 @@ jobs:
   melodic:
     runs-on: ubuntu-latest
     name: ${{ matrix.name }}
+    continue-on-error: ${{ matrix.continue-on-error }}
 
     container: jskrobotics/ros-ubuntu:18.04
 
@@ -13,6 +14,7 @@ jobs:
       matrix:
         include:
           - name: melodic
+            continue-on-error: true
             USE_DEB: true
             NOT_TEST_INSTALL: false
             CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status'
@@ -21,6 +23,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: ''
             IS_EUSLISP_TRAVIS_TEST: false
           - name: melodic-src
+            continue-on-error: false
             USE_DEB: false
             NOT_TEST_INSTALL: true
             CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.
@@ -29,6 +32,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: ''
             IS_EUSLISP_TRAVIS_TEST: false
           - name: melodic-eustest
+            continue-on-error: true
             USE_DEB: true
             NOT_TEST_INSTALL: false
             CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status'
@@ -37,6 +41,7 @@ jobs:
             ADDITIONAL_ENV_TO_DOCKER: 'IS_EUSLISP_TRAVIS_TEST'
             IS_EUSLISP_TRAVIS_TEST: true
           - name: melodic-src-eustest
+            continue-on-error: false
             USE_DEB: false
             NOT_TEST_INSTALL: true
             CATKIN_TOOLS_BUILD_OPTIONS: '-iv --summarize --no-status --make-args -Wno-deprecated --' # otherwise hrpsys and openhrp3 output too many warnings.

From 2e66313c8cefe1c4813f7eb23871efbc7aefa7de Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 22 Jun 2021 11:25:07 +0900
Subject: [PATCH 13/14] [fix]

---
 .travis.yml                                   | 22 +++++++++----------
 .../default_robot_ros_bridge.launch.in        |  2 ++
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index dea815236..0e26942a3 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,25 +22,25 @@ env:
     - ADDITIONAL_ENV_TO_DOCKER='IS_EUSLISP_TRAVIS_TEST'
     - secure: "QxLoOR83QHxGdMJ3BJ0TwRJdezWZaiWfoe4O88XMSG8LFMZLRbqNmOsrLn9b/VgMQpz44CP7tXXQvNz0FDRSTpgSdyNT+p1UA7iEhFYI4G3OEsYf0r6/4rjvtM7FCoIsBiPYBwofVAUP+U9d8Scjn+2+xjjKwOpEbaE/yc+zwrc="
   matrix:
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=hydro  USE_DEB=true
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   NOT_TEST_INSTALL=true
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" IS_EUSLISP_TRAVIS_TEST="true"
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=source  NOT_TEST_INSTALL=true
-    - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=hydro  USE_DEB=true    EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
     - USE_JENKINS=true ROS_DISTRO=hydro  USE_DEB=false   EXTRA_DEB="ros-hydro-hrpsys-ros-bridge ros-hydro-pr2eus" ROS_PARALLEL_JOBS="-j1 -l1" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=indigo USE_DEB=true
+    - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false  NOT_TEST_INSTALL=true
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=indigo USE_DEB=true   EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
     - USE_JENKINS=true ROS_DISTRO=indigo USE_DEB=false EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
-    - USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true
+    - USE_JENKINS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - USE_JENKINS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=indigo EXTRA_DEB="ros-indigo-roslint"
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2eus" NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST=false  # For updating euslisp-docs (Must be USE_TRAVIS=true and IS_EUSLISP_TRAVIS_TEST=false. See after_success)
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=kinetic USE_DEB=true
     - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false NOT_TEST_INSTALL=true
     - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="libopenni2-dev libpcl-dev" NOT_TEST_INSTALL=true  # To catch https://github.com/start-jsk/rtmros_common/pull/1090#issuecomment-610860446
-    - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=kinetic USE_DEB=true EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
     - USE_JENKINS=true ROS_DISTRO=kinetic USE_DEB=false EXTRA_DEB="ros-kinetic-hrpsys-ros-bridge ros-kinetic-pr2eus" NOT_TEST_INSTALL=true TEST_PKGS="hrpsys_ros_bridge" IS_EUSLISP_TRAVIS_TEST=true
-    - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=true
+    - USE_TRAVIS=true USE_DOCKER=true ROS_DISTRO=melodic USE_DEB=true
     - USE_JENKINS=true ROS_DISTRO=melodic USE_DEB=false NOT_TEST_INSTALL=true BEFORE_SCRIPT="pwd; sed -i \"35iadd_definitions(-Wno-deprecated)\" hrpsys/CMakeLists.txt openhrp3/CMakeLists.txt; (cd hrpsys; git diff)"
 matrix:
   fast_finish: true
diff --git a/hrpsys_ros_bridge/scripts/default_robot_ros_bridge.launch.in b/hrpsys_ros_bridge/scripts/default_robot_ros_bridge.launch.in
index abac00389..4dac51387 100644
--- a/hrpsys_ros_bridge/scripts/default_robot_ros_bridge.launch.in
+++ b/hrpsys_ros_bridge/scripts/default_robot_ros_bridge.launch.in
@@ -17,6 +17,7 @@
   <!-- available in Kinetic -->
   <!-- <arg name="managerport" default="$(eval arg('corbaport') + 1)"/> -->
   <arg name="nameserver" default="localhost" />
+  <arg name="periodic_rate" default="500" />
   <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch">
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <arg name="MODEL_FILE" value="@MODEL_FILE@" />
@@ -25,6 +26,7 @@
     <arg name="corbaport" default="$(arg corbaport)" />
     <arg name="managerport" default="$(arg managerport)" />
     <arg name="nameserver" default="$(arg nameserver)" />
+    <arg name="periodic_rate" default="$(arg periodic_rate)" />
     <!-- BEGIN: unstable : maintained-->
     <arg name="USE_WALKING" default="true" if="$(arg USE_UNSTABLE_RTC)"/>
     <arg name="USE_IMPEDANCECONTROLLER" default="true" if="$(arg USE_UNSTABLE_RTC)" />

From 85cafd839daaf3a06eabe65ec6572d27f3d0b6c4 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 23 Jun 2021 13:22:07 +0900
Subject: [PATCH 14/14] fix

---
 .travis_test.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.travis_test.sh b/.travis_test.sh
index 725f04300..861a8b686 100644
--- a/.travis_test.sh
+++ b/.travis_test.sh
@@ -54,6 +54,7 @@ if [ "$TEST_TYPE" == "work_with_downstream" ]; then
     sudo dpkg -r --force-depends ros-$ROS_DISTRO-rtmbuild
     # https://github.com/start-jsk/rtmros_hironx/issues/287
     sudo sed -i s@test_tf_and_controller@_test_tf_and_controller@ /opt/ros/$ROS_DISTRO/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py
+    sudo sed -i "41i <arg name=\"periodic_rate\" default=\"200\" />" /opt/ros/$ROS_DISTRO/share/hironx_ros_bridge/launch/hironx_ros_bridge.launch
     catkin_make $ROS_PARALLEL_JOBS
     catkin_make install $ROS_PARALLEL_JOBS
 else
@@ -65,7 +66,7 @@ else
             # set up sorce code of downstream package
     cd src
     wstool init
-    wstool set rtmros_hironx http://github.com/start-jsk/rtmros_hironx --git -y
+    wstool set rtmros_hironx http://github.com/Naoki-Hiraoka/rtmros_hironx --git -y -v update-travis
     wstool set rtmros_nextage http://github.com/tork-a/rtmros_nextage --git -y
     wstool update
     cd ..