adding shell script for installing dependencies

Author: markusgft

.travis.yml

@@ -21,15 +21,10 @@ env:
 
 ################################################################################
 
-# Install system dependencies, namely a very barebones ROS setup.
 before_install:
-   #install lapack
-  - sudo apt-get update                  >/dev/null # suppress output
-  - sudo apt-get install liblapack-dev   >/dev/null # suppress output
-  - sudo apt-get install libeigen3-dev   >/dev/null # suppress output
-  - sudo apt-get install cmake           >/dev/null # suppress output
-   
+
    #install gtest
+  - sudo apt-get update                     >/dev/null # suppress output
   - sudo apt install libgtest-dev           >/dev/null # suppress output
   - cd /usr/src/gtest/                      >/dev/null # suppress output
   - sudo mkdir build && cd build            >/dev/null # suppress output
@@ -38,9 +33,6 @@ before_install:
   - sudo cp *.so /usr/lib                   >/dev/null # suppress output
   - cd ~/                                   >/dev/null # suppress output
 
-   #install IPOPT
-  - sudo apt-get install coinor-libipopt-dev  >/dev/null # suppress output
-
    #install ros kinetic
   - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'  >/dev/null # suppress output
   - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -   >/dev/null # suppress output
@@ -63,7 +55,13 @@ install:
   # Add the package under integration to the workspace using a symlink.
   - cd ~/catkin_ws/src
   - ln -s $CI_SOURCE_PATH .
+
+  #install deb-packaged dependencies
+  - cd ~/catkin_ws/src/control-toolbox/ct
+  - ./install_deps   >/dev/null # suppress output
+
   #install kindr
+  - cd ~/catkin_ws/src/
   - git clone https://github.com/ANYbotics/kindr.git
 
 # Install all dependencies, using wstool first and rosdep second.

ct/build_ct.sh

@@ -26,11 +26,18 @@ if [ -d "../$1" ]; then
   cd ..
   echo " === completed " $1 " === "
 else
-    echo "ERROR: you need to start the installer from the control-toolbox/ct directory."
+    echo "ERROR: an error occurred during building or installing. Try building manually."
     exit 1
 fi
 }
 
+## get current folder and make sure it is *ct*
+curr_folder=${PWD##*/}
+if [ $curr_folder != "ct" ]; then
+    echo "ERROR: you need to start the installer from the control-toolbox/ct directory."
+    exit 1
+fi
+
 # check number of user input args
 # no args
 if [ -z "$1" ] 

ct/install_deps.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+sudo apt-get update                 
+
+## get lapack
+sudo apt-get install liblapack-dev
+
+## get eigen3
+sudo apt-get install libeigen3-dev
+
+## get cmake
+sudo apt-get install cmake
+
+## get IPOPT
+sudo apt-get install coinor-libipopt-dev
+
+## get boost
+sudo apt-get install libboost-all-dev

