Merge pull request #30 from nim65s/devel

Use roboptim & qpOASES from robotpkg, fix #23

.dockers/ubuntu-14.04/Dockerfile

 FROM ubuntu:14.04
 
+RUN apt-get update -qqy && apt-get install -qqy \
+   curl \
+   && rm -rf /var/lib/apt/lists/*
+
 RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
 RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub trusty robotpkg" > /etc/apt/sources.list.d/robotpkg.list
+RUN curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add -
 
 RUN apt-get update -qqy && apt-get install -qqy \
    autoconf \
@@ -28,6 +34,9 @@ RUN apt-get update -qqy && apt-get install -qqy \
    oxygen-icon-theme \
    python-matplotlib \
    qt4-dev-tools \
+   robotpkg-qpoases+doc \
+   robotpkg-roboptim-core \
+   robotpkg-roboptim-trajectory \
    ros-indigo-xacro \
    ros-indigo-kdl-parser \
    ros-indigo-common-msgs \

.dockers/ubuntu-14.04/Dockerfile.premade

@@ -5,6 +5,4 @@ ENV DEVEL_DIR /workspace
 RUN /auto-install-hpp.sh --branch ubuntu-14.04 --target \
                      "doxygen-1.8.10.install \
                      OpenSceneGraph-dae-plugin.install \
-                     qpOASES.install \
-                     eigen3.install \
-                     roboptim-trajectory.install"
+                     eigen3.install"

.dockers/ubuntu-16.04/Dockerfile

@@ -6,6 +6,8 @@ RUN apt-get update -qqy && apt-get install -qqy \
 
 RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list
 RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub xenial robotpkg" > /etc/apt/sources.list.d/robotpkg.list
+RUN curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add -
 
 RUN apt-get update -qqy && apt-get upgrade -qqy
 RUN apt-get install -qqy sudo wget
@@ -17,6 +19,9 @@ RUN apt-get install -qqy \
       libboost-dev \
       liburdfdom-dev \
       libassimp-dev \
+      robotpkg-qpoases+doc \
+      robotpkg-roboptim-core \
+      robotpkg-roboptim-trajectory \
       ros-kinetic-xacro \
       ros-kinetic-kdl-parser \
       ros-kinetic-common-msgs \

.dockers/ubuntu-16.04/Dockerfile.premade

@@ -3,5 +3,3 @@ FROM eur0c.laas.fr:5000/humanoid-path-planner/hpp-doc/ubuntu:16.04
 ENV DEVEL_HPP_DIR /workspace
 
 RUN /auto-install-hpp.sh --branch devel --target OpenSceneGraph-dae-plugin.install
-RUN /auto-install-hpp.sh --branch devel --target qpOASES.install
-RUN /auto-install-hpp.sh --branch devel --target roboptim-trajectory.install

.gitlab-ci.yml

 variables:
-    GIT_SSL_NO_VERIFY: "true"
     GIT_SUBMODULE_STRATEGY: "recursive"
     DEVEL_HPP_DIR: "/workspace"
     BUILD_TYPE: "Release"
@@ -9,6 +8,7 @@ variables:
     script:
       - export INSTALL_DOCUMENTATION=OFF
       - $CI_PROJECT_DIR/script/auto-install-hpp.sh --branch ${CI_COMMIT_REF_NAME} --gitrepo ${CI_PROJECT_URL}/raw --target test-ci
+    after_script:
       - mv $DEVEL_HPP_DIR $CI_PROJECT_DIR
     artifacts:
       expire_in: 1 day
@@ -40,9 +40,10 @@ variables:
       - $DEVEL_HPP_DIR/test.sh hpp-wholebody-step          || status=1
         #- $DEVEL_HPP_DIR/test.sh hpp-wholebody-step-corba || status=1
       - set -e
-      - mv $DEVEL_HPP_DIR $CI_PROJECT_DIR
       - exit $status
     allow_failure: true
+    after_script:
+      - mv $DEVEL_HPP_DIR $CI_PROJECT_DIR
     artifacts:
       expire_in: 1 day
       when: always
@@ -61,6 +62,7 @@ variables:
         #- make -C $DEVEL_HPP_DIR/src -s all
       - $DEVEL_HPP_DIR/doc.sh
       - tar czf ${DEVEL_HPP_DIR}/hpp.${CI_COMMIT_REF_NAME}.`date +"%Y%m%d"`.tar.gz $DEVEL_HPP_DIR/install/share/doc
+    after_script:
       - mv $DEVEL_HPP_DIR $CI_PROJECT_DIR
     allow_failure: true
     artifacts:

doc/Makefile

@@ -8,7 +8,6 @@ LAAS_REPO=https://github.com/laas
 HPP_REPO=https://github.com/humanoid-path-planner
 SOT_REPO=https://github.com/stack-of-tasks
 RETHINK_ROBOTICS_REPO=https://github.com/RethinkRobotics
-ROBOPTIM_REPO=https://github.com/roboptim
 TRAC_REPO=ssh://trac.laas.fr/git/jrl/robots/ros-hrp2
 
