From 268ea59d9aad6cbe8d7dc23fa76871073603d72f Mon Sep 17 00:00:00 2001 From: ishiguro Date: Fri, 27 Oct 2017 17:17:16 +0900 Subject: [PATCH 1/4] update CHANGELOG --- CHANGELOG.rst | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 130fee76f..dc0c3a9ec 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package openhrp3 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.2.0 (2017-10-27) +----------- +* openhrp3.1.pc.in: fix path order in openhrp3.1.pc.in (`#129 `_) +* JointPath.*: add local_p arg for calcJacobian (`#127 `_) + * fix local_p coordinate + * add local_p arg for calcJacobian +* .travis.yml: Update Travis for trusty/indigo (`#128 `_) +* add a package list for debian7 +* add RTM repository without asking user +* install packages without asking user +* support debian8 +* add stdint.hto use uint64_t on arm, close (`#123 `_)(`#124 `_) +* Update maintainer (`#122 `_) +* Contributors: Fumio KANEHIRO, Isaac I.Y. Saito, Kei Okada, Yasuhiro Ishiguro + 3.1.9 (2017-02-17) ------------------ From 5f49b5618a870879b30c393c96c91fe5052f8e64 Mon Sep 17 00:00:00 2001 From: ishiguro Date: Fri, 27 Oct 2017 17:19:44 +0900 Subject: [PATCH 2/4] 3.2.0 --- CMakeLists.txt | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index deeeb9fc4..0f090fbb0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -27,8 +27,8 @@ if(BUILD_GOOGLE_TEST) endif() set(OPENHRP_VERSION_MAJOR 3) -set(OPENHRP_VERSION_MINOR 1) -set(OPENHRP_VERSION_MICRO 9) +set(OPENHRP_VERSION_MINOR 2) +set(OPENHRP_VERSION_MICRO 0) set(OPENHRP_VERSION_ADD_TAIL ) set(CPACK_DEBIAN_PACKAGE_VERSION_TAIL 0) diff --git a/package.xml b/package.xml index 0bbfda215..b41c1d9a2 100644 --- a/package.xml +++ b/package.xml @@ -1,6 +1,6 @@ openhrp3 - 3.1.9 + 3.2.0

This package does not only wrap OpenHRP3 but actually provides the built artifact from the code from its mainstream repository. Being ROS-agnostic by itself, you can also use this via ROS together with the packages in rtmros_common that bridge between two framework.

OpenHRP3 (Open Architecture Human-centered Robotics Platform version 3) is an integrated software platform for robot simulations and software developments. It allows the users to inspect an original robot model and control program by dynamics simulation. In addition, OpenHRP3 provides various software components and calculation libraries that can be used for robotics related software developments (excerpts from here).

From b11a2fc5c076037bb81cb96050ed6ccab461e0fe Mon Sep 17 00:00:00 2001 From: ishiguro Date: Sun, 12 Nov 2017 16:25:38 +0900 Subject: [PATCH 3/4] sed 3.1 -> 3.2 --- CMakeLists.txt | 4 +- .../com/generalrobotix/messages.properties | 2 +- .../generalrobotix/messages_ja_JP.properties | 2 +- .../generalrobotix/ui/grxui/Activator.java | 4 +- .../ui/grxui/PreferenceInitializer.java.input | 4 +- .../grxui/PreferenceInitializer.java.winrcp | 6 +-- cmake_modules/ConfigurePkgConfig.cmake | 6 +-- cpack_modules/shlibs | 12 ++--- java/CMakeLists.txt | 2 +- openhrp3.1.pc.in => openhrp3.2.pc.in | 0 script/openhrp-jython-prompt.in | 4 +- server/ModelLoader/README.md | 2 +- test/test_modelloader.py | 6 +-- test/test_openhrp3.py | 44 +++++++++---------- util/admin/PackageWork/BuildMsi.bat | 2 +- util/admin/PackageWork/BuildMsi_vc10.bat | 2 +- util/admin/PackageWork/BuildMsi_vc10_x64.bat | 2 +- 17 files changed, 52 insertions(+), 52 deletions(-) rename openhrp3.1.pc.in => openhrp3.2.pc.in (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0f090fbb0..6db360117 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -430,7 +430,7 @@ option(ENABLE_CPACK "Enable CPack settings" OFF) if(ENABLE_CPACK) set(CPACK_MODULE_PATH ${PROJECT_SOURCE_DIR}/cpack_modules/) - set(CPACK_PACKAGE_NAME openhrp3.1) + set(CPACK_PACKAGE_NAME openhrp3.2) # set(RELATIVE_DOC_INSTALL_PATH share/doc/${CPACK_PACKAGE_NAME}) set(CPACK_PACKAGE_VENDOR "AIST") set(CPACK_PACKAGE_CONTACT "Shin'ichiro Nakaoka ") @@ -585,7 +585,7 @@ if(need_catkin OR "${CATKIN_BUILD_BINARY_PACKAGE}") install(CODE "execute_process(COMMAND cmake -E create_symlink ../../bin/export-collada export-collada WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3)") install(CODE " execute_process(COMMAND cmake -E make_directory share WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3) -execute_process(COMMAND cmake -E create_symlink ../../OpenHRP-3.1 share/OpenHRP-3.1 WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3) +execute_process(COMMAND cmake -E create_symlink ../../OpenHRP-3.2 share/OpenHRP-3.2 WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3) ") endif() if(need_catkin) diff --git a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages.properties b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages.properties index 2346d61d3..d08572892 100644 --- a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages.properties +++ b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages.properties @@ -239,7 +239,7 @@ GrxOpenHRPView.dialog.message.noWorldState=There is no WorldState item. ApplicationActionBarAdvisor.menu.file=&File ApplicationActionBarAdvisor.menu.window=&Window ApplicationActionBarAdvisor.menu.view=&View -GrxuiPreferencePage.projectDir.message=set (OpenHRP Install Director)/share/OpenHRP-3.1/sample/project +GrxuiPreferencePage.projectDir.message=set (OpenHRP Install Director)/share/OpenHRP-3.2/sample/project GrxWorldStateItem.dialog.title.saveLog=Warning\! It is not possible to save log. GrxServerManagerPanel.filedialog.title=Select GrxOpenHRPView.dialog.message.simTime0=\ \ \ (A)Sim. Time = diff --git a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages_ja_JP.properties b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages_ja_JP.properties index da823fb03..f446e42cf 100644 --- a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages_ja_JP.properties +++ b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages_ja_JP.properties @@ -239,7 +239,7 @@ GrxOpenHRPView.dialog.message.noWorldState=WorldState \u30a2\u30a4\u30c6\u30e0\u ApplicationActionBarAdvisor.menu.file=\u30d5\u30a1\u30a4\u30eb ApplicationActionBarAdvisor.menu.window=\u30a6\u30a3\u30f3\u30c9\u30a6 ApplicationActionBarAdvisor.menu.view=\u30d3\u30e5\u30fc\u306e\u8868\u793a -GrxuiPreferencePage.projectDir.message=(OpenHRP\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30c7\u30a3\u30ec\u30af\u30c8\u30ea)/share/OpenHRP-3.1/sample/project\u3092\u8a2d\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002 +GrxuiPreferencePage.projectDir.message=(OpenHRP\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30c7\u30a3\u30ec\u30af\u30c8\u30ea)/share/OpenHRP-3.2/sample/project\u3092\u8a2d\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002 GrxWorldStateItem.dialog.title.saveLog=\u30ed\u30b0\u3092\u4fdd\u5b58\u3067\u304d\u307e\u305b\u3093 GrxServerManagerPanel.filedialog.title=\u30d5\u30a1\u30a4\u30eb\u306e\u9078\u629e GrxOpenHRPView.dialog.message.simTime0=\ \ \ (A)Sim. Time = diff --git a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/Activator.java b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/Activator.java index 983a0dc38..0ef2b17ba 