Commit 11b0aedf authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Update devel branch with latest modifications in master.

parent 346eebd6
......@@ -14,5 +14,5 @@ For more information about the software, please
visit the [HPP website](https://humanoid-path-planner.github.io/hpp-doc).
For installation instructions, visit
the [HPP website](https://humanoid-path-planner.github.io/hpp-doc/download.html?branch=topic/pinocchio)
the [HPP website](https://humanoid-path-planner.github.io/hpp-doc/download.html?branch=devel)
or [these instructions](doc/instructions.md).
......@@ -12,7 +12,10 @@ SOT_REPO=https://github.com/stack-of-tasks
SRC_DIR=${DEVEL_DIR}/src
INSTALL_DIR=${DEVEL_DIR}/install
BUILD_TYPE=Debug
# Whether to compute humanoid specific part
HUMANOID=TRUE
BUILD_TYPE=Release
ifeq (${BUILD_TYPE},Debug)
BUILD_FOLDER=build
else
......@@ -49,6 +52,7 @@ hpp-statistics_repository=${HPP_REPO}
hpp-core_branch=devel
hpp-core_repository=${HPP_REPO}
hpp-core_extra_flags=-DRUN_TESTS=FALSE
hpp-template-corba_branch=devel
hpp-template-corba_repository=${LAAS_REPO}
......@@ -91,7 +95,6 @@ hpp-doc_repository=${HPP_REPO}
hpp-manipulation_branch=devel
hpp-manipulation_repository=${HPP_REPO}
hpp-manipulation_extra_flags= -DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=OFF
hpp-manipulation-urdf_branch=devel
hpp-manipulation-urdf_repository=${HPP_REPO}
......@@ -136,18 +139,34 @@ qgv_repository=${HPP_REPO}
hpp-environments_branch=devel
hpp-environments_repository=${HPP_REPO}
hpp-baxter_branch=devel
universal_robot_branch=indigo-devel
universal_robot_repository=${HPP_REPO}
hpp_universal_robot_branch=devel
hpp_universal_robot_repository=${FLORENT_REPO}
hpp-baxter_branch=master
hpp-baxter_repository=${HPP_REPO}
OpenSceneGraph-dae-plugin_extra_flags= -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_DIR}/include/collada-dom
collada-dom_extra_flags=-DBUILD_SHARED_LIBS=TRUE -DOPT_COLLADA15=FALSE
roboptim-core-3.1_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
roboptim-trajectory-3.1_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
qpOASES_extra_flags= -DCMAKE_BUILD_TYPE=Release
all: doxygen-1.8.10.install hpp_tutorial.install \
ifeq (${HUMANOID}, TRUE)
hpp-manipulation_extra_flags= -DHPP_MANIPULATION_HAS_WHOLEBODY=TRUE
hpp-manipulation-corba_extra_flags-DHPP_MANIPULATION_HAS_WHOLEBODY=TRUE
else
hpp-manipulation_extra_flags= -DHPP_MANIPULATION_HAS_WHOLEBODY=FALSE
hpp-manipulation-corba_extra_flags-DHPP_MANIPULATION_HAS_WHOLEBODY=FALSE
endif
all: hpp_tutorial.install \
hpp-manipulation-corba.install hpp-gepetto-viewer.install
${MAKE} hpp-doc.install
......@@ -156,7 +175,6 @@ hrp2: test-hpp.install
hpp-fcl.configure.dep: eigen3.install hpp-fcl.checkout
eigen3.configure.dep: eigen3.checkout
doxygen-1.8.10.configure.dep: doxygen-1.8.10.checkout
roboptim-core-3.1.configure.dep: eigen3.install roboptim-core-3.1.checkout
roboptim-trajectory-3.1.configure.dep: roboptim-core-3.1.install \
roboptim-trajectory-3.1.checkout
......@@ -174,11 +192,22 @@ hpp-core.configure.dep: hpp-constraints.install hpp-statistics.install \
hpp-core.checkout
qpOASES.configure.dep: qpOASES.checkout
hpp-constraints.configure.dep: qpOASES.install \
hpp-pinocchio.install hpp-constraints.checkout
hpp-pinocchio.install hpp-statistics.install hpp-constraints.checkout
hpp-wholebody-step.configure.dep: hpp-constraints.install hpp-walkgen.install \
hpp-wholebody-step.checkout
ifeq (${HUMANOID}, TRUE)
hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
hpp-wholebody-step.install hpp-manipulation.checkout
hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
hpp-wholebody-step-corba.install hpp-manipulation.install \
hpp-manipulation-corba.checkout
else
hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
hpp-manipulation.checkout
hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
hpp-manipulation.install \
hpp-manipulation-corba.checkout
endif
hpp-manipulation-urdf.configure.dep:hpp-manipulation.install \
hpp-manipulation-urdf.checkout
