Merge remote-tracking branch 'origin/devel' into ubuntu-14.04

9598fe6b · Joseph Mirabel · Joseph Mirabel · bf475ceb · e94c64f8 · 9598fe6b
Commit 9598fe6b authored Mar 15, 2018 by Joseph Mirabel Committed by Joseph Mirabel Mar 15, 2018
--- a/.dockers/create_docker_and_push_to_euroc.sh
+++ b/.dockers/create_docker_and_push_to_euroc.sh
-docker login eur0c.laas.fr:4567
 docker build -t eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/ubuntu:14.04 -f .dockers/ubuntu-14.04/Dockerfile .
 docker build -t eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/ubuntu-14.04-premade:14.04 -f .dockers/ubuntu-14.04/Dockerfile.premade .
+docker login eur0c.laas.fr:4567
 docker push eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/ubuntu-14.04-premade:14.04
--- a/.dockers/ubuntu-14.04/Dockerfile.premade
+++ b/.dockers/ubuntu-14.04/Dockerfile.premade
 FROM eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/ubuntu:14.04

-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
    /auto-install-hpp.sh --branch ubuntu-14.04 --target doxygen-1.8.10.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
    /auto-install-hpp.sh --branch ubuntu-14.04 --target OpenSceneGraph-dae-plugin.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
    /auto-install-hpp.sh --branch ubuntu-14.04 --target qpOASES.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
    /auto-install-hpp.sh --branch ubuntu-14.04 --target eigen3.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
    /auto-install-hpp.sh --branch ubuntu-14.04 --target roboptim-trajectory-3.1.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
-    mv $DEVEL_DIR /clean_workspace
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+    mv $DEVEL_HPP_DIR /clean_workspace
--- a/.dockers/ubuntu-16.04/Dockerfile
+++ b/.dockers/ubuntu-16.04/Dockerfile
@@ -40,6 +40,7 @@ RUN apt-get install -qqy \
      libltdl-dev \
      qt4-dev-tools \
      libqt4-opengl-dev \
+      libqtwebkit-dev \
      libqtgui4 \
      oxygen-icon-theme \
      libopenscenegraph-dev \

--- a/.dockers/ubuntu-16.04/Dockerfile.premade
+++ b/.dockers/ubuntu-16.04/Dockerfile.premade
 FROM eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/ubuntu:16.04

-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
      /auto-install-hpp.sh --branch devel --target OpenSceneGraph-dae-plugin.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
      /auto-install-hpp.sh --branch devel --target qpOASES.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
      /auto-install-hpp.sh --branch devel --target roboptim-trajectory-3.1.install
-RUN export DEVEL_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
-      mv $DEVEL_DIR /clean_workspace
+RUN export DEVEL_HPP_DIR=/builds/humanoid-path-planner/hpp-doc/workspace; \
+      mv $DEVEL_HPP_DIR /clean_workspace
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
 variables:
    GIT_SSL_NO_VERIFY: "true"
    GIT_SUBMODULE_STRATEGY: "recursive"
-    DEVEL_DIR: "$CI_PROJECT_DIR/workspace"
+    DEVEL_HPP_DIR: "$CI_PROJECT_DIR/workspace"
    BUILD_TYPE: "Release"