100644 --- a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/Activator.java +++ b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/Activator.java @@ -60,8 +60,8 @@ public class Activator extends AbstractUIPlugin implements IWorkbenchListener, I private static Activator plugin; private static final String LINUX_HOME_DIR = System.getenv("HOME") + File.separator ; private static final String WIN_HOME_DIR = System.getenv("APPDATA") + File.separator; - private static final String LINUX_TMP_DIR = LINUX_HOME_DIR + ".OpenHRP-3.1" + File.separator; - private static final String WIN_TMP_DIR = WIN_HOME_DIR + "OpenHRP-3.1" + File.separator; + private static final String LINUX_TMP_DIR = LINUX_HOME_DIR + ".OpenHRP-3.2" + File.separator; + private static final String WIN_TMP_DIR = WIN_HOME_DIR + "OpenHRP-3.2" + File.separator; private static final File HOME_DIR = initHomeDir(); private static final File TMP_DIR = initTempDir(); public GrxPluginManager manager_; diff --git a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.input b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.input index cc3cf0728..d22ffe9c1 100644 --- a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.input +++ b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.input @@ -38,11 +38,11 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer { if (osname.equals("Linux") || osname.equals("Mac OS X")){ store.setDefault(PreferenceConstants.BIN_SFX, ".sh"); store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR, - "$(HOME)/.OpenHRP-3.1/omninames-log"); + "$(HOME)/.OpenHRP-3.2/omninames-log"); }else if(osname.contains("Windows")){ store.setDefault(PreferenceConstants.BIN_SFX, ".bat"); store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR, - "\"$(APPDATA)/OpenHRP-3.1/omninames-log\""); + "\"$(APPDATA)/OpenHRP-3.2/omninames-log\""); store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.COM+0, "\"$(OMNI_ROOT)/bin/x86_win32/omniNames\""); }else{ diff --git a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.winrcp b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.winrcp index 7da82f840..9f7af0fad 100644 --- a/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.winrcp +++ b/GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.winrcp @@ -19,7 +19,7 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer { public void initializeDefaultPreferences() { IPreferenceStore store = Activator.getDefault() .getPreferenceStore(); - String pdir = new File(System.getenv("OPENHRP_SDK_ROOT"), "share/OpenHRP-3.1/sample/project").getPath(); + String pdir = new File(System.getenv("OPENHRP_SDK_ROOT"), "share/OpenHRP-3.2/sample/project").getPath(); if(new File(pdir).isDirectory() == false) pdir = ""; store.setDefault(PreferenceConstants.PROJECT_DIR, pdir); @@ -34,11 +34,11 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer { if (osname.equals("Linux") || osname.equals("Mac OS X")){ store.setDefault(PreferenceConstants.BIN_SFX, ".sh"); store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR, - "$(HOME)/.OpenHRP-3.1/omninames-log"); + "$(HOME)/.OpenHRP-3.2/omninames-log"); }else if(osname.contains("Windows")){ store.setDefault(PreferenceConstants.BIN_SFX, ".bat"); store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR, - "\"$(APPDATA)/OpenHRP-3.1/omninames-log\""); + "\"$(APPDATA)/OpenHRP-3.2/omninames-log\""); store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.COM+0, "\"$(OMNI_ROOT)/bin/x86_win32/omniNames\""); }else{ diff --git a/cmake_modules/ConfigurePkgConfig.cmake