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mposamposa
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20.04 updates (#259)
* Add signal-scope for 20.04 * Split bionic (18.04) and focal (20.04) prereq installation scripts * Increment dockerfile versions. Add focal dockerfiles and test. * Update to Drake master
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-15
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15 files changed

+107
-15
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‎.cirrus.yml

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@@ -16,6 +16,24 @@ build_task:
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--local_ram_resources=24000
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--local_cpu_resources=8
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//...
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build_focal_task:
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timeout_in: 120m
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container:
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dockerfile: install/focal/Dockerfile
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cpu: 8
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memory: 24
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test_script:
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- bazel build
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--define=WITH_SNOPT=OFF
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--local_ram_resources=24000
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--local_cpu_resources=8
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--jobs=8
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//...
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- bazel test
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--define=WITH_SNOPT=OFF
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--local_ram_resources=24000
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--local_cpu_resources=8
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//...
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build_with_ros_task:
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timeout_in: 120m
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container:

‎WORKSPACE

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@@ -11,9 +11,9 @@ workspace(name = "dairlib")
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# export DAIRLIB_LOCAL_DRAKE_PATH=/home/user/workspace/drake
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# Choose a revision of Drake to use.
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DRAKE_COMMIT = "1cab4e23d5d41690a3c43a0af80cb62f7eaacf3f"
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DRAKE_COMMIT = "2f16f87df02d7c6ef436fb87437e59a3df840bb5"
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DRAKE_CHECKSUM = "da63499c336e690afa41db030c7586e8c2c2ae53ca0a81acf8f94d162a6a2b0e"
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DRAKE_CHECKSUM = "fb65e3f2949a7d50075afa658ec0043b6c8a32f8f692628032c53a18176eff76"
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# Before changing the COMMIT, temporarily uncomment the next line so that Bazel
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# displays the suggested new value for the CHECKSUM.
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# DRAKE_CHECKSUM = "0" * 64

‎examples/Cassie/cassie_state_estimator.cc

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@@ -6,7 +6,6 @@
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#include <fstream>
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#include <utility>
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#include "drake/math/orthonormal_basis.h"
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#include "drake/solvers/equality_constrained_qp_solver.h"
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#include "drake/solvers/mathematical_program.h"
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#include "drake/solvers/solve.h"

‎examples/Cassie/osc_jump/toe_angle_traj_generator.cc

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@@ -27,11 +27,11 @@ FlightToeAngleTrajGenerator::FlightToeAngleTrajGenerator(
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DRAKE_DEMAND(feet_contact_points_.size() == 2);
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// Input/Output Setup
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state_port_ =
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this->DeclareVectorInputPort(OutputVector<double>(plant.num_positions(),
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this->DeclareVectorInputPort("x, u, t", OutputVector<double>(plant.num_positions(),
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plant.num_velocities(),
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plant.num_actuators()))
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.get_index();
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fsm_port_ = this->DeclareVectorInputPort(BasicVector<double>(1)).get_index();
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fsm_port_ = this->DeclareVectorInputPort("fsm", BasicVector<double>(1)).get_index();
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3636
PiecewisePolynomial<double> empty_pp_traj(Eigen::VectorXd(0));
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Trajectory<double>& traj_inst = empty_pp_traj;

‎install/bionic/Dockerfile

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@@ -1,6 +1,6 @@
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FROM ros:melodic-ros-base-bionic
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WORKDIR /dairlib
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ENV DAIRLIB_DOCKER_VERSION=0.1
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ENV DAIRLIB_DOCKER_VERSION=0.21
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COPY . .
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RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip python
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RUN set -eux \
@@ -14,5 +14,5 @@ RUN if type sudo 2>/dev/null; then \
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fi
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RUN set -eux \
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&& export DEBIAN_FRONTEND=noninteractive \
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&& yes | install/install_prereqs_ubuntu.sh \
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&& yes | install/install_prereqs_bionic.sh \
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&& rm -rf /var/lib/apt/lists/*

‎install/bionic/ros/Dockerfile

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@@ -1,6 +1,6 @@
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FROM ros:melodic-ros-base-bionic
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WORKDIR /dairlib
3-
ENV DAIRLIB_DOCKER_VERSION=0.1
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ENV DAIRLIB_DOCKER_VERSION=0.21
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COPY . .
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RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip python
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RUN apt-get install -y python-rosinstall-generator python-catkin-tools
@@ -15,5 +15,5 @@ RUN if type sudo 2>/dev/null; then \
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fi
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RUN set -eux \
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&& export DEBIAN_FRONTEND=noninteractive \
18-
&& yes | install/install_prereqs_ubuntu.sh \
18+
&& yes | install/install_prereqs_bionic.sh \
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&& rm -rf /var/lib/apt/lists/*

‎install/focal/Dockerfile

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@@ -0,0 +1,18 @@
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FROM ros:noetic-ros-base-focal
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WORKDIR /dairlib
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ENV DAIRLIB_DOCKER_VERSION=0.21
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COPY . .
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RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip python
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RUN set -eux \
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&& apt-get install --no-install-recommends locales \
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&& locale-gen en_US.UTF-8
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RUN if type sudo 2>/dev/null; then \
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echo "The sudo command already exists... Skipping."; \
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else \
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echo -e "#!/bin/sh\n\${@}" > /usr/sbin/sudo; \
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chmod +x /usr/sbin/sudo; \
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fi
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RUN set -eux \
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&& export DEBIAN_FRONTEND=noninteractive \
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&& yes | install/install_prereqs_focal.sh \
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&& rm -rf /var/lib/apt/lists/*

