Change souce code from zip(ver 1.4.0) to github (developer)

.travis.yml

@@ -7,7 +7,7 @@ compiler:
   - gcc
 env:
   #- ROS_DISTRO=groovy ROSWS=rosws  BUILDER=rosbuild  USE_DEB=true
-  - ROS_DISTRO=groovy ROSWS=rosws  BUILDER=rosbuild  USE_DEB=false
+  # - ROS_DISTRO=groovy ROSWS=rosws  BUILDER=rosbuild  USE_DEB=false
   #- ROS_DISTRO=groovy ROSWS=wstool BUILDER=catkin    USE_DEB=true
   - ROS_DISTRO=groovy ROSWS=wstool BUILDER=catkin    USE_DEB=false
   #- ROS_DISTRO=hydro  ROSWS=wstool BUILDER=catkin    USE_DEB=true
@@ -20,6 +20,8 @@ matrix:
     - env: ROS_DISTRO=indigo  ROSWS=wstool BUILDER=catkin   USE_DEB=false
 script: source .travis/travis.sh
 notifications:
+  recipients:
+    - [email protected]
   email:
     on_success: always
-    on_failure: always
+    on_failure: always

CMakeLists.txt

@@ -0,0 +1,34 @@
+if(NOT USE_ROSBUILD)
+  include(catkin.cmake)
+  return()
+endif()
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

Makefile

@@ -0,0 +1,12 @@
+Ball: installed all
+include $(shell rospack find mk)/cmake.mk
+
+include Makefile.choreonoid
+#include Makefile.graspplugin
+
+installed: installed.choreonoid # installed.graspplugin
+
+clean: clean.choreonoid
+
+wipe: clean
+	rm -fr build bin include lib share

Makefile.choreonoid

@@ -0,0 +1,37 @@
+# -*- mode: makefile -*-
+INSTALL_DIR = $(CURDIR)
+CNOID_VER   = 1.4.0
+FILENAME    = choreonoid-$(CNOID_VER).zip
+TARBALL     = build/$(FILENAME)
+TARBALL_URL = http://choreonoid.org/_downloads/$(FILENAME)
+# SOURCE_DIR  = build/choreonoid-$(CNOID_VER)
+GIT_DIR = build/choreonoid-$(CNOID_VER)
+GIT_URL = https://github.com/s-nakaoka/choreonoid.git
+GIT_REVISION = master
+# GIT_REVISION = add-to-headers
+#TARBALL_PATCH = add_dummy_option.patch
+BUILD_HELLO_WORLD_SAMPLE = ON # for hello world
+
+# UNPACK_CMD  = unzip
+# MD5SUM_FILE = $(shell rospack find choreonoid)/$(FILENAME).md5sum
+# include $(shell rospack find mk)/download_unpack_build.mk
+
+MK_DIR       = $(shell rospack find mk)
+include $(MK_DIR)/git_checkout.mk
+
+installed.choreonoid: $(GIT_DIR) # $(SOURCE_DIR)/unpacked
+	@echo "git checkout choreonoid $(GIT_REVISION) ..."
+	# cd $(GIT_DIR) && git reset --hard && git checkout $(GIT_REVISION)
+	cd $(GIT_DIR) && git checkout $(GIT_REVISION)
+
+	@echo "compile hrpsys-base ... "
+	@echo "                 PATH=$(PATH)"
+	@echo "                 INSTALL_DIR=$(INSTALL_DIR)"
+	@echo "                 GIT_DIR=$(GIT_DIR)"
+	cd $(GIT_DIR) && cmake . -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR) -DENABLE_INSTALL_RPATH=ON -DBUILD_HELLO_WORLD_SAMPLE=$(BUILD_HELLO_WORLD_SAMPLE) && make -j 4 && make install
+	touch installed.choreonoid
+
+clean.choreonoid:
+	-cd $(GIT_DIR) && make clean
+	rm -fr installed.choreonoid
+