 SRC_DIR=${DEVEL_HPP_DIR}/src
@@ -41,14 +40,6 @@ hpp-fcl_branch=devel
 hpp-fcl_repository=${HPP_REPO}
 hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release
 
-roboptim-core_branch=master
-roboptim-core_repository=${ROBOPTIM_REPO}
-roboptim-core_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
-
-roboptim-trajectory_branch=master
-roboptim-trajectory_repository=${ROBOPTIM_REPO}
-roboptim-trajectory_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
-
 hpp-util_branch=devel
 hpp-util_repository=${HPP_REPO}
 
@@ -73,9 +64,6 @@ hpp-template-corba_repository=${HPP_REPO}
 hpp-corbaserver_branch=devel
 hpp-corbaserver_repository=${HPP_REPO}
 
-qpOASES_branch=devel
-qpOASES_repository=${HPP_REPO}
-
 hpp-constraints_branch=devel
 hpp-constraints_repository=${HPP_REPO}
 hpp-constraints_extra_flags=-DDISABLE_TESTS=ON
@@ -162,8 +150,8 @@ hpp-environments_repository=${HPP_REPO}
 universal_robot_branch=kinetic
 universal_robot_repository=${HPP_REPO}
 
-hpp_universal_robot_branch=devel
-hpp_universal_robot_repository=${HPP_REPO}
+hpp-universal-robot_branch=devel
+hpp-universal-robot_repository=${HPP_REPO}
 
 baxter_common_branch=master
 baxter_common_repository=${RETHINK_ROBOTICS_REPO}
@@ -182,8 +170,6 @@ OpenSceneGraph-3.4.0_extra_flags= -DDESIRED_QT_VERSION=${QT_VERSION} -DCOLLADA_D
 
 collada-dom_extra_flags=-DBUILD_SHARED_LIBS=TRUE -DOPT_COLLADA15=FALSE
 
-qpOASES_extra_flags= -DCMAKE_BUILD_TYPE=Release
-
 ifeq (${HUMANOID}, TRUE)
   hpp-manipulation_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=TRUE
   hpp-manipulation-corba_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=TRUE
@@ -199,7 +185,7 @@ all: hpp_tutorial.install hpp-gepetto-viewer.install
 test-ci: baxter_common.install romeo.install universal_robot.install \
 	hpp-environments.install
 	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install \
-	hpp_universal_robot.install && \
+	hpp-universal-robot.install && \
 	${MAKE} hpp-doc.install
 
 # For benchmark, install robot packages first
@@ -207,17 +193,14 @@ benchmark: baxter_common.install romeo.install universal_robot.install \
 	hpp-environments.install hrp2-14-description.install
 	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install; \
 	${MAKE} hpp-baxter.install hpp_romeo.install \
-	hpp_universal_robot.install hpp-plot.install hpp-gui.install; \
+	hpp-universal-robot.install hpp-plot.install hpp-gui.install; \
 	${MAKE} hpp_benchmark.checkout; \
 	${MAKE} hpp-doc.install
 
 hpp-doc.configure.dep: hpp-doc.checkout
 hpp-fcl.configure.dep: hpp-fcl.checkout
-roboptim-core.configure.dep: roboptim-core.checkout
-roboptim-trajectory.configure.dep: roboptim-core.install \
-	roboptim-trajectory.checkout
 hpp-walkgen.configure.dep: hpp-util.install hpp-core.install \
-        roboptim-trajectory.install hpp-walkgen.checkout
+	hpp-walkgen.checkout
 hpp-util.configure.dep: hpp-util.checkout
 hpp-model-urdf.configure.dep: hpp-model.install hpp-model-urdf.checkout
 pinocchio.configure.dep: hpp-fcl.install pinocchio.checkout
@@ -226,9 +209,8 @@ hpp-pinocchio.configure.dep: pinocchio.install hpp-util.install \
 hpp-statistics.configure.dep: hpp-util.install hpp-statistics.checkout
 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-statistics.install hpp-constraints.checkout
+hpp-constraints.configure.dep: 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)
@@ -286,8 +268,8 @@ hpp-gepetto-viewer.configure.dep: gepetto-viewer-corba.install \
 	hpp-gepetto-viewer.checkout
 hpp-gui.configure.dep: hpp-gui.checkout
 universal_robot.configure.dep: universal_robot.checkout
-hpp_universal_robot.configure.dep: universal_robot.install \
-	hpp_universal_robot.checkout
+hpp-universal-robot.configure.dep: universal_robot.install \
+	hpp-universal-robot.checkout
 hpp-environments.configure.dep: hpp-environments.checkout
 baxter_common.configure.dep: baxter_common.checkout
 hpp-baxter.configure.dep: baxter_common.install hpp-baxter.checkout

