use drake cmakelists

CMakeLists.txt

@@ -23,10 +23,11 @@ endif()
 # Options
 option(WITH_PERCEPTION "Build with perception libraries and tools." ON)
 option(WITH_SNOPT "Build drake with support for the SNOPT solver." ON)
+option(WITH_GUROBI "Build with support for Gurobi" OFF)
+option(WITH_MOSEK "Build with support for MOSEK" OFF)
 
 option(WITH_IIWA_DRIVER_RLG "Build drake-iiwa-driver, RLG version." ON)
 option(WITH_IIWA_DRIVER_TRI "Build drake-iiwa-driver, TRI version." OFF)
-option(WITH_SCHUNK_DRIVER "Build drake-schunk-driver." ON)
 option(WITH_ROS "Build the catkin-workspace projects." ON)
 option(WITH_REACHABILITY_ANALYZER "Build a reachability analyzer (better with snopt)" OFF)
 option(WITH_TRIMESH "Build trimesh, a python utility for working with triangle meshes" OFF)
@@ -64,95 +65,43 @@ set(CMAKE_ARGS_FOR_EXTERNALS
  "-DCMAKE_MODULE_PATH:STRING=${CMAKE_MODULE_PATH}"
 )
 
-find_program(CP cp)
-find_program(BAZEL bazel)
-if(NOT BAZEL)
- message(FATAL_ERROR "Could NOT find bazel executable")
-endif()
-if(CMAKE_BUILD_TYPE STREQUAL "Debug")
- set(BAZEL_COMPILATION_MODE dbg)
-else()
- set(BAZEL_COMPILATION_MODE opt)
-endif()
-set(BAZEL_ENV CC=${CMAKE_C_COMPILER} CXX=${CMAKE_CXX_COMPILER})
-set(BAZEL_DRAKE_STARTUP_ARGS "--output_base=/$ENV{HOME}/.spartan-build/drake-build")
-set(BAZEL_ARGS --compilation_mode=${BAZEL_COMPILATION_MODE} --config=unsupported_crosstool --cxxopt=-std=c++1y --host_cxxopt=-std=c++1y)
-if(CMAKE_VERBOSE_MAKEFILE)
- set(BAZEL_ARGS --subcommands ${BAZEL_ARGS})
-endif()
-if(WITH_SNOPT)
- set(BAZEL_ARGS --config=snopt ${BAZEL_ARGS})
-endif()
-
-# Check that compiler is NOT ccache. Ccache is not compatible with bazel.
-# "readlink -f" is not available on MacOS. We use a one-liner python script
-# to get the result that "readlink -f" would give on Linux.
-execute_process(
- COMMAND python -c "import os,sys; print(os.path.realpath(os.path.expanduser(sys.argv[1])))" "${CMAKE_CXX_COMPILER}"
- RESULT_VARIABLE COMPILER_RESULT
- OUTPUT_VARIABLE COMPILER_OUTPUT
- )
-if(COMPILER_RESULT)
- message(FATAL_ERROR "Error while running the compiler ${CMAKE_CXX_COMPILER}.")
-endif()
-get_filename_component(COMPILER_NAME ${COMPILER_OUTPUT} NAME)
-string(STRIP ${COMPILER_NAME} COMPILER_NAME)
-if("${COMPILER_NAME}" STREQUAL "ccache")
- message(FATAL_ERROR
-"Compiler is `ccache`. `ccache` is not compatible with `bazel` which is used to compile `drake`.
-To use `ccache` to compile the rest of the project, use the CMake or environment variables \
-CMAKE_C_COMPILER_LAUNCHER and CMAKE_CXX_COMPILER_LAUNCHER to set the path to `ccache`."
-)
-endif()
-
-
-# Add external projects
-# NOTE: For bazel < 0.5.2, two external projects that use Bazel must not build simultaneously.
-# One can depend on another one, which will force the order in which they are built.
 ExternalProject_Add(drake
  SOURCE_DIR ${source_dir}/drake
+ BINARY_DIR ${build_dir}/drake
  BUILD_ALWAYS 1
- BUILD_IN_SOURCE 1
- USES_TERMINAL_BUILD 1
- CONFIGURE_COMMAND ""
- BUILD_COMMAND ${BAZEL_ENV} "${BAZEL}" ${BAZEL_DRAKE_STARTUP_ARGS} build ${BAZEL_ARGS} //examples/kuka_iiwa_arm/... //:install @optitrack_driver//src:optitrack_client
- INSTALL_COMMAND ${BAZEL_ENV} "${BAZEL}" ${BAZEL_DRAKE_STARTUP_ARGS} run ${BAZEL_ARGS} //:install -- "${CMAKE_INSTALL_PREFIX}"
+ CMAKE_CACHE_ARGS
+ -DWITH_SNOPT:BOOL=${WITH_SNOPT}
+ -DWITH_GUROBI:BOOL=${WITH_GUROBI}
+ -DWITH_MOSEK:BOOL=${WITH_MOSEK}
+ ${CMAKE_ARGS_FOR_EXTERNALS}
+ INSTALL_COMMAND ""
 )
 