 .build_template: &build_definition
    stage: build
    script:
      - export INSTALL_DOCUMENTATION=OFF
-      - cp -r /clean_workspace $DEVEL_DIR
+      - cp -r /clean_workspace $DEVEL_HPP_DIR
      - /auto-install-hpp.sh --branch ${CI_COMMIT_REF_NAME}
    artifacts:
      paths:
@@ -17,20 +17,31 @@ variables:
 .test_template: &test_definition
    stage: test
    script:
-      - source $DEVEL_DIR/config.sh
-      - cd $DEVEL_DIR/src/hpp-util/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-fcl/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-pinocchio/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-statistics/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-constraints/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-core/build-rel && make test
-        #- cd $DEVEL_DIR/src/hpp-corbaserver/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-manipulation/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-manipulation-urdf/build-rel && make test
-        #- cd $DEVEL_DIR/src/hpp-manipulation-corba/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-walkgen/build-rel && make test
-      - cd $DEVEL_DIR/src/hpp-wholebody-step/build-rel && make test
-        #- cd $DEVEL_DIR/src/hpp-wholebody-step-corba/build-rel && make test
+      - source $DEVEL_HPP_DIR/config.sh
+      - cd $DEVEL_HPP_DIR/src/hpp-util/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-fcl/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-pinocchio/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-statistics/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-constraints/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-core/build-rel && make test
+        #- cd $DEVEL_HPP_DIR/src/hpp-corbaserver/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-manipulation/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-manipulation-urdf/build-rel && make test
+        #- cd $DEVEL_HPP_DIR/src/hpp-manipulation-corba/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-walkgen/build-rel && make test
+      - cd $DEVEL_HPP_DIR/src/hpp-wholebody-step/build-rel && make test
+        #- cd $DEVEL_HPP_DIR/src/hpp-wholebody-step-corba/build-rel && make test
+    allow_failure: true
+    artifacts:
+      paths:
+        - workspace
+
+.doc_template: &doc_definition
+    stage: deploy
+    script:
+      - export INSTALL_DOCUMENTATION=ON
+      - make -C $DEVEL_HPP_DIR/src -s all
+      - tar czf hpp.${CI_COMMIT_REF_NAME}.`date +"%Y%m%d"`.tar.gz $DEVEL_HPP_DIR/install/share/doc
    allow_failure: true
    artifacts:
      paths:
@@ -39,7 +50,7 @@ variables:
 master-build:
    image: eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/master-premade:16.04
    only:
-      - master
+      - future
    <<: *build_definition

 ubuntu-14.04-build:
@@ -59,7 +70,7 @@ master-test:
    dependencies:
      - master-build
    only:
-      - master
+      - future
    <<: *test_definition

 ubuntu-14.04-test:
@@ -77,3 +88,27 @@ devel-test:
    only:
      -  devel
    <<: *test_definition
+
+master-doc:
+    image: eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/master-premade:16.04
+    dependencies:
+      - master-build
+    only:
+      - future
+    <<: *doc_definition
+
+ubuntu-14.04-doc:
+    image: eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/ubuntu-14.04-premade:14.04
+    dependencies:
+      - ubuntu-14.04-build
+    only:
+      - ubuntu-14.04
+    <<: *doc_definition
+
+devel-doc:
+    image: eur0c.laas.fr:4567/humanoid-path-planner/hpp-doc/devel-premade:16.04
+    dependencies:
+      - devel-build
+    only:
+      -  devel
+    <<: *doc_definition
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -10,8 +10,10 @@ HPP_REPO=https://github.com/humanoid-path-planner
 SOT_REPO=https://github.com/stack-of-tasks
 RETHINK_ROBOTICS_REPO=https://github.com/RethinkRobotics

-SRC_DIR=${DEVEL_DIR}/src
-INSTALL_DIR=${DEVEL_DIR}/install
+SRC_DIR=${DEVEL_HPP_DIR}/src
+ifndef INSTALL_HPP_DIR
+INSTALL_HPP_DIR=${DEVEL_HPP_DIR}/install
+endif

 # Whether to compute humanoid specific part
 HUMANOID=TRUE
@@ -164,8 +166,8 @@ hpp_romeo_repository=${HPP_REPO}
 romeo_branch=master
 romeo_repository=${HPP_REPO}

-OpenSceneGraph-dae-plugin_extra_flags= -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_DIR}/include/collada-dom
-OpenSceneGraph-3.4.0_extra_flags= -DDESIRED_QT_VERSION=${QT_VERSION} -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_DIR}/include/collada-dom -DLIB_POSTFIX=""
+OpenSceneGraph-dae-plugin_extra_flags= -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_HPP_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_HPP_DIR}/include/collada-dom
+OpenSceneGraph-3.4.0_extra_flags= -DDESIRED_QT_VERSION=${QT_VERSION} -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_HPP_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_HPP_DIR}/include/collada-dom -DLIB_POSTFIX=""

 collada-dom_extra_flags=-DBUILD_SHARED_LIBS=TRUE -DOPT_COLLADA15=FALSE

@@ -186,7 +188,7 @@ endif
 all: doxygen-1.8.10.install hpp_tutorial.install hpp-gepetto-viewer.install
 	${MAKE} hpp-doc.install

