Adds hsrb_description as an optional submodule of Drake. (RobotLocomo…

…tion#3986)

* Added hsrb_description as an optional submodule of Drake.

* Merge branch 'master' of github.com:RobotLocomotion/drake into feature/add_hsrb_description

* Merge branch 'master' of github.com:RobotLocomotion/drake into feature/add_hsrb_description

* Modified hsrb_description to point to master.

* Modified hsrb_description submodule to be ON by default, which is possible now that it's open-source.

* Merge branch 'master' of github.com:RobotLocomotion/drake into feature/add_hsrb_description

* Modified URL of hsrb_description submodule.

* Removed ros_packages.cmake. Switched to use drake_add_external for adding hsrb_description.

* Merge branch 'feature/add_hsrb_description' of github.com:liangfok/drake into feature/add_hsrb_description

* Modified hsrb_description to not be ALWAYS. Updated source directory.

* Sorted optional externals in lexicographical order.

.gitmodules

@@ -96,3 +96,6 @@
 [submodule "externals/robotlocomotion_lcmtypes"]
 	path = externals/robotlocomotion_lcmtypes
 	url = https://github.com/RobotLocomotion/lcmtypes.git
+[submodule "ros/hsrb_description"]
+	path = ros/hsrb_description
+	url = https://github.com/ToyotaResearchInstitute/hsrb_description.git

CMakeLists.txt

@@ -332,3 +332,14 @@ drake_add_example(LittleDog OFF
 
 # END examples
 ###############################################################################
+
+# hsrb_description is a ROS package that contains a model of Toyota's Human
+# Support Robot (HSR). The following method call downloads hsrb_description as a
+# submodule in drake-distro/ros/ but does not build or install it since it uses
+# the Catkin build system and should only be compiled when Drake is installed as
+# a ROS Catkin package. For details on how to do this, see:
+# http://drake.mit.edu/from_source_ros.html.
+drake_add_external(hsrb_description PUBLIC
+  SOURCE_DIR ${PROJECT_SOURCE_DIR}/ros/hsrb_description
+  BUILD_COMMAND :
+  INSTALL_COMMAND :)

cmake/options.cmake

@@ -207,10 +207,17 @@ macro(drake_setup_options)
   #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   # BEGIN external projects that are ON by default
 
+  drake_optional_external(BULLET ON "Bullet library for collision detection")
+
+  drake_optional_external(CCD ON "Convex shape Collision Detection library")
+
   drake_optional_external(GOOGLE_STYLEGUIDE ON
     DEPENDS "NOT DISABLE_PYTHON"
     "Google code style tools for cpplint.py style checking" ON)
 
+  drake_optional_external(HSRB_DESCRIPTION ON
+    "A ROS package containing a model of Toyota's HSR version B robot.")
+
   drake_optional_external(SPDLOG ON
     "Fast C++ text logging facility\; disabling will turn off text logging")
 
@@ -219,10 +226,6 @@ macro(drake_setup_options)
     "Helper tools to build Python & MATLAB wrappers"
     "for C++ libraries with Eigen")
 
-  drake_optional_external(BULLET ON "Bullet library for collision detection")
-
-  drake_optional_external(CCD ON "Convex shape Collision Detection library")
-
   if(NOT WIN32)
     # Not win32 yet; builds, but requires manual installation of VTKk, etc.
     drake_optional_external(DIRECTOR ON