Addressed issue with Eigen dependency and missing install commands on…

… CMakeLists.txt files
ros-industrial-attic · May 5, 2017 · e3433b1 · e3433b1
1 parent 8974f5f
commit e3433b1
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diff --git a/.travis.yml b/.travis.yml
@@ -0,0 +1,24 @@
+sudo: required 
+dist: trusty 
+language: generic 
+compiler:
+  - gcc
+notifications:
+  email:
+    recipients:
+      - jrgnichodevel@gmail.com
+      - levi.armstrong@gmail.com
+    on_failure: always
+
+env:
+  matrix:
+    - USE_DEB=true  
+      ROS_DISTRO="indigo" 
+      ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - USE_DEB=true  
+      ROS_DISTRO="indigo" 
+      ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script: 
+  - source .ci_config/travis.sh
diff --git a/README.md b/README.md
@@ -5,17 +5,19 @@
 - Build the workspace:
   - Cd into the catkin workspace directory and type the following command:
 ```
-catkin_make --jobs=4
+catkin build
 ```
 
 #### Unit Test
-- Run stomp_core Unit Test:
+- Run all of industrial_moveit unit tests:
   - Cd into the catkin workspace directory and type the following command:
 ```
-catkin_make run_tests_stomp_core_gtest
+catkin run_tests 
+```
+- Run the stomp_core unit tests:
+```
+catkin run_tests stomp_core
 ```
-- Inspect the Unit test
-  - *roscd* into the **stomp_core** package and go locate the "stomp_3dof.cpp" file inside the **test** directory.
 
 
 #### Stomp Moveit Demo
@@ -34,8 +36,9 @@ catkin_make run_tests_stomp_core_gtest
   - **roscd** into the **stomp_test_kr210_moveit_config** package and locate the "stomp_config.yaml" file under the config directory
 - Rerun demo.launch file and plan once again to see how the changes affect the planner's behavior. 
 
-==============================================================================================
-[ROS-Industrial][] move it meta-package.  See the [ROS wiki][] page for more information.  
-[ROS-Industrial]: http://www.ros.org/wiki/Industrial
-[ROS wiki]: http://ros.org/wiki/industrial_moveit
+========================================================================  
+[ROS-Industrial]: http://www.ros.org/wiki/Industrial  
+[ROS wiki]: http://ros.org/wiki/industrial_moveit  
+[ConstrainedIK]: http://wiki.ros.org/constrained_ik?distro=indigo  
+[Stomp MoveIt!]: http://wiki.ros.org/stomp_moveit
 
diff --git a/constrained_ik/CHANGELOG.rst b/constrained_ik/CHANGELOG.rst
@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package constrained_ik
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2017-03-24)
+------------------
+
+0.1.0 (2017-03-14)
+------------------
+* Initial release
+* Contributors: Jeremy Zoss, Levi Armstrong, Jonathan W Meyer, Dan Solomon
diff --git a/constrained_ik/CMakeLists.txt b/constrained_ik/CMakeLists.txt
@@ -27,37 +27,33 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(orocos_kdl REQUIRED)
 find_package(Boost REQUIRED)
-find_package(Eigen REQUIRED)
+
+# We don't build anything here, but in order to export the right
+# build flags in catkin_package(), we still have to find Eigen3 here.  Note
+# that this is somewhat complicated because of our need to support Ubuntu
+# all the way back to saucy.  First we look for the Eigen3 cmake module
+# provided by the libeigen3-dev on newer Ubuntu.  If that fails, then we
+# fall-back to the version provided by cmake_modules, which is a stand-in.
+find_package(Eigen3 QUIET)
+if(NOT EIGEN3_FOUND)
+  # saucy does not have Eigen3, but have Eigen instead
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+endif()
+
+# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
+# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
 
 #add dynamic reconfigure api
 generate_dynamic_reconfigure_options(
   cfg/CLIKDynamic.cfg
   cfg/CLIKPlannerDynamic.cfg
 )
 