-# source $DEVEL_DIR/install/setup.bash before installing hrp2.
+# source $DEVEL_HPP_DIR/install/setup.bash before installing hrp2.
 hrp2: test-hpp.install

 hpp-doc.configure.dep: hpp-doc.checkout
@@ -330,7 +332,7 @@ update:
 %.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=${BUILD_TYPE} \
+	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
 			-DINSTALL_DOCUMENTATION=${INSTALL_DOCUMENTATION} \
 			-DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" \
 			${$(@:.configure_nodep=)_extra_flags} ..
@@ -372,7 +374,7 @@ eigen3.configure: eigen3.configure.dep
 	cd ${SRC_DIR}/eigen3;\
 	mkdir -p ${BUILD_FOLDER}; \
 	cd ${SRC_DIR}/eigen3/${BUILD_FOLDER}; \
-	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -Dpkg_config_libdir=${INSTALL_DIR}/lib ..
+	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -Dpkg_config_libdir=${INSTALL_HPP_DIR}/lib ..

 roboptim-core-3.1.checkout:
 	if [ -d $(@:.checkout=) ]; then \
@@ -390,21 +392,6 @@ OpenSceneGraph-3.4.0.checkout:
 		rm -f OpenSceneGraph-3.4.0.zip;\
 	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
-
 roboptim-trajectory-3.1.checkout:
 	if [ -d $(@:.checkout=) ]; then \
 		echo "$(@:.checkout=) already checkout out."; \
@@ -413,11 +400,11 @@ roboptim-trajectory-3.1.checkout:
 	fi

 hrp2.configure: hrp2.configure.dep
-	. ${INSTALL_DIR}/setup.sh; \
+	. ${INSTALL_HPP_DIR}/setup.sh; \
 	cd ${SRC_DIR}/hrp2/hrp2_14_description;\
 	mkdir -p ${BUILD_FOLDER}; \
 	cd ${SRC_DIR}/hrp2/hrp2_14_description/${BUILD_FOLDER}; \
-	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
+	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..

 hrp2.install: hrp2.configure
 	${MAKE} -C ${SRC_DIR}/hrp2/hrp2_14_description/${BUILD_FOLDER} install
@@ -426,11 +413,11 @@ robot_model_py.configure: robot_model_py.configure.dep
 	cd ${SRC_DIR}/$(@:.configure=)/xml_reflection;\
 	mkdir -p ${BUILD_FOLDER}; \
 	cd ${BUILD_FOLDER}; \
-	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
+	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
 	cd ${SRC_DIR}/$(@:.configure=)/urdf_parser_py;\
 	mkdir -p ${BUILD_FOLDER}; \
 	cd ${BUILD_FOLDER}; \
-	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
+	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..

 robot_model_py.install: robot_model_py.configure
 	${MAKE} -C ${SRC_DIR}/$(@:.install=)/xml_reflection/${BUILD_FOLDER} install; \
@@ -439,7 +426,7 @@ robot_model_py.install: robot_model_py.configure
 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} ..
+	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_HPP_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${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};\
@@ -452,10 +439,10 @@ universal_robot.install:universal_robot.configure
 baxter_common.configure_nodep:
 	mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/baxter_description/${BUILD_FOLDER}; \
 	cd ${SRC_DIR}/$(@:.configure_nodep=)/baxter_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} ..; \
+	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_HPP_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..; \
 	mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/rethink_ee_description/${BUILD_FOLDER}; \
 	cd ${SRC_DIR}/$(@:.configure_nodep=)/rethink_ee_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} ..
+	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_HPP_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..

