Merge branch 'devel' into 'devel'

16.04 → 20.04 + fix CI

See merge request !9

.dockers/ubuntu-18.04/Dockerfile

@@ -30,8 +30,9 @@ RUN apt-get update -qqy \
     libgraphviz-dev \
     libltdl-dev \
     libomniorb4-dev \
-    libopenscenegraph-dev \
     libpcre3-dev \
+    libpythonqt-qtall-qt5-python2-dev \
+    libpythonqt-qtall-qt5-python3-dev \
     libqt4-opengl-dev \
     libqtgui4 \
     libqtwebkit-dev \
@@ -39,16 +40,20 @@ RUN apt-get update -qqy \
     liburdfdom-dev \
     libxml2 \
     omniorb-nameserver \
-    openscenegraph \
     oxygen-icon-theme \
     python-matplotlib \
     python-omniorb \
     qt4-dev-tools \
+    qtbase5-dev \
+    qttools5-dev \
     robotpkg-omniorb \
+    robotpkg-openscenegraph \
     robotpkg-qpoases+doc \
     robotpkg-roboptim-core \
     robotpkg-roboptim-trajectory \
+    robotpkg-romeo-description \
     robotpkg-py36-omniorbpy \
+    robotpkg-qt5-osgqt \
     ros-${ROS}-octomap \
     ros-${ROS}-pr2-description \
     ros-${ROS}-resource-retriever \

.dockers/ubuntu-16.04/Dockerfile → .dockers/ubuntu-20.04/Dockerfile

-FROM ubuntu:16.04
+FROM ubuntu:20.04
 
-ENV DEVEL_HPP_DIR=/workspace UBUNTU=xenial ROS=kinetic
+ENV DEVEL_HPP_DIR=/workspace UBUNTU=focal ROS=noetic
 
 RUN apt-get update -y && apt-get install -y \
    curl \
+   gnupg2 \
    && rm -rf /var/lib/apt/lists/*
 
 ADD repos.key /
@@ -16,49 +17,49 @@ RUN echo "deb http://packages.ros.org/ros/ubuntu ${UBUNTU} main" > /etc/apt/sour
 
 RUN apt-get update -qqy \
  && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
-    asciidoc \
-    autoconf \
-    bison \
     cmake \
     doxygen \
-    flex \
     g++ \
     git \
+    graphviz \
     libassimp-dev \
     libboost-dev \
+    libccd-dev \
     libcdd-dev \
+    libeigen3-dev \
     libglpk-dev \
-    liblog4cxx10-dev \
+    libgraphviz-dev \
     libltdl-dev \
     libomniorb4-dev \
-    libopenscenegraph-dev \
     libpcre3-dev \
-    libqt4-opengl-dev \
-    libqtgui4 \
-    libqtwebkit-dev \
+    libqt5svg5-dev \
+    libqt5webkit5-dev \
+    libqt5xmlpatterns5-dev \
     libtinyxml2-dev \
     liburdfdom-dev \
-    libxml2-dev \
-    omniidl \
-    omniidl-python \
+    libxml2 \
     omniorb-nameserver \
-    openscenegraph \
     oxygen-icon-theme \
-    python-matplotlib \
-    qt4-dev-tools \
+    pyqt5-dev \
+    python-is-python3 \
+    python3-pyqt5 \
+    python3-matplotlib \
+    qtdeclarative5-dev \
+    qtbase5-private-dev \
+    qtmultimedia5-dev \
+    robotpkg-omniorb \
+    robotpkg-openscenegraph \
     robotpkg-qpoases+doc \
     robotpkg-roboptim-core \
     robotpkg-roboptim-trajectory \
-    ros-${ROS}-common-msgs \
-    ros-${ROS}-kdl-parser \
+    robotpkg-romeo-description \
+    robotpkg-py38-omniorbpy \
+    robotpkg-py38-pythonqt \
+    robotpkg-qt5-osgqt \
     ros-${ROS}-octomap \
-    ros-${ROS}-pr2-description \
-    ros-${ROS}-srdfdom \
     ros-${ROS}-resource-retriever \
-    ros-${ROS}-tf \
-    ros-${ROS}-tf-conversions \
+    ros-${ROS}-srdfdom \
     ros-${ROS}-xacro \
-    source-highlight \
     sudo \
     wget \
  && apt-get remove -y texlive-latex-base texlive-binaries ghostscript \

.gitlab-ci.yml

@@ -79,8 +79,8 @@ stable-18.04-build:
       - stable
     <<: *build_definition
 
-stable-16.04-build:
-    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:16.04
+stable-20.04-build:
+    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:20.04
     allow_failure: true
     only:
       - stable
@@ -92,8 +92,8 @@ devel-18.04-build:
       -  devel
     <<: *build_definition
 