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
 
 ###################################
 ## catkin specific configuration ##
@@ -68,7 +64,7 @@ generate_dynamic_reconfigure_options(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
- INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
+ INCLUDE_DIRS include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
  LIBRARIES constrained_ik constrained_ik_constraints moveit_clik_planner_plugin constrained_ik_plugin
  CATKIN_DEPENDS roscpp urdf eigen_conversions tf_conversions urdf moveit_ros_planning moveit_core dynamic_reconfigure kdl_parser cmake_modules industrial_collision_detection
  DEPENDS boost eigen orocos_kdl
@@ -80,7 +76,7 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
 
 ## Declare a cpp library
 add_library(constrained_ik
@@ -125,33 +121,12 @@ add_library(moveit_clik_planner_plugin
 
 target_link_libraries(moveit_clik_planner_plugin constrained_ik constrained_ik_constraints ${catkin_LIBRARIES})
 
-## Declare a cpp executable
-# add_executable(constrained_ik_node src/constrained_ik_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(constrained_ik_node constrained_ik_generate_messages_cpp)
 
 #############
 ## Install ##
 #############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS constrained_ik constrained_ik_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS constrained_ik LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(TARGETS constrained_ik_constraints LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 ## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
@@ -169,13 +144,11 @@ install(
     ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(TARGETS constrained_ik_plugin moveit_clik_planner_plugin 
+ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 #############
 ## Testing ##

diff --git a/constrained_ik/package.xml b/constrained_ik/package.xml
@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <package>
   <name>constrained_ik</name>
-  <version>0.0.0</version>
+  <version>0.1.1</version>
   <description>Constraint-based IK solver.  Good for high-DOF robots or underconstrained tasks.</description>
 
-  <author email="cl__is@swri.org">Chris Lewis</author>
-  <author email="jz__s@swri.org">Jeremy Zoss</author>
-  <author email="dps____on@gmail.com">Dan Solomon</author>
+  <author email="clewis@swri.org">Chris Lewis</author>
+  <author email="jzoss@swri.org">Jeremy Zoss</author>
+  <author email="dpsolomon@gmail.com">Dan Solomon</author>
+  <maintainer email="levi.armstrong@gmail.com">Levi Armstrong</maintainer>
   <maintainer email="jzoss@swri.org">Jeremy Zoss, SwRI</maintainer>
-  <maintainer email="dpsolomon@gmail.com">Dan Solomon, SwRI</maintainer>
   <license>Apache 2.0</license>
   <url type="website">http://ros.org/wiki/constrained_ik</url>
 

diff --git a/doxygen.config b/doxygen.config
@@ -743,7 +743,7 @@ WARN_LOGFILE           =
 # spaces.
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = constrained_ik
+INPUT                  = constrained_ik stomp_core stomp_moveit stomp_plugins
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/industrial_collision_detection/CHANGELOG.rst b/industrial_collision_detection/CHANGELOG.rst
@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package industrial_collision_detection
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2017-03-24)
+------------------
+
+0.1.0 (2017-03-14)
+------------------
+* Initial release
+* Contributors: Levi H Armstrong, Jorge Nicho
diff --git a/industrial_collision_detection/CMakeLists.txt b/industrial_collision_detection/CMakeLists.txt
@@ -60,11 +60,11 @@ add_library(${PROJECT_NAME}_plugin
 )
 target_link_libraries(${PROJECT_NAME}_plugin ${PROJECT_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/
-  DESTINATION include)
+#############
+## Install ##
+#############
+install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 install(
   FILES
     industrial_collision_detection_plugin_description.xml

diff --git a/industrial_collision_detection/package.xml b/industrial_collision_detection/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>industrial_collision_detection</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>The industrial_collision_detection package</description>
 