b/cmake_modules/ConfigurePkgConfig.cmake index 5f2da3113..d94262f78 100644 --- a/cmake_modules/ConfigurePkgConfig.cmake +++ b/cmake_modules/ConfigurePkgConfig.cmake @@ -1,7 +1,7 @@ # @author Takafumi Tawara if(PKG_CONFIG_FOUND) - set(PACKAGE_NAME "OpenHRP3.1") + set(PACKAGE_NAME "OpenHRP3.2") set(OPENHRP_URL "http://www.openrtp.jp/openhrp3/") set(PKG_CONF_REQUIRES "") set(PKG_CONF_LINK_DEPEND_OPTS "''") @@ -91,6 +91,6 @@ if(PKG_CONFIG_FOUND) PKG_CONF_CXXFLAG_OPTIONS ${PKG_CONF_CXXFLAG_OPTIONS}) endif() - configure_file(openhrp3.1.pc.in openhrp3.1.pc @ONLY) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openhrp3.1.pc DESTINATION lib/pkgconfig) + configure_file(openhrp3.2.pc.in openhrp3.2.pc @ONLY) + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openhrp3.2.pc DESTINATION lib/pkgconfig) endif(PKG_CONFIG_FOUND) diff --git a/cpack_modules/shlibs b/cpack_modules/shlibs index 815304667..ff17a3b4d 100644 --- a/cpack_modules/shlibs +++ b/cpack_modules/shlibs @@ -1,6 +1,6 @@ -libhrpCollision-3.1 0 openhrp3.1 -libhrpModel-3.1 0 openhrp3.1 -libhrpPlanner-3.1 0 openhrp3.1 -libhrpRTM-3.1 0 openhrp3.1 -libhrpUtil-3.1 0 openhrp3.1 -libsDIMS 0 openhrp3.1 +libhrpCollision-3.2 0 openhrp3.2 +libhrpModel-3.2 0 openhrp3.2 +libhrpPlanner-3.2 0 openhrp3.2 +libhrpRTM-3.2 0 openhrp3.2 +libhrpUtil-3.2 0 openhrp3.2 +libsDIMS 0 openhrp3.2 \ No newline at end of file diff --git a/java/CMakeLists.txt b/java/CMakeLists.txt index 2c015d76f..df62e5942 100644 --- a/java/CMakeLists.txt +++ b/java/CMakeLists.txt @@ -13,7 +13,7 @@ set(FIXED_CONFIGURE_COMMENT "# CMAKE generated file: DO NOT EDIT! if(CMAKE_INSTALL_PREFIX) STRING(REGEX REPLACE "\\\\" "/" CMAKE_INSTALL_PREFIX_TMP "${CMAKE_INSTALL_PREFIX}") STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX_TMP "${CMAKE_INSTALL_PREFIX_TMP}") - set(PREFERENCE_PROJECT_DIR "${CMAKE_INSTALL_PREFIX_TMP}/share/OpenHRP-3.1/sample/project") + set(PREFERENCE_PROJECT_DIR "${CMAKE_INSTALL_PREFIX_TMP}/share/OpenHRP-3.2/sample/project") set(PREFERENCE_SERVER_DIR "${CMAKE_INSTALL_PREFIX_TMP}/bin") else() set(PREFERENCE_PROJECT_DIR "") diff --git a/openhrp3.1.pc.in b/openhrp3.2.pc.in similarity index 100% rename from openhrp3.1.pc.in rename to openhrp3.2.pc.in diff --git a/script/openhrp-jython-prompt.in b/script/openhrp-jython-prompt.in index a93e7393a..9c53c94ed 100755 --- a/script/openhrp-jython-prompt.in +++ b/script/openhrp-jython-prompt.in @@ -1,3 +1,3 @@ #!/bin/sh -export CLASSPATH=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.1/java/openhrpstubskel.jar:$CLASSPATH -jython -DNS_OPT="-ORBInitRef NameService=corbaloc:iiop:@NS_HOST@:@NS_PORT@/NameService" -Dpython.path=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.1/sample/script $@ +export CLASSPATH=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.2/java/openhrpstubskel.jar:$CLASSPATH +jython -DNS_OPT="-ORBInitRef NameService=corbaloc:iiop:@NS_HOST@:@NS_PORT@/NameService" -Dpython.path=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.2/sample/script $@ diff --git a/server/ModelLoader/README.md b/server/ModelLoader/README.md index 29b920d67..07a1ec2f5 100644 --- a/server/ModelLoader/README.md +++ b/server/ModelLoader/README.md @@ -40,7 +40,7 @@ input files shold be VRML or COLLADA files. #### example ```bash -openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 +openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.2/sample/model/sample1.wrl `rospack find openhrp3`/share/OpenHRP-3.2/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 ``` ## NOTE diff --git a/test/test_modelloader.py