Merge branch 'devel' into future

1b4eabac · Florent Lamiraux · Florent Lamiraux florent@laas.fr · bab8ea2f · 08a42c30 · 1b4eabac
Commit 1b4eabac authored May 14, 2020 by Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr May 14, 2020
--- a/.dockers/ubuntu-18.04/Dockerfile
+++ b/.dockers/ubuntu-18.04/Dockerfile
@@ -14,55 +14,46 @@ RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub bi
 RUN curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add -

 RUN apt-get update -y && apt-get install -y \
-    autoconf \
-    g++ \
-    cmake \
-    doxygen \
-    libassimp-dev \
-    libboost-dev \
-    libcdd-dev \
-    libglpk-dev \
-    liburdfdom-dev \
-    robotpkg-osg-dae \
-    robotpkg-qpoases+doc \
-    robotpkg-roboptim-core \
-    robotpkg-roboptim-trajectory \
-    robotpkg-romeo-description \
-    ros-melodic-xacro \
-    ros-melodic-kdl-parser \
-    ros-melodic-common-msgs \
-    ros-melodic-tf \
-    ros-melodic-tf-conversions \
-    libccd-dev \
-    ros-melodic-octomap \
-    ros-melodic-resource-retriever \
-    ros-melodic-srdfdom \
-    ros-melodic-pr2-description \
-    flex \
-    bison \
-    asciidoc \
-    source-highlight \
-    git \
-    libomniorb4-dev \
-    omniorb-nameserver \
-    omniidl \
-    omniidl-python \
-    libltdl-dev \
-    python-matplotlib \
-    libxml2-dev \
-    libtinyxml2-dev \
-    liblog4cxx-dev \
-    libltdl-dev \
-    qt4-dev-tools \
-    libqt4-opengl-dev \
-    libqtwebkit-dev \
-    libqtgui4 \
-    oxygen-icon-theme \
-    libopenscenegraph-dev \
-    openscenegraph \
-    libpcre3-dev \
-    sudo \
-    wget \
+      g++ \
+      cmake \
+      doxygen \
+      libboost-dev \
+      liburdfdom-dev \
+      libassimp-dev \
+      libeigen3-dev \
+      libgraphviz-dev \
+      robotpkg-qpoases+doc \
+      robotpkg-roboptim-core \
+      robotpkg-roboptim-trajectory \
+      robotpkg-romeo-description \
+      robotpkg-ros-baxter-common \
+      robotpkg-ros-universal-robot \
+      robotpkg-py36-omniorbpy \
+      ros-melodic-xacro \
+      libccd-dev \
+      ros-melodic-octomap \
+      ros-melodic-resource-retriever \
+      ros-melodic-srdfdom \
+      ros-melodic-pr2-description \
+      git \
+      libomniorb4-dev \
+      omniorb-nameserver \
+      omniidl \
+      omniidl-python \
+      libltdl-dev \
+      python-matplotlib \
+      libxml2 \
+      libtinyxml2-dev \
+      qt4-dev-tools \
+      libqt4-opengl-dev \
+      libqtgui4 \
+      libqtwebkit-dev \
+      oxygen-icon-theme \
+      libopenscenegraph-dev \
+      openscenegraph \
+      libpcre3-dev \
+      wget \
+      sudo \
 && apt-get remove -y texlive-latex-base texlive-binaries ghostscript \
 && apt-get autoremove -y \
 && rm -rf /var/lib/apt/lists/*

--- a/doc/Makefile
+++ b/doc/Makefile
@@ -9,6 +9,7 @@ HPP_REPO=https://github.com/humanoid-path-planner
 SOT_REPO=https://github.com/stack-of-tasks
 GEPETTO_REPO=https://github.com/Gepetto
 TRAC_REPO=ssh://trac.laas.fr/git/jrl/robots/ros-hrp2
+LOCO3D_REPO=https://github.com/loco-3d

 SRC_DIR=${DEVEL_HPP_DIR}/src
 ifndef INSTALL_HPP_DIR
@@ -177,6 +178,9 @@ hpp-affordance-corba_branch=v4.9.0
 hpp-affordance-corba_repository=${HPP_REPO}
 hpp-affordance-corba_extra_flags=${HPP_EXTRA_FLAGS}

+talos-rbprm_branch=4.9.0
+talos-rbprm_repository=${HPP_REPO}
+
 hpp-rbprm_branch=v4.9.0
 hpp-rbprm_repository=${HPP_REPO}
 hpp-rbprm_extra_flags=${HPP_EXTRA_FLAGS}
@@ -195,9 +199,9 @@ hpp-bezier-com-traj_branch=v4.9.0
 hpp-bezier-com-traj_repository=${HPP_REPO}
 hpp-bezier-com-traj_extra_flags= -DBUILD_PYTHON_INTERFACE=ON