 baxter_common.install_nodep:baxter_common.configure_nodep
 	cd ${SRC_DIR}/$(@:.install_nodep=)/baxter_description/${BUILD_FOLDER};\
@@ -470,11 +457,11 @@ baxter_common.install:baxter_common.configure
 	make install

 romeo.configure: romeo.configure.dep
-	. ${INSTALL_DIR}/setup.sh; \
+	. ${INSTALL_HPP_DIR}/setup.sh; \
 	cd ${SRC_DIR}/romeo/romeo_description;\
 	mkdir -p ${BUILD_FOLDER}; \
 	cd ${SRC_DIR}/romeo/romeo_description/${BUILD_FOLDER}; \
-	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
+	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..

 romeo.install: romeo.configure
 	${MAKE} -C ${SRC_DIR}/romeo/romeo_description/${BUILD_FOLDER} install
@@ -491,5 +478,5 @@ doxygen-1.8.10.configure_nodep:

 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
+	mkdir -p ${INSTALL_HPP_DIR}/bin;\
+	install --mode=755 -t ${INSTALL_HPP_DIR}/bin bin/doxygen
--- a/doc/config/ubuntu-14.04-indigo.sh
+++ b/doc/config/ubuntu-14.04-indigo.sh
-export PATH=$DEVEL_DIR/install/sbin:$DEVEL_DIR/install/bin:/opt/ros/indigo/bin:$PATH
-export PKG_CONFIG_PATH=$DEVEL_DIR/install/lib/pkgconfig/:/opt/ros/indigo/lib/pkgconfig
+export PATH=$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 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_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 LD_LIBRARY_PATH=$DEVEL_DIR/install/lib:$DEVEL_DIR/install/lib64:/opt/ros/indigo/lib:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=$DEVEL_HPP_DIR/install/lib:$DEVEL_HPP_DIR/install/lib64:/opt/ros/indigo/lib:$LD_LIBRARY_PATH

-if [ -f $DEVEL_DIR/install/setup.bash ]; then
-    source $DEVEL_DIR/install/setup.bash
+if [ -f $DEVEL_HPP_DIR/install/setup.bash ]; then
+    source $DEVEL_HPP_DIR/install/setup.bash
 else
    source /opt/ros/indigo/setup.bash
 fi
 # Make sure that /opt/ros/indigo/setup.bash is in the ROS_PACKAGE_PATH,
 # otherwise, you should add it by hand in the line below.
-export ROS_PACKAGE_PATH=$DEVEL_DIR/install/share:$ROS_PACKAGE_PATH
+export ROS_PACKAGE_PATH=$DEVEL_HPP_DIR/install/share:$ROS_PACKAGE_PATH
--- a/doc/config/ubuntu-16.04-kinetic.sh
+++ b/doc/config/ubuntu-16.04-kinetic.sh
-export PATH=$DEVEL_DIR/install/sbin:$DEVEL_DIR/install/bin:/opt/ros/kinetic/bin:$PATH
-export PKG_CONFIG_PATH=$DEVEL_DIR/install/lib/pkgconfig/:/opt/ros/kinetic/lib/pkgconfig
+export PATH=$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 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:$PYTHONPATH
+export PYTHONPATH=$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

-export LD_LIBRARY_PATH=$DEVEL_DIR/install/lib:$DEVEL_DIR/install/lib64:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH
+export LD_LIBRARY_PATH=$DEVEL_HPP_DIR/install/lib:$DEVEL_HPP_DIR/install/lib64:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH

-if [ -f $DEVEL_DIR/install/setup.bash ]; then
-    source $DEVEL_DIR/install/setup.bash
+if [ -f $DEVEL_HPP_DIR/install/setup.bash ]; then
+    source $DEVEL_HPP_DIR/install/setup.bash
 else
    source /opt/ros/kinetic/setup.bash
 fi
 # Make sure that /opt/ros/kinetic/setup.bash is in the ROS_PACKAGE_PATH,
 # otherwise, you should add it by hand in the line below.
-export ROS_PACKAGE_PATH=$DEVEL_DIR/install/share:$ROS_PACKAGE_PATH
+export ROS_PACKAGE_PATH=$DEVEL_HPP_DIR/install/share:$ROS_PACKAGE_PATH
--- a/doc/instructions.md
+++ b/doc/instructions.md
@@ -41,37 +41,45 @@ To install all the packages on ubuntu 14.04 LTS 64 bit, you should do the follow
    - qt4-dev-tools
    - libqt4-opengl-dev
    - libqtgui4
+    - libqtwebkit-dev
    - oxygen-icon-theme
    - libopenscenegraph-dev