+ExternalProject_Add(libbot
+ SOURCE_DIR ${build_dir}/externals/libbot
+ BINARY_DIR ${build_dir}/libbot
+ GIT_REPOSITORY "https://github.com/RobotLocomotion/libbot2.git"
+ GIT_TAG "f260260b7d04c1d85169f985e1a2b4447a6832ef"
+ BUILD_ALWAYS 1
+ CMAKE_CACHE_ARGS
+ ${CMAKE_ARGS_FOR_EXTERNALS}
+ DEPENDS drake
+)
 
-# This is based on drake's VTK/Qt dependency (see `tools/vtk.bzl` in drake).
-# On MacOS, Drake uses homebrew VTK compiled with Qt5 and brew Python
-# On Linux, checks distribution
-# Ubuntu 14.04: Drake downloads a precompiled version of VTK compiled with Qt4
-# Ubuntu 16.04: Drake downloads a precompiled version of VTK compiled with Qt5
-# Otherwise, assume Qt5
 set(USED_QTVERSION 5)
+# On MacOS, Drake uses homebrew VTK compiled with Qt5 and brew Python
 if(APPLE)
  # VTK version used by drake
  set(VTK_INSTALL_DIR /usr/local/opt/vtk@8.0)
+ # To configure `director`
  set(VTK_ARGS
  -DVTK_DIR:PATH=${VTK_INSTALL_DIR}/lib/cmake/vtk-8.0
  -DPYTHON_CONFIG_EXECUTABLE:FILEPATH=/usr/local/bin/python2.7-config
  )
- set(QT_ARGS -DQt5_DIR:PATH=/usr/local/opt/qt/lib/cmake/Qt5)
+ # To configure `config/setup_environment.sh.in`
  set(VTK_PYTHON_DIR ${VTK_INSTALL_DIR}/lib/python2.7/site-packages)
-elseif(UNIX)
- find_program(SED sed)
- if(NOT SED)
- message(FATAL_ERROR "Could NOT find sed executable")
- endif()
- execute_process(COMMAND "${SED}" -n "/^\\(NAME\\|VERSION_ID\\)=/{s/[^=]*=//;s/\"//g;p}" /etc/os-release
- RESULT_VARIABLE SED_RESULT
- OUTPUT_VARIABLE SED_OUTPUT
- )
- if(SED_RESULT)
- message(FATAL_ERROR "Could NOT determine Linux distribution information")
- endif()
- string(REGEX REPLACE "\n" " " LINUX_DISTRIBUTION "${SED_OUTPUT}")
- string(STRIP ${LINUX_DISTRIBUTION} LINUX_DISTRIBUTION)
- if(LINUX_DISTRIBUTION STREQUAL "Ubuntu 14.04")
- set(USED_QTVERSION 4)
- endif()
+ # For signal-scope
+ set(QT_ARGS -DQt5_DIR:PATH=/usr/local/opt/qt/lib/cmake/Qt5)
 endif()
 