catkin.cmake

@@ -0,0 +1,99 @@
+# http://ros.org/doc/hydro/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(choroenoid)
+
+find_package(catkin REQUIRED COMPONENTS mk)
+
+# catkin_package(DEPENDS eigen)
+
+# define choreonoid version to be installed 
+if(NOT CNOID_MAJOR_VER)
+	# set(CNOID_VER "1.4.0" CACHE STRING "choreonoid version to be installed" FORCE)
+	set(CNOID_MAJOR_VER 1) 
+	set(CNOID_MINOR_VER 5)
+	set(CNOID_PATCH_VER 0)
+endif()
+
+execute_process(
+    COMMAND cmake -E chdir ${CMAKE_CURRENT_BINARY_DIR} # go to build/rtm-ros-robotics/choreonoid
+    make -f ${PROJECT_SOURCE_DIR}/Makefile.choreonoid # PROJECT_SOURCE_DIR=src/rtm-ros-robotics/choreonoid
+    INSTALL_DIR=${CATKIN_DEVEL_PREFIX} # CATKIN_DEVEL_PREFIX=devel (for making choreonoid(binary) in devel/bin)
+    MK_DIR=${mk_PREFIX}/share/mk # /opt/ros/hydro/share/mk
+    PATCH_DIR=${PROJECT_SOURCE_DIR}
+		CNOID_VER=${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}.${CNOID_PATCH_VER}
+    installed.choreonoid
+    RESULT_VARIABLE _make_failed)
+if (_make_failed)
+  message(FATAL_ERROR "Failed to build choreonoid: ${_make_failed}")
+endif(_make_failed)
+
+# move binary
+# bin -> {source}/bin
+if(NOT EXISTS ${PROJECT_SOURCE_DIR}/bin/)
+  execute_process(
+    COMMAND cmake -E make_directory ${PROJECT_SOURCE_DIR}/bin/
+    RESULT_VARIABLE _make_failed)
+  if (_make_failed)
+    message(FATAL_ERROR "make_directory ${PROJECT_SOURCE_DIR}/bin/ failed: ${_make_failed}")
+  endif(_make_failed)
+endif()
+if(EXISTS ${CATKIN_DEVEL_PREFIX}/bin/choreonoid)
+  execute_process(
+    COMMAND cmake -E copy ${CATKIN_DEVEL_PREFIX}/bin/choreonoid ${PROJECT_SOURCE_DIR}/bin/choreonoid
+    RESULT_VARIABLE _copy_failed)
+  message("copy binary files ${PROJECT_SOURCE_DIR}/bin/choreonoid")
+endif()
+if (_rename_failed)
+  message(FATAL_ERROR "Copy hrpsys/bin failed: ${_rename_failed}")
+endif(_rename_failed)
+
+# move libraries
+# lib -> {source}/lib
+if(NOT EXISTS ${PROJECT_SOURCE_DIR}/lib/)
+  execute_process(
+    COMMAND cmake -E make_directory ${PROJECT_SOURCE_DIR}/lib/
+    RESULT_VARIABLE _make_failed)
+  if (_make_failed)
+    message(FATAL_ERROR "make_directory ${PROJECT_SOURCE_DIR}/lib/ failed: ${_make_failed}")
+  endif(_make_failed)
+endif()
+execute_process(
+  COMMAND grep ${CATKIN_DEVEL_PREFIX}/lib/ ${CMAKE_CURRENT_BINARY_DIR}/build/choreonoid-${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}.${CNOID_PATCH_VER}/install_manifest.txt
+  OUTPUT_VARIABLE _lib_files
+  RESULT_VARIABLE _grep_failed) # get path of installed lib files in choreonoid-* and preserve in _lib_files 
+if (_grep_failed)