‎install/focal/ros/Dockerfile

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FROM ros:noetic-ros-base-focal
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WORKDIR /dairlib
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ENV DAIRLIB_DOCKER_VERSION=0.21
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COPY . .
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RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip python
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RUN apt-get install -y python-rosinstall-generator python-catkin-tools
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RUN set -eux \
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&& apt-get install --no-install-recommends locales \
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&& locale-gen en_US.UTF-8
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RUN if type sudo 2>/dev/null; then \
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echo "The sudo command already exists... Skipping."; \
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else \
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echo -e "#!/bin/sh\n\${@}" > /usr/sbin/sudo; \
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chmod +x /usr/sbin/sudo; \
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fi
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RUN set -eux \
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&& export DEBIAN_FRONTEND=noninteractive \
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&& yes | install/install_prereqs_focal.sh \
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&& rm -rf /var/lib/apt/lists/*

‎install/install_prereqs_ubuntu.sh renamed to ‎install/install_prereqs_bionic.sh

File renamed without changes.

‎install/install_prereqs_focal.sh

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#!/bin/bash
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# look in WORKSPACE file for appropriate commit number
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DRAKE_COMMIT=$(grep -oP '(?<=DRAKE_COMMIT = ")(.*)(?=")' $(dirname "$0")/../WORKSPACE)
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6+
ubuntu_codename=$(lsb_release -sc)
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# Add drake apt repository for lcm and libbot2
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wget -O - https://drake-apt.csail.mit.edu/drake.pub.gpg | apt-key add
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echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/focal focal main" > /etc/apt/sources.list.d/drake.list
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apt-get update
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13+
echo "Using Drake commit '${DRAKE_COMMIT}'"
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# Download and run drake install scripts
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mkdir tmp
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cd tmp
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wget "https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/install_prereqs.sh"
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mkdir source_distribution
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cd source_distribution
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wget "https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/source_distribution/install_prereqs.sh"
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# skipping drake's "install_prereqs_user_environment.sh"
22+
touch install_prereqs_user_environment.sh
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wget "https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/source_distribution/packages-${ubuntu_codename}.txt"
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wget "https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/source_distribution/packages-${ubuntu_codename}-test-only.txt"
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cd ..
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mkdir binary_distribution
27+
cd binary_distribution
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wget "https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/binary_distribution/install_prereqs.sh"
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wget "https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/binary_distribution/packages-${ubuntu_codename}.txt"
30+
cd ..
31+
chmod +x install_prereqs.sh
32+
./install_prereqs.sh
33+
cd ..
34+
rm -rf tmp/
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# In addition to drake, install lcm and libbot2
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apt install lcm libbot2

‎multibody/kinematic/distance_evaluator.cc

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#include "multibody/kinematic/distance_evaluator.h"
22

3-
#include "drake/math/orthonormal_basis.h"
4-
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using drake::MatrixX;
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using drake::Matrix3X;
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using drake::VectorX;

‎systems/ros/ros_subscriber_system.h

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@@ -63,13 +63,14 @@ class RosSubscriberSystem : public drake::systems::LeafSystem<double> {
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*/
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RosSubscriberSystem(const std::string& topic, ros::NodeHandle* node_handle)
6565
: topic_(topic), node_handle_(node_handle) {
66-
DRAKE_DEMAND(node_handle_);
66+
DRAKE_DEMAND(node_handle_ != nullptr);
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6868

6969
subscriber_ = node_handle->subscribe(
7070
topic, 1, &RosSubscriberSystem<RosMessage>::HandleMessage, this);
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7272
DeclareAbstractOutputPort(
73+
topic,
7374
[this]() {
7475
return this->AllocateOutputValue();
7576
},
@@ -151,8 +152,7 @@ class RosSubscriberSystem : public drake::systems::LeafSystem<double> {
151152
drake::systems::EventCollection<
152153
drake::systems::UnrestrictedUpdateEvent<double>>&
153154
uu_events = events->get_mutable_unrestricted_update_events();
154-
uu_events.add_event(
155-
std::make_unique<drake::systems::UnrestrictedUpdateEvent<double>>(
155+
uu_events.AddEvent(drake::systems::UnrestrictedUpdateEvent<double>(
156156
drake::systems::Event<double>::TriggerType::kTimed));
157157
}
158158

‎systems/trajectory_optimization/dircon_position_data.cc

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#include <vector>
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#include "systems/trajectory_optimization/dircon_position_data.h"
5-
#include "drake/math/orthonormal_basis.h"
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namespace dairlib {
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‎tools/workspace/ros/compile_ros_workspace.sh

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#!/usr/bin/env bash
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# Only tested on Ubuntu 18.04
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BASE_DIR="$PWD"
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cd $(dirname "$BASH_SOURCE")

‎tools/workspace/signal_scope/repository.bzl

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@@ -20,6 +20,10 @@ def _impl(repository_ctx):
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urls = ["https://www.seas.upenn.edu/~posa/files/signal-scope/signal-scope-18.04.zip"]
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sha256 = "b9dd567bde8f4a1043ae9f13194b7a2cf9c8c716f8e7373f11a98a770c404d54"
2222
prefix = "signal-scope-18.04"
23+
elif os_result.ubuntu_release == "20.04":
24+
urls = ["https://www.seas.upenn.edu/~posa/files/signal-scope/signal-scope-20.04.zip"]
25+
sha256 = "6bb42fdec9767984d21cd07ab0eb13e11189c3a1b5931a5fabef4c23de247fa6"
26+
prefix = "signal-scope-20.04"
2327
else:
2428
fail("Operating system is NOT supported", attr = os_result)
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