doc/config/ubuntu-14.04-indigo.sh

 export PATH=$DEVEL_HPP_DIR/install/sbin:$DEVEL_HPP_DIR/install/bin:/opt/ros/indigo/bin:$PATH
-export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/indigo/lib/pkgconfig
+export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/indigo/lib/pkgconfig:/opt/openrobots/lib/pkgconfig
+export CMAKE_PREFIX_PATH=/opt/openrobots
 
 export PYTHONPATH=$DEVEL_HPP_DIR/install/lib/python2.7/site-packages:$DEVEL_HPP_DIR/install/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:$PYTHONPATH
 

doc/config/ubuntu-16.04-kinetic.sh

 export PATH=$DEVEL_HPP_DIR/install/sbin:$DEVEL_HPP_DIR/install/bin:/opt/ros/kinetic/bin:$PATH
-export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/kinetic/lib/pkgconfig
+export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/kinetic/lib/pkgconfig:/opt/openrobots/lib/pkgconfig
+export CMAKE_PREFIX_PATH=/opt/openrobots
 
 export PYTHONPATH=$DEVEL_HPP_DIR/install/lib/python2.7/site-packages:$DEVEL_HPP_DIR/install/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:$PYTHONPATH
 

doc/instructions.md

@@ -4,7 +4,9 @@ To install all the packages on ubuntu 16.04 LTS 64 bit, you should do the follow
 
   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
+  2. install robotpkg: follow [the robotpkg installation website](http://robotpkg.openrobots.org/debian.html).
+
+  3. install by apt-get
     - autoconf
     - g++
     - cmake
@@ -13,6 +15,9 @@ To install all the packages on ubuntu 16.04 LTS 64 bit, you should do the follow
     - liburdfdom-dev
     - libassimp-dev
     - libeigen3-dev
+    - robotpkg-qpoases+doc
+    - robotpkg-roboptim-core
+    - robotpkg-roboptim-trajectory
     - ros-kinetic-xacro
     - ros-kinetic-kdl-parser
     - ros-kinetic-common-msgs
@@ -49,10 +54,10 @@ To install all the packages on ubuntu 16.04 LTS 64 bit, you should do the follow
     - libpcre3-dev
 
     ```bash
-sudo apt-get install autoconf g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev libeigen3-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 libqtwebkit-dev oxygen-icon-theme libopenscenegraph-dev openscenegraph libpcre3-dev
+sudo apt-get install autoconf g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev libeigen3-dev robotpkg-qpoases+doc robotpkg-roboptim-core robotpkg-roboptim-trajectory 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 libqtwebkit-dev oxygen-icon-theme libopenscenegraph-dev openscenegraph libpcre3-dev
     ```
 
-  3. Choose a directory on you file system and define the environment
+  4. Choose a directory on you file system and define the environment
      variable `DEVEL_HPP_DIR` with the full path to this directory.
      - the packages will be cloned into `$DEVEL_HPP_DIR/src`,
      - the packages will be installed in `$DEVEL_HPP_DIR/install`.
@@ -61,21 +66,21 @@ sudo apt-get install autoconf g++ cmake doxygen libboost-dev liburdfdom-dev liba
     ```bash
     mkdir -p $DEVEL_HPP_DIR/src
     ```
-  4. Copy Config and Makefile
+  5. Copy Config and Makefile
 
     ```bash
 wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/devel/doc/config/ubuntu-16.04-kinetic.sh
 wget -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/devel/doc/Makefile
     ```
 
-  5. cd into `$DEVEL_HPP_DIR` and type
+  6. cd into `$DEVEL_HPP_DIR` and type
 
     ```bash
 cd ${DEVEL_HPP_DIR}
 source config.sh
     ```
 
-  6. cd into `$DEVEL_HPP_DIR/src` and type
+  7. cd into `$DEVEL_HPP_DIR/src` and type
 
     ```bash
 cd ${DEVEL_HPP_DIR}/src
@@ -84,7 +89,7 @@ source ../config.sh;
 make all
     ```
 
-##Documentation
+## Documentation
 
   Open `$DEVEL_HPP_DIR/install/share/doc/hpp-doc/index.html` in a web brower and you
   will have access to the documentation of most packages.

doc/packages.sh

@@ -70,16 +70,6 @@ pkg "hpp-model-urdf" \
     "git@github.com:humanoid-path-planner/hpp-model" \
     "path/hpp-model"
 
-pkg "roboptim-core" \
-    "RobOptim core" \
-    "git@github.com:roboptim/roboptim-core" \
-    "optimization/roboptim-core"
-
-pkg "roboptim-trajectory" \
-    "RobOptim trajectory" \
-    "git@github.com:roboptim/roboptim-trajectory" \
-    "optimization/roboptim-trajectory"
-
 pkg "hpp-constraints" \
     "hpp-constraints" \
     "git@github.com:humanoid-path-planner/hpp-constraints" \