    ```bash
+<<<<<<< HEAD
 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-description 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 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
+>>>>>>> origin/devel
    ```

  3. Choose a directory on you file system and define the environment
-     variable `DEVEL_DIR` with the full path to this directory.
-     - the packages will be cloned into `$DEVEL_DIR/src`,
-     - the packages will be installed in `$DEVEL_DIR/install`.
-     It is recommanded to set variable `DEVEL_DIR` in your `.bashrc` for future use.
+     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`.
+     It is recommanded to set variable `DEVEL_HPP_DIR` in your `.bashrc` for future use.

+    ```bash
+    mkdir -p $DEVEL_HPP_DIR/src
+    ```
  4. Copy Config and Makefile

    ```bash
-wget -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/ubuntu-14.04/doc/config.sh
-wget -O $DEVEL_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/ubuntu-14.04/doc/Makefile
+wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/ubuntu-14.04/doc/config/ubuntu-16.04-kinetic.sh
+wget -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/ubuntu-14.04/doc/Makefile
    ```

-  5. cd into `$DEVEL_DIR` and type
+  5. cd into `$DEVEL_HPP_DIR` and type

    ```bash
-cd ${DEVEL_DIR}
+cd ${DEVEL_HPP_DIR}
 source config.sh
    ```

-  6. cd into `$DEVEL_DIR/src` and type
+  6. cd into `$DEVEL_HPP_DIR/src` and type

    ```bash
-cd ${DEVEL_DIR}/src
+cd ${DEVEL_HPP_DIR}/src
 make robot_state_chain_publisher.install;
 source ../config.sh;
 make all
@@ -79,5 +87,5 @@ make all

 ##Documentation

-  Open `$DEVEL_DIR/install/share/doc/hpp-doc/index.html` in a web brower and you
+  Open `$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.
--- a/script/README.md
+++ b/script/README.md
@@ -2,14 +2,14 @@

 To avoid conflicts, you must setup a clean environment,
 i.e. without having sourced the ROS `setup.bash` or the HPP `config.sh`.
-To create the tarball, HPP will be compiled in `$DEVEL_DIR` (defaults to `/local/devel/hpp`).
+To create the tarball, HPP will be compiled in `$DEVEL_HPP_DIR` (defaults to `/local/devel/hpp`).
 You may select the type of build you want using the environment variable `BUILD_TYPE`.

 If you sourced `config.sh`, this should be sufficient (although it is unsafe) to create a clean
 environment:
 ```bash
 export DEVEL_CONFIG="noconfig"
-unset PATH PYTHONPATH ROS_PACKAGE_PATH LD_LIBRARY_PATH CPATH DEVEL_DIR PKG_CONFIG_PATH CMAKE_PREFIX_PATH HPPCD_PATH
+unset PATH PYTHONPATH ROS_PACKAGE_PATH LD_LIBRARY_PATH CPATH DEVEL_HPP_DIR PKG_CONFIG_PATH CMAKE_PREFIX_PATH HPPCD_PATH
 /bin/bash
 ```