ct_doc/doc/installation.dox

@@ -9,7 +9,7 @@
 - a compiler with C++14 support, e.g. gcc or clang
 
 
-\section dep Dependencies and building the library
+\section dep Get Required Dependencies
  - install <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a> via
   \code{.sh} 
   sudo apt-get update 
@@ -19,40 +19,40 @@
  \code{.sh}
  sudo apt-get install libboost-all-dev
  \endcode
- - install the <a href="https://github.com/ethz-asl/kindr">kindr</a> library
+ - clone the <a href="https://github.com/ethz-asl/kindr">kindr</a> library into your workspace
   \code{.sh}
-  cd ~/catkin_ws/src
+  cd ~/your_workspace/src
   git clone https://github.com/ANYbotics/kindr.git
   \endcode
- - finally, clone the control toolbox and build your workspace
+ - finally, clone the control toolbox into your workspace
   \code{.sh}
-  cd ~/catkin_ws/src
+  cd ~/your_workspace/src
   git clone https://github.com/ethz-adrl/control-toolbox.git
-  catkin build -DCMAKE_BUILD_TYPE=Release
   \endcode
- - VARIANT A, if you are a ROS-user: create a catkin workspace and build the CT using catkin tools
+
+\section build Building the CT
+ - VARIANT A, if you are a ROS-user: build the CT using catkin tools
   \code{.sh}
-  mkdir -p ~/catkin_ws/src
-  cd ~/catkin_ws
-  catkin init
+  cd ~/your_workspace
   catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
   \endcode
- - VARIANT B, if you prefer plain cmake.
-  \code{.sh}
-  todo ...
-  \endcode
- - if you would like to run an example, build the library with 
+  - Now, try to run the examples, e.g. the optimal control and optimal filtering examples:
   \code{.sh}
   cd ~/catkin_ws/src
   catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
-  \endcode
-  Now, try to run the examples, e.g. the optimal control and optimal filtering examples:
-   \code{.sh}
-  cd ~/catkin_ws/src
-  catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
   rosrun ct_optcon ex_NLOC
   rosrun ct_optcon ex_KalmanFiltering
   \endcode
+ - VARIANT B, if you prefer plain cmake.
+  First, make sure you build and install the kindr-library, see <a href="https://github.com/ANYbotics/kindr#building">kindr</a> here.  
+  Then go to the CT and run the build script:
+  \code{.sh}
+  cd ../control-toolbox/ct
+  chmod 775 build_ct.sh
+  ./build_ct.sh -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+  \endcode
+  - This creates a /build subdirectory in every single CT-project, where the examples will be located.
+
 
 
 \section opt_dep Optional Dependencies and Bindings

ct_optcon/examples/CMakeLists.txt

@@ -3,38 +3,58 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h.in ${CMAKE_CURRENT_SOURC
 
 add_executable(ex_ConstraintOutput ConstraintExampleOutput.cpp)
 target_link_libraries(ex_ConstraintOutput ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_ConstraintOutput)
 
 add_executable(ex_LQR LQR.cpp)
 target_link_libraries(ex_LQR ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_LQR)
 
 add_executable(ex_NLOC NLOC.cpp)
 target_link_libraries(ex_NLOC ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_NLOC)
 
 add_executable(ex_NLOC_MPC NLOC_MPC.cpp)
 target_link_libraries(ex_NLOC_MPC ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_NLOC_MPC)
 
 add_executable(ex_KalmanFiltering KalmanFiltering.cpp)
 target_link_libraries(ex_KalmanFiltering ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_KalmanFiltering)
 
 add_executable(ex_KalmanDisturbanceFiltering KalmanDisturbanceFiltering.cpp)
 target_link_libraries(ex_KalmanDisturbanceFiltering ct_optcon )
+list(APPEND optcon_ex_TARGETS ex_KalmanDisturbanceFiltering)
 
 add_executable(ex_Nlp_2D nlp/Nlp2D.cpp)
 target_link_libraries(ex_Nlp_2D ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_Nlp_2D)
 
 add_executable(ex_Nlp_3D nlp/Nlp3D.cpp)
 target_link_libraries(ex_Nlp_3D ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_Nlp_3D)
 
 add_executable(ex_DMS DMS.cpp)
 target_link_libraries(ex_DMS ct_optcon)
+list(APPEND optcon_ex_TARGETS ex_DMS)
 
 if(HPIPM)
     add_executable(ex_NLOC_boxConstrained NLOC_boxConstrained.cpp)
     target_link_libraries(ex_NLOC_boxConstrained ct_optcon)
+    list(APPEND optcon_ex_TARGETS ex_NLOC_boxConstrained)
 
     add_executable(ex_NLOC_generalConstrained NLOC_generalConstrained.cpp)
     target_link_libraries(ex_NLOC_generalConstrained ct_optcon)
+    list(APPEND optcon_ex_TARGETS ex_NLOC_generalConstrained)
 
     add_executable(switched_continuous_optcon_example switched_systems_optcon/switched_continuous_optcon.cpp)
     target_link_libraries(switched_continuous_optcon_example ct_optcon)
-endif(HPIPM)
+    list(APPEND optcon_ex_TARGETS switched_continuous_optcon_example)
+endif(HPIPM)
+
+
+## install examples
+include(GNUInstallDirs)
+install(
+    TARGETS ${optcon_ex_TARGETS}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_optcon
+    )