b/test/test_modelloader.py index c48436d77..59dbd2d32 100755 --- a/test/test_modelloader.py +++ b/test/test_modelloader.py @@ -81,9 +81,9 @@ def print_ok(self, fmt, ok): def loadFiles(self, wrl_file, dae_file): """ Override this method for loading model files from another directory """ - openhrp3_prefix=subprocess.check_output('pkg-config openhrp3.1 --variable=prefix', shell=True).rstrip() - self.wrl_url = openhrp3_prefix+"/share/OpenHRP-3.1/sample/model/"+wrl_file - self.dae_url = openhrp3_prefix+"/share/OpenHRP-3.1/sample/model/"+dae_file + openhrp3_prefix=subprocess.check_output('pkg-config openhrp3.2 --variable=prefix', shell=True).rstrip() + self.wrl_url = openhrp3_prefix+"/share/OpenHRP-3.2/sample/model/"+wrl_file + self.dae_url = openhrp3_prefix+"/share/OpenHRP-3.2/sample/model/"+dae_file self.wrl_binfo = self.ml.getBodyInfo(self.wrl_url) self.dae_binfo = self.ml.getBodyInfo(self.dae_url) self.wrl_links = self.wrl_binfo._get_links() diff --git a/test/test_openhrp3.py b/test/test_openhrp3.py index 449b5609b..2a2146c2c 100755 --- a/test/test_openhrp3.py +++ b/test/test_openhrp3.py @@ -29,14 +29,14 @@ def setUp(self): self.PKG_CONFIG_PATH='PKG_CONFIG_PATH=%s/lib/pkgconfig:$PKG_CONFIG_PATH'%(openhrp3_path) def pkg_config_variable(self, var): - return check_output("%s pkg-config openhrp3.1 --variable=%s"%(self.PKG_CONFIG_PATH, var), shell=True).rstrip() + return check_output("%s pkg-config openhrp3.2 --variable=%s"%(self.PKG_CONFIG_PATH, var), shell=True).rstrip() def check_if_file_exists(self, var, fname): pkg_var = var pkg_dname = self.pkg_config_variable(pkg_var) pkg_path = os.path.join(pkg_dname, fname) pkg_ret = os.path.exists(pkg_path) - self.assertTrue(pkg_ret, "pkg-config openhrp3.1 --variable=%s`/%s (%s) returns %r"%(pkg_var, fname, pkg_path, pkg_ret)) + self.assertTrue(pkg_ret, "pkg-config openhrp3.2 --variable=%s`/%s (%s) returns %r"%(pkg_var, fname, pkg_path, pkg_ret)) def test_config_variables(self): # self.check_if_file_exists("prefix", "") # not defined @@ -54,65 +54,65 @@ def check_if_file_exists_from_prefix(self, fname): def test_files_for_hrpsys(self): # https://github.com/start-jsk/hrpsys/blob/master/catkin.cmake#L125 - # self.check_if_file_exists_from_rospack("share/OpenHRP-3.1/sample/project") - self.check_if_file_exists_from_prefix("share/OpenHRP-3.1/sample/project") + # self.check_if_file_exists_from_rospack("share/OpenHRP-3.2/sample/project") + self.check_if_file_exists_from_prefix("share/OpenHRP-3.2/sample/project") # https://code.google.com/p/hrpsys-base/source/browse/trunk/idl/CMakeLists.txt#118 self.check_if_file_exists("idl_dir", "OpenHRP/OpenHRPCommon.idl") # https://code.google.com/p/hrpsys-base/source/browse/trunk/sample/PA10/PA10.conf.in#1 - # self.check_if_file_exists_from_rospack("share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl") + # self.check_if_file_exists_from_rospack("share/OpenHRP-3.2/sample/model/PA10/pa10.main.wrl") def test_files_for_hrpsys_ros_bridge(self): # https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/test/test-samplerobot.py#L63 - # self.check_if_file_exists_from_rospack("share/OpenHRP-3.1/sample/controller/SampleController/etc/Sample.pos") - self.check_if_file_exists_from_prefix("share/OpenHRP-3.1/sample/controller/SampleController/etc/Sample.pos") + # self.check_if_file_exists_from_rospack("share/OpenHRP-3.2/sample/controller/SampleController/etc/Sample.pos") + self.check_if_file_exists_from_prefix("share/OpenHRP-3.2/sample/controller/SampleController/etc/Sample.pos") # https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/catkin.cmake#L141 