creating stack and adding OMPL

moveit_core/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)

moveit_core/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake_stack.mk

moveit_core/ompl/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+set(ROS_BUILD_TYPE Release)
+rosbuild_init()
+
+execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.ompl
+                RESULT_VARIABLE _make_failed)
+if(_make_failed)
+  message(FATAL_ERROR "Build of ompl failed")
+endif(_make_failed)
+
+message("Using ompl from ${OMPL_SOURCE}")
+
+set(PROJECT_SOURCE_DIR ${PROJECT_SOURCE_DIR}/${OMPL_SOURCE})
+
+option(OMPL_IN_ROS "Build OMPL against ROS" ON)
+option(OMPL_BUILD_DEMOS "Build OMPL demos" OFF)
+option(OMPL_BUILD_PYBINDINGS "Build OMPL Python bindings" OFF)
+option(OMPL_BUILD_DOC "Build OMPL documentation" OFF)
+
+add_subdirectory(${OMPL_SOURCE})

moveit_core/ompl/Makefile

@@ -0,0 +1,26 @@
+include Makefile.params
+
+INSTALL_LOCATION=installation
+
+EXTRA_CMAKE_FLAGS=-DCMAKE_INSTALL_PREFIX=`pwd`/../$(INSTALL_LOCATION) -DOMPL_SOURCE:string="$(SOURCE_DIR)"
+
+ompltoplevel:	all installed
+
+include $(shell rospack find mk)/cmake.mk
+
+clean: extra-clean
+
+installed:
+	cd build && make install
+	touch installed
+
+extra-clean:
+	make -f Makefile.ompl clean
+	rm -f installed
+
+wipeNoClean:
+	make -f Makefile.ompl wipe
+	rm -rf $(INSTALL_LOCATION) $(SOURCE_DIR)
+
+wipe: wipeNoClean clean
+	-rm -rf bin

moveit_core/ompl/Makefile.ompl

@@ -0,0 +1,19 @@
+include Makefile.params
+
+all: copied
+
+# We build from a tarball from the latest version of ompl
+
+include $(shell rospack find mk)/download_unpack_build.mk
+
+copied: wiped $(SOURCE_DIR)/unpacked
+	   touch copied
+
+wipe:
+	rm -rf copied patched
+
+wiped: Makefile.ompl Makefile.params
+	make -f Makefile wipeNoClean
+	touch wiped
+
+clean:

moveit_core/ompl/Makefile.params

@@ -0,0 +1,8 @@
+FILENAME = ompl-1237.tar.gz
+TARBALL = build/$(FILENAME)
+TARBALL_URL = https://code.ros.org/svn/release/download/thirdparty/ompl/$(FILENAME)
+TARBALL_PATCH = console.patch
+
+SOURCE_DIR = build/ompl_arch
+UNPACK_CMD = tar xzf
+MD5SUM_FILE = $(FILENAME).md5sum

moveit_core/ompl/README

@@ -0,0 +1,15 @@
+# These are instructions for updating the ROS package that wraps the release of OMPL from Rice University. 
+# These instructions are only intended for and useful to the maintainers (Willow Garage) of the OMPL ROS wrapper package and have limited to no utility for users. 
+# Get the ROS package for OMPL as provided by Rice:
+svn co https://rice-ros-pkg.svn.sourceforge.net/svnroot/rice-ros-pkg/ompl
+cd ompl
+
+# To get the latest version of the library, do:
+make arch
+
+# To get a particular tag/revision of the library, do:
+OMPL_REVISION=1001 make arch
+
+This will create a file of the form ompl-*.tar.gz and a file ompl-*.tar.gz.md5sum that can be used in the Willow Garage ROS package. 
+
+Copy this into the location for thirdparty packages at https://code.ros.org/svn/release/download/thirdparty/ompl/

moveit_core/ompl/console.patch

@@ -0,0 +1,48 @@
+Index: src/ompl/util/src/Console.cpp
+===================================================================
+--- src/ompl/util/src/Console.cpp
++++ src/ompl/util/src/Console.cpp
+@@ -33,6 +33,7 @@
+ *********************************************************************/
+
+ /* Author: Ioan Sucan */
++#include <ros/console.h>
+
+ #include "ompl/util/Console.h"
+ #include <boost/thread/mutex.hpp>
+@@ -41,7 +42,34 @@
+ #include <cstdio>
+ #include <cstdarg>
+
+-static ompl::msg::OutputHandlerSTD DEFAULT_OUTPUT_HANDLER;
++namespace ompl
++{
++  
++    namespace msg
++    {
++    
++	class OutputHandlerROS : public OutputHandler
++	{
++	public:
++	    
++	    OutputHandlerROS(void) : OutputHandler()
++	    {
++	    }
++	    
++	    virtual void error(const std::string &text) { ROS_ERROR("%s", text.c_str()); }
++	    
++	    virtual void warn(const std::string &text) { ROS_WARN("%s", text.c_str()); }
++
++	    virtual void inform(const std::string &text) { ROS_INFO("%s", text.c_str()); }
++
++	    virtual void debug(const std::string &text) { ROS_DEBUG("%s", text.c_str()); }
++	    	    
++	};
++
++    }
++}	
++
++static ompl::msg::OutputHandlerROS DEFAULT_OUTPUT_HANDLER;
+ static ompl::msg::OutputHandler   *OUTPUT_HANDLER = static_cast<ompl::msg::OutputHandler*>(&DEFAULT_OUTPUT_HANDLER);
+ static ompl::msg::OutputHandler   *PREVIOUS_OH = OUTPUT_HANDLER;
+ static boost::mutex                LOCK; // it is likely the outputhandler does some I/O, so we serialize it

moveit_core/ompl/manifest.xml

@@ -0,0 +1,23 @@
+<package>
+
+  <description brief="Open Motion Planning Library (OMPL)">
+    A library of sampling-based motion planning algorithms
+  </description>
+
+  <author>Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/ompl</url>
+
+  <depend package="rosconsole" />
+
+  <export>
+    <cpp cflags="-I${prefix}/installation/include `rosboost-cfg --cflags`" lflags="-Wl,-rpath,${prefix}/installation/lib -L${prefix}/installation/lib -lompl `rosboost-cfg --lflags date_time,thread`"/>
+  </export>
+
+  <platform os="ubuntu" version="9.04"/>
+  <platform os="ubuntu" version="9.10"/>
+  <platform os="ubuntu" version="10.04"/>
+  <platform os="ubuntu" version="10.10"/>
+
+</package>

moveit_core/ompl/ompl-1237.tar.gz.md5sum

@@ -0,0 +1 @@
+cdd2fede7f7b45f8625035cc0649b46a  ompl-1237.tar.gz

moveit_core/stack.xml

@@ -0,0 +1,11 @@
+<stack>
+  <description brief="moveit">Implementation of generic components for planning and execution of motions.</description>
+  <author>Maintained by Sachin Chitta, Ioan Sucan</author>
+  <license>BSD</license>  
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/moveit</url>
+  <depend stack="ros" />
+  <depend stack="ros_comm" /> <!-- rosconsole -->
+  <depend stack="robot_model" /> 
+
+</stack>