+  message(FATAL_ERROR "grep : ${CMAKE_CURRENT_BINARY_DIR}/build/choreonoid-${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}.${CNOID_PATCH_VER}/install_manifest.txt ${_grep_failed}")
+endif(_grep_failed)
+string(REGEX REPLACE "\n" ";" _lib_files ${_lib_files})
+foreach(_lib_file ${_lib_files})
+  get_filename_component(_lib_file_name ${_lib_file} NAME) # get filename (without path)
+  if ("${_lib_file}" MATCHES "lib/choreonoid*") # install libraries in lib/choreonoid-* 
+    string(REGEX REPLACE "${CATKIN_DEVEL_PREFIX}/lib/" "" _choreonoid_lib_file ${_lib_file}) # trim devel/rtm-ros-robotics/choreonoid/choreonoid-*/*.so -> choreonoid-*/*.so
+    get_filename_component(_choreonoid_file_dir  ${_choreonoid_lib_file} PATH) # trim choreonid-*/*.so -> choreonoid-*
+		execute_process(
+      COMMAND cmake -E copy_directory ${CATKIN_DEVEL_PREFIX}/lib/${_choreonoid_file_dir} ${PROJECT_SOURCE_DIR}/lib/${_choreonoid_file_dir}
+      RESULT_VARIABLE _copy_failed) # copy devel/rtm-ros-robotics/choreonoid/lib/choreonoid-* to src/rtm-ros-robotics/choreonoid
+  elseif ("${_lib_file_name}" MATCHES "libCnoid.*so") # install lib/libCnoid*.so
+    execute_process(
+      COMMAND cmake -E copy ${CATKIN_DEVEL_PREFIX}/lib/${_lib_file_name} ${PROJECT_SOURCE_DIR}/lib/${_lib_file_name}
+      RESULT_VARIABLE _copy_failed) # copy devel/rtm-ros-robotics/choreonoid/lib/libCnoid* to src/rtm-ros-robotics/choreonoid
+  endif()
+endforeach()
+
+# # for balancer plugin library
+# if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # check ARCHITECTURE
+# 	set( ARCH_VAL x64 )
+# elseif( CMAKE_SIZEOF_VOID_P EQUAL 4 )
+# 	set( ARCH_VAL x86 )
+# else()
+# 	message(FATAL_ERROR "We can build on only Linux(32bit or 64bit)")
+# endif()
+# execute_process(
+# 	COMMAND cmake -E copy ${CMAKE_CURRENT_BINARY_DIR}/build/choreonoid-${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}.${CNOID_PATCH_VER}/proprietary/BalancerPlugin/libCnoidBalancerPlugin.${ARCH_VAL}.so ${PROJECT_SOURCE_DIR}/lib/choreonoid-${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}/libCnoidBalancerPlugin.so
+# 	RESULT_VARIABLE _balancer_library_copy_failed)
+# execute_process(
+# 	COMMAND cmake -E copy ${CMAKE_CURRENT_BINARY_DIR}/build/choreonoid-${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}.${CNOID_PATCH_VER}/proprietary/BalancerPlugin/libCnoidBalancerPlugin.${ARCH_VAL}.so ${CATKIN_DEVEL_PREFIX}/lib/choreonoid-${CNOID_MAJOR_VER}.${CNOID_MINOR_VER}/libCnoidBalancerPlugin.so
+# 	RESULT_VARIABLE _balancer_library_copy_failed)
+# if(_balancer_library_copy_failed)
+# 	message(FATAL_ERROR "Copy libCnoidBlancer.so failed: ${_balancer_library_copy_failed}")
+# endif(_balancer_library_copy_failed)

