Merge pull request graspit-simulator#22 from iretiayo/cmake_install

 Changed graspit_interface ros package to work with globally installed graspit

.travis.yml

@@ -35,7 +35,7 @@ env:
 
 ################################################################################
 
-# Install system dependencies, namely a very barebones ROS setup.
+# Install system dependencies, namely a very barebones ROS setup#.
 before_install:
   - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
   - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
@@ -53,13 +53,20 @@ install:
 # fails. Running `catkin_test_results` aggregates all the results and returns
 # non-zero when a test fails (which notifies Travis the build failed).
 script:
+  - cd
+  - git clone https://github.com/graspit-simulator/graspit.git
+  - cd graspit
+  - mkdir build
+  - cd build
+  - cmake ..
+  - sudo make install
+  - export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
   - source /opt/ros/$ROS_DISTRO/setup.bash
   - cd
   - mkdir -p test_ws/src
   - cd test_ws/src
   - echo CI_SOURCE_PATH $CI_SOURCE_PATH
   - ln -s $CI_SOURCE_PATH graspit_interface
-  - git clone https://github.com/graspit-simulator/graspit-ros --recursive
   - catkin_init_workspace
   - cd ..
   - catkin_make

CMakeLists.txt

@@ -10,13 +10,13 @@ find_package(catkin REQUIRED COMPONENTS
     geometry_msgs
     sensor_msgs
     roscpp
-    graspit
     actionlib
     actionlib_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Qt4 COMPONENTS QtCore  REQUIRED)
+find_package(graspit)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -160,6 +160,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 ## Your package locations should be listed before other locations
 include_directories(include
                     ${catkin_INCLUDE_DIRS}
+                    ${GRASPIT_INCLUDE_DIRS}
                     ${QT_INCLUDES})
 
 ADD_DEFINITIONS(${QT_DEFINITIONS})

README.md

@@ -3,7 +3,7 @@
 graspit_interface
 =================
 
-This plugin exposes a ROS interface for the GraspIt! simulator via [graspit-ros](https://github.com/graspit-simulator/graspit-ros). The main purpose for writing this plugin was to demonstrate what we believe is the easiest way to expose GraspIt!
+This plugin exposes a ROS interface for the GraspIt! simulator. The main purpose for writing this plugin was to demonstrate what we believe is the easiest way to expose GraspIt!
 functionality as a variety ROS services and action servers. 
 
 Please feel free to use this as a template to write your own bridge between a ros system and GraspIt!.
@@ -12,7 +12,24 @@ To see how a client interacts with this interface, check out our python client
 [graspit_commander](https://github.com/graspit-simulator/graspit_commander).
 
 
-Setup:
+GraspIt Setup:
+------
+```
+git clone https://github.com/graspit-simulator/graspit.git
+cd graspit
+mkdir build
+cd build
+cmake ..
+make -j5
+sudo make install
+```
+
+You might need to add /usr/local/lib to the loaded library path as in:
+```
+export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
+```
+
+ROS Setup:
 ------
 ```
 //create ros workspace
@@ -23,7 +40,6 @@ source /opt/ros/indigo/setup.bash
 catkin_init_workspace . 
 
 //clone packages
-git clone https://github.com/graspit-simulator/graspit-ros.git --recursive
 git clone https://github.com/graspit-simulator/graspit_interface.git
 git clone https://github.com/graspit-simulator/graspit_commander.git
 

include/graspit_interface.h

@@ -8,9 +8,9 @@
 #endif
 
 //GraspIt! includes
-#include <graspit_source/include/plugin.h>
-#include "graspit_source/include/EGPlanner/searchState.h"
-#include "graspit_source/include/EGPlanner/simAnnPlanner.h"
+#include <graspit/plugin.h>
+#include <graspit/EGPlanner/searchState.h>
+#include <graspit/EGPlanner/simAnnPlanner.h>
 
 //Message includes
 #include <graspit_interface/SearchSpace.h>

scripts/launch_graspit.sh

@@ -5,9 +5,10 @@ if env | grep -q ^GRASPIT=
 then
     echo "Using GRASPIT=" $GRASPIT
 else
-    export GRASPIT=$(rospack find graspit)/graspit_source
+    export GRASPIT="/home/${USER}/.graspit"
+    echo "Using GRASPIT=" $GRASPIT
 fi
 
 export GRASPIT_PLUGIN_DIR=$(dirname $(catkin_find --first-only libgraspit_interface.so))
 
-rosrun graspit graspit_simulator -p libgraspit_interface --node_name graspit
+graspit_simulator -p libgraspit_interface --node_name graspit

src/graspit_interface.cpp

@@ -1,19 +1,20 @@
 #include "graspit_interface.h"
 
-#include "graspit_source/include/graspitCore.h"
-#include "graspit_source/include/robot.h"
-#include "graspit_source/include/world.h"
-#include "graspit_source/include/ivmgr.h"
-
-#include "graspit_source/include/quality.h"
-#include "graspit_source/include/grasp.h"
-#include "graspit_source/include/EGPlanner/searchState.h"
-#include "graspit_source/include/EGPlanner/egPlanner.h"
-#include "graspit_source/include/EGPlanner/simAnnPlanner.h"
-#include "graspit_source/include/EGPlanner/guidedPlanner.h"
-
-#include "cmdline/cmdline.h"
-
+#include <graspit/graspitCore.h>
+#include <graspit/robot.h>
+#include <graspit/world.h>
+#include <graspit/ivmgr.h>
+
+#include <graspit/quality/quality.h>
+#include <graspit/quality/qualVolume.h>
+#include <graspit/quality/qualEpsilon.h>
+#include <graspit/grasp.h>
+#include <graspit/EGPlanner/searchState.h>
+#include <graspit/EGPlanner/egPlanner.h>
+#include <graspit/EGPlanner/simAnnPlanner.h>
+#include <graspit/EGPlanner/guidedPlanner.h>
+
+#include <graspit/cmdline/cmdline.h>
 
 namespace GraspitInterface
 {