@@ -18,7 +18,7 @@ Build the tarball using
 auto-install-hpp.sh --mktar -v
 ```

-You will find three files in the directory `${DEVEL_DIR}/tarball/`:
+You will find three files in the directory `${DEVEL_HPP_DIR}/tarball/`:
 * a bash script called `check.***.sh` that should be used in order to resolve the dependencies on a new computer,
 * a tarball called `hpp.***.tar.gz` containing only the binaries,
 * a tarball called `hpp.src.***.tar.gz` containing the binaries and the source files.
--- a/script/auto-install-hpp.sh
+++ b/script/auto-install-hpp.sh
@@ -23,7 +23,7 @@ case $HOST_DIST in
      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 \
+      liblog4cxx10-dev libltdl-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 libqtwebkit-dev oxygen-icon-theme \
      libopenscenegraph-dev openscenegraph libpcre3-dev"
    APT_BUILD_DEP=""
    CONFIG_FILE="ubuntu-16.04-kinetic.sh"
@@ -38,8 +38,8 @@ MAKE_TARBALL=false
 TARGET=all

 BRANCH=""
-if [ -z ${DEVEL_DIR} ]; then
-  export DEVEL_DIR=/local/devel/hpp
+if [ -z ${DEVEL_HPP_DIR} ]; then
+  export DEVEL_HPP_DIR=/local/devel/hpp
 fi
 if [ -z ${BUILD_TYPE} ]; then
  export BUILD_TYPE=Release
@@ -78,7 +78,7 @@ do
      exit 0
      ;;
    -v)
-      for v in "DEVEL_DIR" "BUILD_TYPE" "MAKE_TARBALL" "BRANCH"
+      for v in "DEVEL_HPP_DIR" "BUILD_TYPE" "MAKE_TARBALL" "BRANCH"
      do
        echo "$v=${!v}"
      done
@@ -111,29 +111,29 @@ sudo apt-get --assume-yes install ${APT_DEP}
 [[ -z $APT_BUILD_DEP ]] || sudo apt-get --assume-yes build-dep ${APT_BUILD_DEP}

 # Setup environment
-mkdir --parents $DEVEL_DIR
-mkdir --parents $DEVEL_DIR/src
-mkdir --parents $DEVEL_DIR/install
+mkdir --parents $DEVEL_HPP_DIR
+mkdir --parents $DEVEL_HPP_DIR/src
+mkdir --parents $DEVEL_HPP_DIR/install

 # Get config script
-wget -q -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/${BRANCH}/doc/config/${CONFIG_FILE}
-wget -q -O $DEVEL_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/${BRANCH}/doc/Makefile
+wget -q -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/${BRANCH}/doc/config/${CONFIG_FILE}
+wget -q -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/${BRANCH}/doc/Makefile

-source $DEVEL_DIR/config.sh
+source $DEVEL_HPP_DIR/config.sh

-cd $DEVEL_DIR/src
+cd $DEVEL_HPP_DIR/src

 make -s -e robot_state_chain_publisher.install
 source ../config.sh
 make -s -e $TARGET

 if [ ${MAKE_TARBALL} = true ]; then
-  cd $DEVEL_DIR/
+  cd $DEVEL_HPP_DIR/
  mkdir tarball
  SUFFIX="${BRANCH}-`date +%Y%m%d`-${BUILD_TYPE}"
  tar czf "tarball/hpp.src.${SUFFIX}.tar.gz" src/ install/ config.sh
  tar czf "tarball/hpp.${SUFFIX}.tar.gz" install/ config.sh
-  INSTALL="$DEVEL_DIR/tarball/check.${SUFFIX}.sh"
+  INSTALL="$DEVEL_HPP_DIR/tarball/check.${SUFFIX}.sh"
  echo "#!/bin/bash" > ${INSTALL}
  echo "# Dependencies" >> ${INSTALL}
  echo "sudo apt-get install $APT_DEP" >> ${INSTALL}

--- a/script/generate-tar-doc
+++ b/script/generate-tar-doc
 #!/bin/sh

-# generate-tar-doc $DEVEL_DIR/install/share/doc http://projects.laas.fr/gepetto/hpp
+# generate-tar-doc $DEVEL_HPP_DIR/install/share/doc http://projects.laas.fr/gepetto/hpp
 # then copy /tmp/hpp.tar.gz on server and inflate archive.

 usage="usage: `basename $0` <directory> <server>"

--- a/script/install-tar-on-remote
+++ b/script/install-tar-on-remote
@@ -41,7 +41,7 @@ function _confirm () {
 # Generate a tar ball and send it to the remote server.
 if [ ! -f /tmp/hpp.tar.gz ]; then
  echo "Generating tarball... (This may take a while)"
-  generate-tar-doc $DEVEL_DIR/install/share/doc $VERSIONURL
+  generate-tar-doc $DEVEL_HPP_DIR/install/share/doc $VERSIONURL
 else
  echo "Tarball already generated."
  _confirm "Should I use existing /tmp/hpp.tar.gz ?"