self.check_if_file_exists("idl_dir", "../sample/model/PA10/pa10.main.wrl") self.check_if_file_exists("idl_dir", "../sample/model/sample1.wrl") - self.check_if_file_exists_from_prefix("share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl") - self.check_if_file_exists_from_prefix("share/OpenHRP-3.1/sample/model/sample1.wrl") - # self.check_if_file_exists_from_rospack("share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl") - # self.check_if_file_exists_from_rospack("share/OpenHRP-3.1/sample/model/sample1.wrl") + self.check_if_file_exists_from_prefix("share/OpenHRP-3.2/sample/model/PA10/pa10.main.wrl") + self.check_if_file_exists_from_prefix("share/OpenHRP-3.2/sample/model/sample1.wrl") + # self.check_if_file_exists_from_rospack("share/OpenHRP-3.2/sample/model/PA10/pa10.main.wrl") + # self.check_if_file_exists_from_rospack("share/OpenHRP-3.2/sample/model/sample1.wrl") ## test 1 == 1 def test_compile_pkg_config(self): global PID - cmd = "%s pkg-config openhrp3.1 --cflags --libs"%(self.PKG_CONFIG_PATH) + cmd = "%s pkg-config openhrp3.2 --cflags --libs"%(self.PKG_CONFIG_PATH) print "`"+cmd+"` =",check_output(cmd, shell=True, stderr=STDOUT) ret = call("g++ -o openhrp3-sample-pkg-config /tmp/%d-openhrp3-sample.cpp `%s`"%(PID,cmd), shell=True) self.assertTrue(ret==0) def _test_compile_move_ankle(self): - cmd1 = "pkg-config openhrp3.1 --cflags --libs" - cmd2 = "pkg-config openhrp3.1 --variable=idl_dir" + cmd1 = "pkg-config openhrp3.2 --cflags --libs" + cmd2 = "pkg-config openhrp3.2 --variable=idl_dir" print "`"+cmd1+"` =",check_output(cmd1, shell=True, stderr=STDOUT) print "`"+cmd2+"` =",check_output(cmd2, shell=True, stderr=STDOUT) ret = call("g++ -o move_ankle `%s`/../sample/example/move_ankle/move_ankle.cpp `%s`"%(cmd2,cmd1), shell=True) self.assertTrue(ret==0) def test_idl_dir(self): - cmd = "%s pkg-config openhrp3.1 --variable=idl_dir"%(self.PKG_CONFIG_PATH) + cmd = "%s pkg-config openhrp3.2 --variable=idl_dir"%(self.PKG_CONFIG_PATH) fname = "OpenHRP/OpenHRPCommon.idl" # check if idl file exists print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname))) def test_sample_pa10(self): - cmd = "%s pkg-config openhrp3.1 --variable=idl_dir"%(self.PKG_CONFIG_PATH) + cmd = "%s pkg-config openhrp3.2 --variable=idl_dir"%(self.PKG_CONFIG_PATH) fname = "../sample/model/PA10/pa10.main.wrl" # check if model file exists print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname))) - cmd = "%s pkg-config openhrp3.1 --variable=prefix"%(self.PKG_CONFIG_PATH) - fname = "share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl" + cmd = "%s pkg-config openhrp3.2 --variable=prefix"%(self.PKG_CONFIG_PATH) + fname = "share/OpenHRP-3.2/sample/model/PA10/pa10.main.wrl" # check if model file exists print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname))) def test_sample_samplerobot(self): - cmd = "%s pkg-config openhrp3.1 --variable=idl_dir"%(self.PKG_CONFIG_PATH) + cmd = "%s pkg-config openhrp3.2 --variable=idl_dir"%(self.PKG_CONFIG_PATH) fname = "../sample/model/sample1.wrl" # check if model file exists print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) @@ -123,14 +123,14 @@ def test_sample_samplerobot(self): print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname)), "cmd = %r, fname = %r"%(cmd, fname)) - cmd = "%s pkg-config openhrp3.1 --variable=prefix"%(self.PKG_CONFIG_PATH) - fname = "share/OpenHRP-3.1/sample/model/sample1.wrl" + cmd = "%s pkg-config openhrp3.2 --variable=prefix"%(self.PKG_CONFIG_PATH) + fname = "share/OpenHRP-3.2/sample/model/sample1.wrl" # check if model file exists print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname)), "cmd = %r, fname = %r"%(cmd, fname)) # # check if walk data file exists - fname = "share/OpenHRP-3.1/sample/controller/SampleController/etc/Sample.pos" + fname = "share/OpenHRP-3.2/sample/controller/SampleController/etc/Sample.pos" print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname) self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname)), "cmd = %r, fname = %r"%(cmd, fname)) diff --git a/util/admin/PackageWork/BuildMsi.bat b/util/admin/PackageWork/BuildMsi.bat index f16d26fb0..0d86fa969 100644 --- a/util/admin/PackageWork/BuildMsi.bat +++ b/util/admin/PackageWork/BuildMsi.bat @@ -189,7 +189,7 @@ goto :EOF cd %SRC_DIR% call cmake -G "Visual Studio 9 2008" -DCMAKE_INSTALL_PREFIX:PATH="%SDK_INSTALL_DIR%" if errorlevel 1 set IS_ERROR=1 -copy hrplib\hrpModel\config.h ..\pack_src\OpenHRP\include\OpenHRP-3.1\hrpModel\config.h +copy hrplib\hrpModel\config.h ..\pack_src\OpenHRP\include\OpenHRP-3.2\hrpModel\config.h cd %BASE_DIR% copy %SRC_INITIALIZER_ORIGIN% %SRC_INITIALIZER_TMP% copy %SRC_INITIALIZER_WINRCP% %SRC_INITIALIZER_ORIGIN% diff --git a/util/admin/PackageWork/BuildMsi_vc10.bat b/util/admin/PackageWork/BuildMsi_vc10.bat index 6fc16d84c..669b3e32d 100644 --- a/util/admin/PackageWork/BuildMsi_vc10.bat +++ b/util/admin/PackageWork/BuildMsi_vc10.bat @@ -189,7 +189,7 @@ goto :EOF cd %SRC_DIR% call cmake -G "Visual Studio 10" -DCMAKE_INSTALL_PREFIX:PATH="%SDK_INSTALL_DIR%" if errorlevel 1 set IS_ERROR=1 -copy hrplib\hrpModel\config.h ..\pack_src\OpenHRP\include\OpenHRP-3.1\hrpModel\config.h +copy hrplib\hrpModel\config.h ..\pack_src\OpenHRP\include\OpenHRP-3.2\hrpModel\config.h cd %BASE_DIR% copy %SRC_INITIALIZER_ORIGIN% %SRC_INITIALIZER_TMP% copy %SRC_INITIALIZER_WINRCP% %SRC_INITIALIZER_ORIGIN% diff --git a/util/admin/PackageWork/BuildMsi_vc10_x64.bat b/util/admin/PackageWork/BuildMsi_vc10_x64.bat index cea8af81a..fb6e3a90c 100644 --- a/util/admin/PackageWork/BuildMsi_vc10_x64.bat +++ b/util/admin/PackageWork/BuildMsi_vc10_x64.bat @@ -188,7 +188,7 @@ goto :EOF cd %SRC_DIR% call "C:\Program Files (x86)\CMake 2.8\bin\cmake" -G "Visual Studio 10 Win64" -DCMAKE_INSTALL_PREFIX:PATH="%SDK_INSTALL_DIR%" if errorlevel 1 set IS_ERROR=1 -copy hrplib\hrpModel\config.h ..\pack_src\OpenHRP\include\OpenHRP-3.1\hrpModel\config.h +copy hrplib\hrpModel\config.h ..\pack_src\OpenHRP\include\OpenHRP-3.2\hrpModel\config.h cd %BASE_DIR% copy %SRC_DIR%\GrxUIonEclipse-project-0.9.8\grxui_x64.product %SRC_DIR%\GrxUIonEclipse-project-0.9.8\grxui.product copy %SRC_INITIALIZER_ORIGIN% %SRC_INITIALIZER_TMP% From dd461fc5836c38f35210d4e7bf3d669193b6b64d Mon Sep 17 00:00:00 2001 From: ishiguro Date: Sun, 12 Nov 2017 16:53:34 +0900 Subject: [PATCH 4/4] use OPENHRP_LIBRARY_VERSION to describe 3.2 --- CMakeLists.txt | 6 +++--- cmake_modules/ConfigurePkgConfig.cmake | 6 +++--- cpack_modules/shlibs | 12 ++++++------ script/openhrp-jython-prompt.in | 2 +- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6db360117..78e2e2a56 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -430,7 +430,7 @@ option(ENABLE_CPACK "Enable CPack settings" OFF) if(ENABLE_CPACK) set(CPACK_MODULE_PATH ${PROJECT_SOURCE_DIR}/cpack_modules/) - set(CPACK_PACKAGE_NAME openhrp3.2) + set(CPACK_PACKAGE_NAME openhrp${OPENHRP_LIBRARY_VERSION}) # set(RELATIVE_DOC_INSTALL_PATH share/doc/${CPACK_PACKAGE_NAME}) set(CPACK_PACKAGE_VENDOR "AIST") set(CPACK_PACKAGE_CONTACT "Shin'ichiro Nakaoka ") @@ -465,7 +465,7 @@ if(ENABLE_CPACK) set(CPACK_NSIS_CONTACT "me@my-personal-home-page.com") set(CPACK_NSIS_MODIFY_PATH ON) # set(CPACK_PACKAGE_EXECUTABLES "MyExecutable" "My Executable") - set(CPACK_PACKAGE_INSTALL_DIRECTORY "OpenHRP ${OPENHRP_VERSION_MAJOR}.