Reconfigure CI script to set Bionic as the default build env

.ci/install_linux.sh

@@ -3,11 +3,6 @@ set -ex
 
 $SUDO apt-get -qq update
 $SUDO apt-get -y install lsb-release software-properties-common
-
-if [ $(lsb_release -sc) = "trusty" ]; then
-  $SUDO apt-add-repository -y ppa:libccd-debs/ppa
-  $SUDO apt-add-repository -y ppa:fcl-debs/ppa
-fi
 $SUDO apt-add-repository -y ppa:dartsim/ppa
 $SUDO apt-get -qq update
 
@@ -44,19 +39,19 @@ $SUDO apt-get -y install \
   liburdfdom-dev \
   liburdfdom-headers-dev \
   libopenscenegraph-dev
-if [ $(lsb_release -sc) = "trusty" ]; then
-  $SUDO apt-get -y install libnlopt-dev
-  $SUDO apt-get -y install clang-format-3.8
-elif [ $(lsb_release -sc) = "xenial" ]; then
+if [ $(lsb_release -sc) = "xenial" ]; then
   $SUDO apt-get -y install libnlopt-dev
   $SUDO apt-get -y install liboctomap-dev libode-dev
-  $SUDO apt-get -y install clang-format-3.8
 elif [ $(lsb_release -sc) = "bionic" ]; then
   $SUDO apt-get -y install libnlopt-dev
   $SUDO apt-get -y install liboctomap-dev libode-dev
+  $SUDO apt-get -y install clang-format-6.0
 elif [ $(lsb_release -sc) = "cosmic" ]; then
   $SUDO apt-get -y install libnlopt-cxx-dev
   $SUDO apt-get -y install liboctomap-dev libode-dev
+else
+  echo -e "$(lsb_release -sc) is not supported."
+  exit 1
 fi
 
 $SUDO apt-get -y install lcov

.ci/script.sh

@@ -35,7 +35,7 @@ fi
 
 mkdir build && cd build
 
-if [ "$BUILD_NAME" = "TRUSTY_DEBUG" ]; then
+if [ "$BUILD_NAME" = "BIONIC_DEBUG" ]; then
   cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_BUILD_EXTRAS=ON -DDART_CODECOV=ON ..
 else
   cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_BUILD_EXTRAS=ON -DDART_CODECOV=OFF ..
@@ -47,7 +47,7 @@ else
   make -j$num_threads all tests
 fi
 
-if [ "$OS_NAME" = "linux" ] && [ $(lsb_release -sc) = "trusty" ]; then
+if [ "$OS_NAME" = "linux" ] && [ $(lsb_release -sc) = "bionic" ]; then
   make check-format
 fi
 
@@ -67,6 +67,6 @@ cmake ..
 make -j4
 
 # Uploading report to CodeCov
-if [ "$BUILD_NAME" = "TRUSTY_DEBUG" ]; then
+if [ "$BUILD_NAME" = "BIONIC_DEBUG" ]; then
   bash <(curl -s https://codecov.io/bash) || echo "Codecov did not collect coverage reports"
 fi

.travis.yml

@@ -15,13 +15,6 @@ env:
 
 matrix:
   include:
-    - os: linux
-      env:
-        - BUILD_NAME=XENIAL_DEBUG
-        - DOCKERFILE="Dockerfile.ubuntu-xenial"
-        - BUILD_TYPE=Debug
-        - COMPILER=GCC
-      services: docker
     - os: linux
       env:
         - BUILD_NAME=XENIAL_RELEASE
@@ -43,13 +36,6 @@ matrix:
         - BUILD_TYPE=Release
         - COMPILER=GCC
       services: docker
-    - os: linux
-      env:
-        - BUILD_NAME=COSMIC_DEBUG
-        - DOCKERFILE="Dockerfile.ubuntu-cosmic"
-        - BUILD_TYPE=Debug
-        - COMPILER=GCC
-      services: docker
     - os: linux
       env:
         - BUILD_NAME=COSMIC_RELEASE