   <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>

diff --git a/industrial_moveit/CHANGELOG.rst b/industrial_moveit/CHANGELOG.rst
@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package industrial_moveit
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2017-03-24)
+------------------
+
+0.1.0 (2017-03-14)
+------------------
+* Initial release
+* Contributors: Shaun Edwards, Dan Solomon
diff --git a/industrial_moveit/package.xml b/industrial_moveit/package.xml
@@ -1,11 +1,18 @@
 <package>
   <name>industrial_moveit</name>
-  <version>0.0.0</version>
+  <version>0.1.1</version>
   <description>ROS Industrial MoveIt packages.</description>
-  <author email="jz__s@swri.org">Jeremy Zoss</author>
-  <author email="dps____on@gmail.com">Dan Solomon</author>
-  <maintainer email="jzoss@swri.org">Jeremy Zoss</maintainer>
-  <maintainer email="dpsolomon@gmail.com">Dan Solomon</maintainer>
+  <author email="clewis@swri.org">Chris Lewis</author>
+  <author email="dpsolomon@gmail.com">Dan Solomon</author>
+  <author email="jzoss@swri.org">Jeremy Zoss</author>
+  <author email="levi.armstrong@gmail.com">Levi Armstrong</author>
+  <author email="jrgnichodevel@gmail.com">Jorge Nicho</author>
+  <author email="jonathan.meyer@swri.org">Jonathan Meyer</author>
+
+  <maintainer email="levi.armstrong@gmail.com">Levi Armstrong</maintainer>
+  <maintainer email="jrgnichodevel@gmail.com">Jorge Nicho</maintainer>
+  <maintainer email="jonathan.meyer@swri.org">Jonathan Meyer</maintainer>
+
   <license>Apache 2.0</license>
 
   <url type="website">http://ros.org/wiki/industrial_moveit</url>
@@ -15,6 +22,12 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>constrained_ik</run_depend>
+  <run_depend>stomp_core</run_depend>
+  <run_depend>stomp_moveit</run_depend>
+  <run_depend>stomp_plugins</run_depend>
+  <run_depend>industrial_collision_detection</run_depend>
+  <run_depend>stomp_test_support</run_depend>
+  <run_depend>stomp_test_kr210_moveit_config</run_depend>
 
   <export>
     <metapackage/>

diff --git a/industrial_moveit_benchmarking/CHANGELOG.rst b/industrial_moveit_benchmarking/CHANGELOG.rst
@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package industrial_moveit_benchmarking
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2017-03-24)
+------------------
+
+0.1.0 (2017-03-14)
+------------------
+* Initial release
+* Contributors: Jonathan Meyer, Levi Armstrong, Jorge Nicho
diff --git a/industrial_moveit_benchmarking/package.xml b/industrial_moveit_benchmarking/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>industrial_moveit_benchmarking</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>This package contains tools used to benchmark both constrianed_ik and stomp.</description>
 
   <maintainer email="levi.armstrong@gmail.com">Levi Armstrong</maintainer>

diff --git a/stomp_core/CHANGELOG.rst b/stomp_core/CHANGELOG.rst
@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package stomp_core
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2017-03-24)
+------------------
+
+0.1.0 (2017-03-14)
+------------------
+* Initial release
+* Contributors: Levi H Armstrong, Jorge Nicho
diff --git a/stomp_core/CMakeLists.txt b/stomp_core/CMakeLists.txt
@@ -5,6 +5,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   cmake_modules
 )
+
 find_package(Eigen REQUIRED)
 
 add_definitions("-std=c++11")
@@ -16,7 +17,7 @@ add_definitions("-std=c++11")
 ## catkin specific configuration ##
 ###################################
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS include ${EIGEN_INCLUDE_DIRS}
   LIBRARIES stomp_core
   CATKIN_DEPENDS roscpp cmake_modules
   DEPENDS Eigen
@@ -47,6 +48,14 @@ target_link_libraries(${PROJECT_NAME}_example ${PROJECT_NAME} ${catkin_LIBRARIES
 #############
 ## Install ##
 #############
+install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
 
 
 #############