-devel-16.04-build:
-    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:16.04
+devel-20.04-build:
+    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:20.04
     allow_failure: true
     only:
       -  devel
@@ -107,11 +107,11 @@ stable-18.04-test:
       - stable
     <<: *test_definition
 
-stable-16.04-test:
+stable-20.04-test:
     allow_failure: true
-    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:16.04
+    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:20.04
     dependencies:
-      - stable-16.04-build
+      - stable-20.04-build
     only:
       - stable
     <<: *test_definition
@@ -125,11 +125,11 @@ devel-18.04-test:
       -  devel
     <<: *test_definition
 
-devel-16.04-test:
-    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:16.04
+devel-20.04-test:
+    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:20.04
     allow_failure: true
     dependencies:
-      - devel-16.04-build
+      - devel-20.04-build
     only:
       -  devel
     <<: *test_definition
@@ -142,11 +142,11 @@ stable-18.04-doc:
       - stable
     <<: *doc_definition
 
-stable-16.04-doc:
-    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:16.04
+stable-20.04-doc:
+    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:20.04
     allow_failure: true
     dependencies:
-      - stable-16.04-build
+      - stable-20.04-build
     only:
       - stable
     <<: *doc_definition
@@ -159,11 +159,11 @@ devel-18.04-doc:
       -  devel
     <<: *doc_definition
 
-devel-16.04-doc:
-    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:16.04
+devel-20.04-doc:
+    image: gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:20.04
     allow_failure: true
     dependencies:
-      - devel-16.04-build
+      - devel-20.04-build
     only:
       -  devel
     <<: *doc_definition

cmake @ 7ad2464a

-Subproject commit 59d817dca29527e98bdbef555e09f25358810cae
+Subproject commit 7ad2464a98ba78159ab0f29cdcbc716dcc0b1394

instructions/devel-sources.md

@@ -72,7 +72,6 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
 
     ```bash
     cd ${DEVEL_HPP_DIR}/src
-    make iai_maps.install;
     source ../config.sh;
     make all
     ```
@@ -154,7 +153,6 @@ To install all the packages on ubuntu 20.04 LTS 64 bit, you should do the follow
 
     ```bash
     cd ${DEVEL_HPP_DIR}/src
-    make iai_maps.install;
     source ../config.sh;
     make all
     ```

instructions/stable-sources.md

@@ -73,7 +73,6 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
 
     ```bash
     cd ${DEVEL_HPP_DIR}/src
-    make iai_maps.install;
     source ../config.sh;
     make all
     ```

makefiles/devel.mk

@@ -223,10 +223,6 @@ endif
 gepetto-viewer-corba_branch=${HPP_VERSION}
 gepetto-viewer-corba_repository=${GEPETTO_REPO}
 
-pythonqt_branch=qt${QT_VERSION}
-pythonqt_repository=${GEPETTO_REPO}
-pythonqt_extra_flags= -DPythonQt_Wrap_QtAll=ON -DPythonQt_Extensions=ON
-
 qgv_branch=devel
 qgv_repository=${HPP_REPO}
 ifeq (${QT_VERSION}, 5)
@@ -248,7 +244,7 @@ all: hpp_tutorial.install hpp-gepetto-viewer.install hpp-plot.install hpp-gui.in
 
 # For test on gepgitlab, install robot packages first
 test-ci: example-robot-data.install  hpp-environments.install \
-	hpp-baxter.install
+	hpp-baxter.install hpp-wholebody-step.install
 	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install hpp-rbprm-corba.install \
 	hpp-universal-robot.install && \
 	${MAKE} hpp-doc.install
@@ -299,7 +295,6 @@ hpp-corbaserver.configure.dep: hpp-core.install hpp-template-corba.install \
 	hpp-constraints.install hpp-corbaserver.checkout
 hpp-template-corba.configure.dep: hpp-util.install hpp-template-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
@@ -317,9 +312,9 @@ osg-dae.configure.dep: collada-dom.install \
 	osg-dae.checkout
 OpenSceneGraph-3.4.0.configure.dep: collada-dom.install \
 	OpenSceneGraph-3.4.0.checkout
-gepetto-viewer.configure.dep: pythonqt.install gepetto-viewer.checkout
+gepetto-viewer.configure.dep: gepetto-viewer.checkout
 gepetto-viewer-corba.configure.dep: gepetto-viewer.install \
-	pythonqt.install gepetto-viewer-corba.checkout
+	gepetto-viewer-corba.checkout
 hpp-gepetto-viewer.configure.dep: gepetto-viewer-corba.install \
 	hpp-corbaserver.install \
 	hpp-gepetto-viewer.checkout

makefiles/stable.mk

@@ -224,10 +224,6 @@ endif
 gepetto-viewer-corba_branch=v5.5.1
 gepetto-viewer-corba_repository=${GEPETTO_REPO}
 
