Unverified Commit 807aee08 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #30 from nim65s/devel

Use roboptim & qpOASES from robotpkg, fix #23
parents 8c51fb0a 538f0c92
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 \
......
......@@ -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"
......@@ -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 \
......
......@@ -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
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 $CI_PROJECT_DIR
allow_failure: true
artifacts:
......
......@@ -8,7 +8,6 @@ LAAS_REPO=https://github.com/laas
HPP_REPO=https://github.com/humanoid-path-planner
SOT_REPO=https://github.com/stack-of-tasks
RETHINK_ROBOTICS_REPO=https://github.com/RethinkRobotics
ROBOPTIM_REPO=https://github.com/roboptim
TRAC_REPO=ssh://trac.laas.fr/git/jrl/robots/ros-hrp2
SRC_DIR=${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
......
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
......
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
......
......@@ -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.
......@@ -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" \
......
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