choreonoid-1.3.1.zip.md5sum

@@ -0,0 +1 @@
+2c309ed0bb6890b37979085239a35b02  choreonoid-1.3.1.zip

choreonoid-1.4.0.zip.md5sum

@@ -0,0 +1 @@
+e56e98cc33effbfbcbdb7e3ab4153fc3  choreonoid-1.4.0.zip

launch/grasp.launch

@@ -0,0 +1,4 @@
+<launch>
+  <node name="choreonoid" pkg="choreonoid" type="choreonoid"
+	args="--start-playback $(find choreonoid)/share/extplugin/graspPlugin/Samples/pa10.cnoid -- " />
+</launch>

launch/sample.launch

@@ -0,0 +1,4 @@
+<launch>
+  <node name="choreonoid" pkg="choreonoid" type="choreonoid"
+	args="--start-playback $(find choreonoid)/share/choreonoid-1.1/projects/GR001Sample.cnoid  -- " />
+</launch>

manifest.xml

@@ -0,0 +1,84 @@
+<package>
+  <description brief="choreonoid">
+
+     choreonoid
+
+This program has been developed by Shin'ichiro Nakaoka and Choreonoid Development Team, AIST.
+
+This program is free software; you can redistribute it and/or modify it under the terms of
+the GNU Lesser General Public License as published by the Free Software Foundation; either 
+version 2.1 of the License, or (at your option) any later version.
+
+This package is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; 
+without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 
+See the GNU Lesser General Public License for more details.
+
+The source and some binary packages of this program also include the following third-party 
+libraries:
+
+* Eigen (http://eigen.tuxfamily.org/)
+* IJG JPEG Library (http://www.ijg.org/)
+* libpng (http://www.libpng.org/pub/png/libpng.html)
+* LibYAML (http://pyyaml.org/wiki/LibYAML)
+* OPCODE (http://www.codercorner.com/Opcode.htm)
+* zlib (http://zlib.net/)
+
+These libraries are used and redistributed under the terms of their licenses. Please see
+the corresponding directories in the source package or their official web sites to see the
+details of their licenses.
+
+This program also depends on a lot of other external libraries, which are linked into this
+program during the execution. Some binary packages of this program may include the binaries
+of the following libraries:
+
+* Qt (http://qt.nokia.com/)
+* OpenSceneGraph (http://www.openscenegraph.org)
+* Boost C++ Libraries (http://www.boost.org/)
+
+Please see their official web sites to see the details of their licenses.
+
+  </description>
+  <author>Shin'ichiro Nakaoka and Choreonoid Development Team, AIST.</author>
+  <license>LGPL 2.1</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/choreonoid</url>
+
+	<!-- <rosdep name="build-essential" /> -->
+	<!-- <rosdep name="cmake-curses-gui" /> -->
+	<rosdep name="boost" />
+	<rosdep name="eigen" />
+	<!-- <rosdep name="libeigen3-doc" /> -->
+	<rosdep name="libqt4-dev" />
+	<rosdep name="libqt4-opengl-dev" />
+	<rosdep name="qt4-dev-tools" />
+	<!-- <rosdep name="qt4-qtconfig" /> -->
+	<!-- <rosdep name="qt4-doc-html" /> -->
+	<rosdep name="libglew-dev" />
+	<rosdep name="yaml" />
+	<!-- <rosdep name="gettext" /> -->
+	<rosdep name="zlib1g" />
+	<rosdep name="libjpeg" />
+	<rosdep name="libpng12-dev" />
+	<rosdep name="opende" />
+	<rosdep name="omniorb" />
+	<!-- <rosdep name="libcos4-dev" /> -->
+	<rosdep name="omniidl" />
+	<!-- <rosdep name="omniorb-nameserver" /> -->
+	<rosdep name="python-omniorb" />
+	<rosdep name="omniidl-python" />
+	<rosdep name="libgstreamer0.10-dev" />
+	<rosdep name="libgstreamer-plugins-base0.10-dev" />
+	<!-- <rosdep name="libsndfile1-dev" /> -->
+	<!-- <rosdep name="libpulse-dev" /> -->
+	<rosdep name="python-dev" />
+	<rosdep name="uuid" />
+	<rosdep name="python-qt-bindings" />
+
+  <rosdep name="doxygen" />
+  <rosdep name="mk" />
+  <rosdep name="eigen" />
+
+
+</package>
+
+