-pythonqt_branch=qt${QT_VERSION}
-pythonqt_repository=${GEPETTO_REPO}
-pythonqt_extra_flags= -DPythonQt_Wrap_QtAll=ON -DPythonQt_Extensions=ON
-
 qgv_branch=v1.3.0
 qgv_repository=${HPP_REPO}
 ifeq (${QT_VERSION}, 5)
@@ -300,7 +296,6 @@ hpp-corbaserver.configure.dep: hpp-core.install hpp-template-corba.install \
 	hpp-constraints.install hpp-corbaserver.checkout
 hpp-template-corba.configure.dep: hpp-util.install hpp-template-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
@@ -318,9 +313,9 @@ osg-dae.configure.dep: collada-dom.install \
 	osg-dae.checkout
 OpenSceneGraph-3.4.0.configure.dep: collada-dom.install \
 	OpenSceneGraph-3.4.0.checkout
-gepetto-viewer.configure.dep: pythonqt.install gepetto-viewer.checkout
+gepetto-viewer.configure.dep: gepetto-viewer.checkout
 gepetto-viewer-corba.configure.dep: gepetto-viewer.install \
-	pythonqt.install gepetto-viewer-corba.checkout
+	gepetto-viewer-corba.checkout
 hpp-gepetto-viewer.configure.dep: gepetto-viewer-corba.install \
 	hpp-corbaserver.install \
 	hpp-gepetto-viewer.checkout

scripts/README.md

@@ -26,7 +26,7 @@ You will find three files in the directory `${DEVEL_HPP_DIR}/tarball/`:
 ## Build docker images for CI
 
 ```
-for ubuntu in 16.04 18.04
+for ubuntu in 20.04 18.04
 do
     docker build -t gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:$ubuntu -f .dockers/ubuntu-$ubuntu/Dockerfile ./scripts
     docker push gitlab.laas.fr:4567/humanoid-path-planner/hpp-doc:$ubuntu

scripts/auto-install-hpp.sh

@@ -25,10 +25,10 @@ case $HOST_DIST in
        ros-melodic-resource-retriever ros-melodic-srdfdom \
        ros-melodic-pr2-description git libomniorb4-dev omniorb-nameserver \
        libltdl-dev python-matplotlib python-omniorb \
-       libxml2 \
+       libxml2 robotpkg-openscenegraph robotpkg-qt5-osgqt \
        libtinyxml2-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 \
-       libqtwebkit-dev oxygen-icon-theme libopenscenegraph-dev \
-       openscenegraph libpcre3-dev libcdd-dev wget"
+       libqtwebkit-dev oxygen-icon-theme \
+       libpcre3-dev libcdd-dev wget"
     APT_BUILD_DEP=""
     CONFIG_FILE="ubuntu-18.04-melodic.sh"
     ;;
@@ -38,9 +38,9 @@ case $HOST_DIST in
       robotpkg-qpoases+doc robotpkg-romeo-description robotpkg-py38-omniorbpy \
       ros-noetic-xacro libccd-dev ros-noetic-octomap \
       ros-noetic-resource-retriever ros-noetic-srdfdom \
-      ros-noetic-pr2-description git libltdl-dev python-omniorb \
-      python3-matplotlib qtbase5-private-dev qtdeclarative5-dev
-      qtmultimedia5-dev libqt5svg5-dev libxml2 libtinyxml2-dev
+      ros-noetic-pr2-description git libltdl-dev \
+      python3-matplotlib qtbase5-private-dev qtdeclarative5-dev \
+      qtmultimedia5-dev libqt5svg5-dev libxml2 libtinyxml2-dev robotpkg-qt5-osgqt \
       oxygen-icon-theme robotpkg-openscenegraph libpcre3-dev wget libcdd-dev"
     APT_BUILD_DEP=""
     CONFIG_FILE="ubuntu-20.04-noetic.sh"
@@ -147,7 +147,6 @@ source $DEVEL_HPP_DIR/config.sh
 
 cd $DEVEL_HPP_DIR/src
 
-make -s -e iai_maps.install
 source ../config.sh
 make -s -e $TARGET
 

scripts/repos.key

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