hpp-corbaserver.configure.dep: hpp-core.install \
......@@ -187,9 +216,8 @@ hpp-wholebody-step-corba.configure.dep: hpp-corbaserver.install \
hpp-wholebody-step.install hpp-template-corba.install \
hpp-wholebody-step-corba.checkout
hpp-template-corba.configure.dep: hpp-util.install hpp-template-corba.checkout
hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
hpp-wholebody-step-corba.install hpp-manipulation.install \
hpp-manipulation-corba.checkout
qgv.configure.dep: qgv.checkout
pythonqt.configure.dep: pythonqt.checkout
robot_model_py.configure.dep: robot_model_py.checkout
robot_capsule_urdf.configure.dep: robot_model_py.install \
robot_capsule_urdf.checkout
......@@ -213,6 +241,11 @@ gepetto-viewer-corba.configure.dep: gepetto-viewer.install \
hpp-gepetto-viewer.configure.dep: gepetto-viewer-corba.install \
hpp-corbaserver.install \
hpp-gepetto-viewer.checkout
universal_robot.configure.dep: universal_robot.install \
universal_robot.checkout
hpp_universal_robot.configure.dep: universal_robot.install \
hpp_universal_robot.checkout
hpp-environments.configure.dep: hpp-environments.checkout
hpp-baxter.configure.dep: hpp-corbaserver.install hpp-baxter.checkout
pythonqt.configure.dep: pythonqt.checkout
......@@ -235,7 +268,10 @@ log:
done
update:
for d in hpp-util hpp-pinocchio hpp-core hpp-template-corba hpp-corbaserver hpp-constraints hpp-wholebody-step hpp-wholebody-step-corba hpp-doc ; do \
for d in hpp-util hpp-pinocchio hpp-constraints hpp-core \
hpp-template-corba hpp-corbaserver hpp-constraints \
hpp-manipulation hpp-manipulation-urdf hpp-manipulation-corba \
hpp-doc ; do \
echo "Updating $$d";\
${MAKE} $$d.update; done
......@@ -258,18 +294,18 @@ update:
git submodule update
%.configure: %.configure.dep
${MAKE} $(@:.configure=).confthis
${MAKE} $(@:.configure=).configure_nodep
%.confthis:%.checkout
mkdir -p ${SRC_DIR}/$(@:.confthis=)/${BUILD_FOLDER}; \
cd ${SRC_DIR}/$(@:.confthis=)/${BUILD_FOLDER}; \
cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \ -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.confthis=)_extra_flags} ..
%.configure_nodep:%.checkout
mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/${BUILD_FOLDER}; \
cd ${SRC_DIR}/$(@:.configure_nodep=)/${BUILD_FOLDER}; \
cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \ -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..
%.install:%.configure
${MAKE} -C ${SRC_DIR}/$(@:.install=)/${BUILD_FOLDER} install
%.instthis:%.confthis
${MAKE} -C ${SRC_DIR}/$(@:.instthis=)/${BUILD_FOLDER} install
%.install_nodep:%.configure_nodep
${MAKE} -C ${SRC_DIR}/$(@:.install_nodep=)/${BUILD_FOLDER} install
%.uninstall:
${MAKE} -C ${SRC_DIR}/$(@:.uninstall=)/${BUILD_FOLDER} uninstall
......@@ -326,21 +362,6 @@ roboptim-trajectory-3.1.checkout:
${WGET} -O - "https://github.com/roboptim/roboptim-trajectory/releases/download/v3.1/roboptim-trajectory-3.1.tar.bz2" | ${TAR} -xj; \
fi
doxygen-1.8.10.checkout:
if [ -d $(@:.checkout=) ]; then \
echo "$(@:.checkout=) already checkout out."; \
else \
${WGET} -O - "ftp://ftp.stack.nl/pub/users/dimitri/doxygen-1.8.10.linux.bin.tar.gz" | ${TAR} -xz;\
fi
doxygen-1.8.10.configure: doxygen-1.8.10.configure.dep
@ :
doxygen-1.8.10.install: doxygen-1.8.10.configure
cd ${SRC_DIR}/doxygen-1.8.10;\
mkdir -p ${DEVEL_DIR}/install/bin;\
install --mode=755 -t ${DEVEL_DIR}/install/bin bin/doxygen
hrp2.configure: hrp2.configure.dep
. ${INSTALL_DIR}/setup.sh; \
cd ${SRC_DIR}/hrp2/hrp2_14_description;\
......@@ -364,3 +385,16 @@ robot_model_py.configure: robot_model_py.configure.dep
robot_model_py.install: robot_model_py.configure
${MAKE} -C ${SRC_DIR}/$(@:.install=)/xml_reflection/${BUILD_FOLDER} install; \
${MAKE} -C ${SRC_DIR}/$(@:.install=)/urdf_parser_py/${BUILD_FOLDER} install;
universal_robot.configure_nodep:
mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/ur_description/${BUILD_FOLDER}; \
cd ${SRC_DIR}/$(@:.configure_nodep=)/ur_description/${BUILD_FOLDER}; \
cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..