${OPENHRP_VERSION_MINOR}") + set(CPACK_PACKAGE_INSTALL_DIRECTORY "OpenHRP ${OPENHRP_LIBRARY_VERSION}") else() include(${CPACK_MODULE_PATH}DEPENDENT${UBUNTU_VERSION_NUM}_BASENAMES.cmake) @@ -585,7 +585,7 @@ if(need_catkin OR "${CATKIN_BUILD_BINARY_PACKAGE}") install(CODE "execute_process(COMMAND cmake -E create_symlink ../../bin/export-collada export-collada WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3)") install(CODE " execute_process(COMMAND cmake -E make_directory share WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3) -execute_process(COMMAND cmake -E create_symlink ../../OpenHRP-3.2 share/OpenHRP-3.2 WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3) +execute_process(COMMAND cmake -E create_symlink ../../OpenHRP-${OPENHRP_LIBRARY_VERSION} share/OpenHRP-${OPENHRP_LIBRARY_VERSION} WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3) ") endif() if(need_catkin) diff --git a/cmake_modules/ConfigurePkgConfig.cmake b/cmake_modules/ConfigurePkgConfig.cmake index d94262f78..16398e8c3 100644 --- a/cmake_modules/ConfigurePkgConfig.cmake +++ b/cmake_modules/ConfigurePkgConfig.cmake @@ -1,7 +1,7 @@ # @author Takafumi Tawara if(PKG_CONFIG_FOUND) - set(PACKAGE_NAME "OpenHRP3.2") + set(PACKAGE_NAME "OpenHRP${OPENHRP_LIBRARY_VERSION}") set(OPENHRP_URL "http://www.openrtp.jp/openhrp3/") set(PKG_CONF_REQUIRES "") set(PKG_CONF_LINK_DEPEND_OPTS "''") @@ -91,6 +91,6 @@ if(PKG_CONFIG_FOUND) PKG_CONF_CXXFLAG_OPTIONS ${PKG_CONF_CXXFLAG_OPTIONS}) endif() - configure_file(openhrp3.2.pc.in openhrp3.2.pc @ONLY) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openhrp3.2.pc DESTINATION lib/pkgconfig) + configure_file(openhrp${OPENHRP_LIBRARY_VERSION}.pc.in openhrp${OPENHRP_LIBRARY_VERSION}.pc @ONLY) + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openhrp${OPENHRP_LIBRARY_VERSION}.pc DESTINATION lib/pkgconfig) endif(PKG_CONFIG_FOUND) diff --git a/cpack_modules/shlibs b/cpack_modules/shlibs index ff17a3b4d..b0bd4daea 100644 --- a/cpack_modules/shlibs +++ b/cpack_modules/shlibs @@ -1,6 +1,6 @@ -libhrpCollision-3.2 0 openhrp3.2 -libhrpModel-3.2 0 openhrp3.2 -libhrpPlanner-3.2 0 openhrp3.2 -libhrpRTM-3.2 0 openhrp3.2 -libhrpUtil-3.2 0 openhrp3.2 -libsDIMS 0 openhrp3.2 \ No newline at end of file +libhrpCollision-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION} +libhrpModel-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION} +libhrpPlanner-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION} +libhrpRTM-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION} +libhrpUtil-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION} +libsDIMS 0 openhrp${OPENHRP_LIBRARY_VERSION} \ No newline at end of file diff --git a/script/openhrp-jython-prompt.in b/script/openhrp-jython-prompt.in index 9c53c94ed..a02fb1d40 100755 --- a/script/openhrp-jython-prompt.in +++ b/script/openhrp-jython-prompt.in @@ -1,3 +1,3 @@ #!/bin/sh -export CLASSPATH=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.2/java/openhrpstubskel.jar:$CLASSPATH +export CLASSPATH=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-@OPENHRP_LIBRARY_VERSION@/java/openhrpstubskel.jar:$CLASSPATH jython -DNS_OPT="-ORBInitRef NameService=corbaloc:iiop:@NS_HOST@:@NS_PORT@/NameService" -Dpython.path=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.2/sample/script $@