RAI maintenance

This repo has RAI as a submodule and provides tools for maintenance:

• Testing the whole install/compile pipeline from fresh
• Testing in docker
• Maintenance of code formatting and copyright headers
• Standardized installs of opencv, bullet, physx from source
• A bit documentation of some rai structures

local install and test

git clone git@github.com:MarcToussaint/rai-maintenance.git
cd rai-maintenance

# if you don't have a github account: (switch submodules to public url)
git config --file=.gitmodules submodule.rai.url https://github.com/MarcToussaint/rai.git
git config --file=.gitmodules submodule.rai-robotModels.url https://github.com/MarcToussaint/rai-robotModels.git

git submodule init
git submodule update

make -j1 installUbuntuAll  # calls sudo apt-get install; you can always interrupt
make -j4                     # builds libs and tests
make runTests
make -C rai bin

With the local config.mk you can control external dependencies.

docker

In the docker/ path there are scripts to compile RAI and run tests in a docker. To test the whole pipeline, run

cd docker/mini18
./build-docker.sh
./run-docker.sh /root/local/docker/scripts/test-rai.sh

Testing rai-python:

./run-docker.sh /root/local/docker/scripts/test-rai-python.sh

The Dockerfile is pretty generic.

The run-docker.sh authorizes X-display, mounts also .ssh within the docker to authorize you with github, and then executes run-in-docker.sh.

The run-in-docker.sh is similar to the above 'compile and test'.