-hpp-spline_branch=v4.9.0
-hpp-spline_repository=${HPP_REPO}
-hpp-spline_extra_flags= -DBUILD_PYTHON_INTERFACE=ON
+curves_branch=v0.4.1
+curves_repository=${LOCO3D_REPO}
+curves_extra_flags= -DBUILD_PYTHON_INTERFACE=ON

 eigenpy_branch=v2.3.2
 eigenpy_repository=${SOT_REPO}
@@ -346,14 +350,16 @@ hpp_romeo.configure.dep: hpp_romeo.checkout
 hpp-affordance.configure.dep: hpp-core.install hpp-fcl.install hpp-affordance.checkout
 hpp-affordance-corba.configure.dep: hpp-affordance.install hpp-template-corba.install \
 hpp-corbaserver.install hpp-affordance-corba.checkout
-hpp-rbprm.configure.dep: hpp-core.install hpp-centroidal-dynamics.install hpp-rbprm-robot-data.install \
-hpp-affordance.install hpp-spline.install hpp-bezier-com-traj.install hpp-rbprm.checkout
+talos-rbprm.configure.dep: talos-rbprm.checkout
+hpp-rbprm.configure.dep: hpp-core.install hpp-centroidal-dynamics.install \
+	hpp-rbprm-robot-data.install hpp-affordance.install curves.install \
+	hpp-bezier-com-traj.install talos-rbprm.install hpp-rbprm.checkout
 hpp-rbprm-robot-data.configure.dep: hpp-rbprm-robot-data.checkout
 hpp-rbprm-corba.configure.dep: hpp-rbprm.install hpp-affordance-corba.install \
 hpp-corbaserver.install hpp-rbprm-robot-data.install hpp-rbprm-corba.checkout
 hpp-centroidal-dynamics.configure.dep: eigenpy.install hpp-centroidal-dynamics.checkout
-hpp-bezier-com-traj.configure.dep: hpp-centroidal-dynamics.install hpp-spline.install hpp-bezier-com-traj.checkout
-hpp-spline.configure.dep: hpp-spline.checkout
+hpp-bezier-com-traj.configure.dep: hpp-centroidal-dynamics.install curves.install hpp-bezier-com-traj.checkout
+curves.configure.dep: curves.checkout
 eigenpy.configure.dep: eigenpy.checkout
 hpp-tools.configure.dep: hpp-tools.checkout


--- a/doc/instructions.md
+++ b/doc/instructions.md
@@ -11,7 +11,7 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
  4. install (optionnal) extra packages for demonstrations:
     `sudo apt-get install robotpkg-hpp-tutorial robotpkg-osg-dae ros-melodic-pr2-description robotpkg-hpp-environments robotpkg-hpp-universal-robot robotpkg-romeo-description robotpkg-ros-baxter-common`

-  4. setup your environment variables by adding the following lines to your `.bashrc`:
+  5. setup your environment variables by adding the following lines to your `.bashrc`:

    ```bash
    source /opt/ros/melodic/setup.bash
@@ -25,7 +25,7 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
    export PKG_CONFIG_PATH=/opt/openrobots${!PKG_CONFIG_PATH:-:}${PKG_CONFIG_PATH}
    ```

-  5. open `/opt/openrobots/share/doc/hpp-doc/index.html` in a web brower and you
+  6. open `/opt/openrobots/share/doc/hpp-doc/index.html` in a web brower and you
  will have access to the documentation of most packages.

 ## Source installation on ubuntu-18.04 64 bit with ros-melodic
@@ -46,6 +46,7 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
      liburdfdom-dev \
      libassimp-dev \
      libeigen3-dev \
+      libgraphviz-dev \
      robotpkg-qpoases+doc \
      robotpkg-roboptim-core \
      robotpkg-roboptim-trajectory \
@@ -68,7 +69,6 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
      python-matplotlib \
      libxml2 \
      libtinyxml2-dev \
-      liblog4cxx10-dev \
      qt4-dev-tools \
      libqt4-opengl-dev \
      libqtgui4 \
@@ -77,9 +77,10 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
      libopenscenegraph-dev \
      openscenegraph \
      libpcre3-dev \
+      wget
    ```

-  4. Choose a directory on you file system and define the environment
+  4. Choose a directory on your 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`.

--- a/scripts/auto-install-hpp.sh
+++ b/scripts/auto-install-hpp.sh
@@ -17,14 +17,19 @@ case $HOST_DIST in
    CONFIG_FILE="ubuntu-16.04-kinetic.sh"
    ;;
  bionic)
-    APT_DEP="g++ cmake doxygen libboost-dev liburdfdom-dev \
-      libassimp-dev ros-melodic-xacro ros-melodic-kdl-parser ros-melodic-common-msgs \
-      ros-melodic-tf ros-melodic-tf-conversions libccd-dev ros-melodic-octomap \
-      ros-melodic-resource-retriever ros-melodic-srdfdom ros-melodic-pr2-description flex \
-      bison asciidoc source-highlight git libomniorb4-dev omniorb-nameserver omniidl \
-      omniidl-python libltdl-dev python-matplotlib libxml2-dev libtinyxml2-dev \
-      liblog4cxx-dev libltdl-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 libqtwebkit-dev oxygen-icon-theme \
-      libopenscenegraph-dev openscenegraph libpcre3-dev libcdd-dev libglpk-dev"
+    APT_DEP=
+      "g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev \
+       libeigen3-dev libgraphviz-dev robotpkg-qpoases+doc \
+       robotpkg-roboptim-core robotpkg-roboptim-trajectory
+       robotpkg-romeo-description robotpkg-ros-baxter-common \
+       robotpkg-ros-universal-robot robotpkg-py36-omniorbpy \
+       ros-melodic-xacro libccd-dev ros-melodic-octomap \
+       ros-melodic-resource-retriever ros-melodic-srdfdom \
+       ros-melodic-pr2-description git libomniorb4-dev omniorb-nameserver \
+       omniidl omniidl-python libltdl-dev python-matplotlib libxml2 \
+       libtinyxml2-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 \
+       libqtwebkit-dev oxygen-icon-theme libopenscenegraph-dev \
+       openscenegraph libpcre3-dev wget"
    APT_BUILD_DEP=""
    CONFIG_FILE="ubuntu-18.04-melodic.sh"
    ;;