 ExternalProject_Add(director
@@ -171,12 +120,12 @@ ExternalProject_Add(director
  -DUSE_SYSTEM_VTK:BOOL=ON
  ${VTK_ARGS}
  -DUSE_PCL:BOOL=${WITH_PERCEPTION}
- -DUSE_APRILTAGS:BOOL=${WITH_PERCEPTION}
+ -DUSE_APRILTAGS:BOOL=OFF
  -DUSE_OPENNI2_LCM:BOOL=OFF # don't build OPENNI2 driver, conflicts with openni2_launch in ROS
  -DUSE_PERCEPTION:BOOL=${WITH_PERCEPTION}
  ${CMAKE_ARGS_FOR_EXTERNALS}
  INSTALL_COMMAND ""
- DEPENDS drake
+ DEPENDS libbot drake
 )
 
 ExternalProject_Add(common_utils
@@ -330,24 +279,6 @@ if (WITH_IIWA_DRIVER_RLG OR WITH_IIWA_DRIVER_TRI)
 
 endif()
 
-if (WITH_SCHUNK_DRIVER)
-
- ExternalProject_Add(drake-schunk-driver
- SOURCE_DIR ${build_dir}/externals/drake-schunk-driver
- GIT_REPOSITORY git@github.com:RobotLocomotion/drake-schunk-driver.git
- GIT_TAG a28d35c
- BUILD_ALWAYS 1
- BUILD_IN_SOURCE 1
- USES_TERMINAL_BUILD 1
- CONFIGURE_COMMAND ""
- BUILD_COMMAND ${BAZEL_ENV} "${BAZEL}" build //...
- INSTALL_COMMAND
- mkdir -p ${build_dir}/install/bin/ && "${CP}" ${build_dir}/externals/drake-schunk-driver/bazel-bin/src/schunk_driver ${CMAKE_INSTALL_PREFIX}/bin/schunk_driver &&
- chmod ug+w ${CMAKE_INSTALL_PREFIX}/bin/schunk_driver
- DEPENDS drake
- )
-
-endif()
 
 if (WITH_ROS)
  if ((NOT DEFINED ENV{CMAKE_PREFIX_PATH}) OR (NOT $ENV{CMAKE_PREFIX_PATH} MATCHES ".*ros.*"))

setup/docker/docker_run.py

@@ -20,6 +20,8 @@
 
  parser.add_argument("-p", "--passthrough", type=str, default="", help="(optional) extra string that will be tacked onto the docker run command, allows you to pass extra options. Make sure to put this in quotes and leave a space before the first character")
 
+ parser.add_argument("-nodudp", "--no_udp", action='store_true', help="(optional) don't expose the udp ports")
+
  args = parser.parse_args()
  print("running docker container derived from image %s" %args.image)
  source_dir=os.getcwd()
@@ -48,10 +50,11 @@
  cmd += " --user %s " % user_name # login as current user
 
  # expose UDP ports
- cmd += " -p 30200:30200/udp " # expose udp ports for kuka
- cmd += " -p 30201:30201/udp " # expose udp ports for kuka
- cmd += " -p 1500:1500/udp " # expose udp ports for schunk
- cmd += " -p 1501:1501/udp " # expose udp ports for schunk
+ if not args.no_udp:
+ cmd += " -p 30200:30200/udp " # expose udp ports for kuka
+ cmd += " -p 30201:30201/udp " # expose udp ports for kuka
+ cmd += " -p 1500:1500/udp " # expose udp ports for schunk
+ cmd += " -p 1501:1501/udp " # expose udp ports for schunk
 
  cmd += " " + args.passthrough + " "
 