universal_robot.install_nodep:universal_robot.configure_nodep
cd ${SRC_DIR}/$(@:.install_nodep=)/ur_description/${BUILD_FOLDER};\
make install
universal_robot.install:universal_robot.configure
cd ${SRC_DIR}/$(@:.install=)/ur_description/${BUILD_FOLDER};\
make install
export PATH=$DEVEL_DIR/install/sbin:$DEVEL_DIR/install/bin:$PATH
export PKG_CONFIG_PATH=$DEVEL_DIR/install/lib/pkgconfig/:/opt/ros/indigo/lib/pkgconfig
export PATH=$DEVEL_DIR/install/sbin:$DEVEL_DIR/install/bin:/opt/ros/kinetic/bin:$PATH
export PKG_CONFIG_PATH=$DEVEL_DIR/install/lib/pkgconfig/:/opt/ros/kinetic/lib/pkgconfig
export PYTHONPATH=$DEVEL_DIR/install/lib/python2.7/site-packages:$DEVEL_DIR/install/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:$PYTHONPATH
export PYTHONPATH=$DEVEL_DIR/install/lib/python2.7/site-packages:$DEVEL_DIR/install/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:$PYTHONPATH
export LD_LIBRARY_PATH=$DEVEL_DIR/install/lib:/opt/ros/indigo/lib:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=$DEVEL_DIR/install/lib:$DEVEL_DIR/install/lib64:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH
if [ -f $DEVEL_DIR/install/setup.bash ]; then
source $DEVEL_DIR/install/setup.bash
else
source /opt/ros/indigo/setup.bash
source /opt/ros/kinetic/setup.bash
fi
if [ "$ROS_PACKAGE_PATH" = "" ]; then
export ROS_PACKAGE_PATH=$DEVEL_DIR/install/share:/opt/ros/kinetic/share
fi
## Installation on ubuntu-14.04 64 bit with ros-indigo
## Installation on ubuntu-16.04 64 bit with ros-kinetic
To install all the packages on ubuntu 14.04 LTS 64 bit, you should do the following steps:
To install all the packages on ubuntu 16.04 LTS 64 bit, you should do the following steps:
1. install ROS-indigo: follow steps 1.1 to 1.3 of [the ROS installation website.](http://wiki.ros.org/indigo/Installation/Ubuntu).
1. install ROS-kinetic: follow steps 1.1 to 1.3 of [the ROS installation website.](http://wiki.ros.org/kinetic/Installation/Ubuntu).
2. install by apt-get
- autoconf
- g++
- cmake
- doxygen
- libboost-dev
- liburdfdom-dev
- libassimp-dev
- ros-indigo-xacro
- ros-indigo-kdl-parser
- ros-indigo-common-msgs
- ros-indigo-tf
- ros-indigo-tf-conversions
- ros-indigo-libccd
- ros-indigo-octomap
- ros-indigo-resource-retriever
- ros-indigo-urdfdom-py
- ros-indigo-srdfdom
- ros-indigo-pr2-robot
- ros-kinetic-xacro
- ros-kinetic-kdl-parser
- ros-kinetic-common-msgs
- ros-kinetic-tf
- ros-kinetic-tf-conversions
- ros-kinetic-libccd
- ros-kinetic-octomap
- ros-kinetic-resource-retriever
- ros-kinetic-urdfdom-py
- ros-kinetic-srdfdom
- ros-kinetic-pr2-description
- flex
- bison
- asciidoc
......@@ -33,6 +34,7 @@ To install all the packages on ubuntu 14.04 LTS 64 bit, you should do the follow
- omniidl-python
- libltdl-dev
- python-matplotlib
- libxml2
- libtinyxml2-dev
- liblog4cxx10-dev
- libltdl-dev
......@@ -41,9 +43,11 @@ To install all the packages on ubuntu 14.04 LTS 64 bit, you should do the follow
- libqtgui4
- oxygen-icon-theme
- libopenscenegraph-dev
- openscenegraph
- libpcre3-dev
```bash
sudo apt-get install autoconf g++ cmake libboost-dev liburdfdom-dev libassimp-dev ros-indigo-xacro ros-indigo-kdl-parser ros-indigo-common-msgs ros-indigo-tf ros-indigo-tf-conversions ros-indigo-libccd ros-indigo-octomap ros-indigo-resource-retriever ros-indigo-srdfdom ros-indigo-pr2-robot flex bison asciidoc source-highlight git libomniorb4-dev omniorb-nameserver omniidl omniidl-python libltdl-dev python-matplotlib libtinyxml2-dev liblog4cxx10-dev libltdl-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 oxygen-icon-theme libopenscenegraph-dev
sudo apt-get install autoconf g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev ros-kinetic-xacro ros-kinetic-kdl-parser ros-kinetic-common-msgs ros-kinetic-tf ros-kinetic-tf-conversions libccd-dev ros-kinetic-octomap ros-kinetic-resource-retriever ros-kinetic-srdfdom ros-kinetic-pr2-description flex bison asciidoc source-highlight git libomniorb4-dev omniorb-nameserver omniidl omniidl-python libltdl-dev python-matplotlib libxml2 libtinyxml2-dev liblog4cxx10-dev libltdl-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 oxygen-icon-theme libopenscenegraph-dev openscenegraph libpcre3-dev
```
3. Choose a directory on you file system and define the environment
......
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