@@ -63,7 +66,7 @@
  cmd += "--entrypoint=\"%(entrypoint)s\" " % {"entrypoint": args.entrypoint}
  else:
  cmd += "-it "
- cmd += args.image
+ cmd += image_name
  cmd_endxhost = "xhost -local:root"
 
  print("command = \n \n", cmd, "\n", cmd_endxhost)

setup/docker/run_jenkins.sh

@@ -5,7 +5,7 @@ mkdir build
 cd build
 
 . /opt/ros/kinetic/setup.bash
-cmake -DWITH_PERCEPTION:BOOL=ON -DWITH_TRIMESH:BOOL=ON -DWITH_SCHUNK_DRIVER:BOOL=ON -DWITH_IIWA_DRIVER_RLG:BOOL=ON -DWITH_ROS:BOOL=ON -DWITH_REACHABILITY_ANALYZER:BOOL=ON ..
+cmake -DWITH_PERCEPTION:BOOL=ON -DWITH_TRIMESH:BOOL=OFF -DWITH_SCHUNK_DRIVER:BOOL=ON -DWITH_IIWA_DRIVER_RLG:BOOL=ON -DWITH_ROS:BOOL=ON -DWITH_REACHABILITY_ANALYZER:BOOL=ON ..
 exit_status=$?
 if [ ! $exit_status -eq 0 ]; then
  echo "Error code in CMake: " $exit_status

setup/docker/spartan.dockerfile

@@ -1,4 +1,4 @@
-FROM nvidia/cuda:8.0-devel-ubuntu16.04
+ FROM nvidia/cuda:8.0-devel-ubuntu16.04
 
 ARG USER_NAME
 ARG USER_PASSWORD
@@ -16,6 +16,7 @@ RUN usermod -u $USER_ID $USER_NAME
 RUN groupmod -g $USER_GID $USER_NAME
 
 
+# working directory is /home/$USER_NAME
 WORKDIR /home/$USER_NAME
 # require no sudo pw in docker
 # RUN echo $USER_PASSWORD | sudo -S bash -c 'echo "'$USER_NAME' ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/docker-user' && printf "\n"
@@ -42,8 +43,13 @@ RUN mkdir -p .config/terminator
 COPY ./setup/docker/terminator_config .config/terminator/config
 RUN chown $USER_NAME:$USER_NAME -R .config
 
+# setup bazel bashrc
+RUN echo "startup --output_base=/home/$USER_NAME/.spartan-build" >> .bazelrc
+
 # change ownership of everything to our user
-RUN cd $WORKDIR && chown $USER_NAME:$USER_NAME -R .
+RUN cd /home/$USER_NAME && chown $USER_NAME:$USER_NAME -R .
+
+
 
 ENTRYPOINT bash -c "source ~/spartan/setup/docker/entrypoint.sh && /bin/bash"
 

setup/ubuntu/16.04/install_prereqs.sh

@@ -33,7 +33,10 @@ apt install --no-install-recommends \
  qtmultimedia5-dev \
  qtscript5-dev \
  qttools5-dev \
- libcgal-dev # needed for April Tag detection
+ libcgal-dev \
+ libxmu-dev \
+ libxi-dev
+
 
 # Install ROS Kinetic
 apt install -y --no-install-recommends lsb-release

src/ReachabilityAnalyzer/CMakeLists.txt

@@ -11,6 +11,8 @@ include_directories(${Eigen3_INCLUDE_DIR})
 find_package(VTK REQUIRED)
 include_directories(${VTK_INCLUDE_DIRS})
 
+find_path(yaml-cpp REQUIRED)
+
 link_directories(${CMAKE_INSTALL_PREFIX}/lib)
 
 add_executable(reachability_analyzer reachability_analyzer.cpp reachability_analyzer.hpp)
@@ -20,6 +22,7 @@ target_link_libraries(reachability_analyzer
  ${drake_LIBRARIES}
  gflags_shared
  ${VTK_LIBRARIES}
- RemoteTreeViewerWrapper)
+ RemoteTreeViewerWrapper
+ yaml-cpp)
 
 install(TARGETS reachability_analyzer DESTINATION bin)