Fix multiple CI issues

.ci/before_install.sh

@@ -2,6 +2,6 @@
 
 set -ex
 
-if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/before_install_linux.sh"; 
+if [ "${USE_CATKIN}" = "ON" ]; then
+  . "${TRAVIS_BUILD_DIR}/.ci/before_install_catkin.sh";
 fi

.ci/docker/env.list

@@ -2,10 +2,16 @@ TRAVIS
 TRAVIS_PULL_REQUEST
 TRAVIS_OS_NAME
 TRAVIS_BUILD_DIR
+TRAVIS_REPO_SLUG
 
+CODECOV_TOKEN
+DISTRIBUTION
+GITHUB_TOKEN
+REPOSITORY
+
+BUILD_AIKIDOPY
 BUILD_NAME
 BUILD_TYPE
 CATKIN_CONFIG_OPTIONS
-DISTRIBUTION
-REPOSITORY
 SUDO
+USE_CATKIN

.ci/docker/ubuntu-disco

@@ -0,0 +1,21 @@
+FROM ubuntu:disco
+
+# Workaround to suppress "Warning: apt-key output should not be parsed (stdout is not a terminal)"
+ENV APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1
+
+RUN apt-get update -qq
+
+# To run dpkg without interactive dialogue
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get install -y \
+    build-essential  \
+    cmake \
+    curl \
+    git \
+    lsb-release \
+    pkg-config \
+    python \
+    software-properties-common \
+    sudo \
+    tzdata

.ci/docker/ubuntu-trusty

@@ -0,0 +1,13 @@
+FROM ubuntu:trusty
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    cmake \
+    curl \
+    git \
+    lsb-release \
+    pkg-config \
+    python \
+    software-properties-common \
+    sudo

.ci/install.sh

@@ -3,7 +3,11 @@
 set -ex
 
 if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/install_linux.sh"
+  if [ "${USE_CATKIN}" = "ON" ]; then
+    . "${TRAVIS_BUILD_DIR}/.ci/install_linux_catkin.sh"
+  else
+    . "${TRAVIS_BUILD_DIR}/.ci/install_linux_cmake.sh"
+  fi
 elif [ "${TRAVIS_OS_NAME}" = "osx"   ]; then
   . "${TRAVIS_BUILD_DIR}/.ci/install_macos.sh"
 fi

.ci/install_linux.sh → .ci/install_linux_catkin.sh

@@ -7,5 +7,5 @@ cp -r "${TRAVIS_BUILD_DIR}" src
 ./scripts/internal-distro.py --workspace=src distribution.yml --repository "${REPOSITORY}" ${REQUIRED_ONLY}
 
 if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
-  sudo apt-get install clang-format-3.8
+  sudo apt-get install -y clang-format-3.8
 fi

.ci/install_linux_cmake.sh

@@ -0,0 +1,87 @@
+#!/usr/bin/env bash
+
+set -ex
+
+$SUDO apt-get -qq update
+$SUDO apt-get -y install lsb-release software-properties-common
+if [ $(lsb_release -sc) = "trusty" ]; then
+  $SUDO apt-add-repository -y ppa:libccd-debs/ppa
+  $SUDO apt-add-repository -y ppa:fcl-debs/ppa
+fi
+$SUDO apt-add-repository -y ppa:dartsim/ppa
+$SUDO apt-get -qq update
+
+# Build tools
+$SUDO apt-get -y install \
+  sudo \
+  build-essential \
+  cmake \
+  pkg-config \
+  curl \
+  git
+if [ $COMPILER = clang ]; then
+  $SUDO apt-get -qq -y install clang
+fi
+
+# Required dependencies
+$SUDO apt-get -y install \
+  libboost-filesystem-dev \
+  libdart6-all-dev \
+  libompl-dev
+
+# Optional dependencies
+$SUDO apt-get -y install \
+  libtinyxml2-dev \
+  libyaml-cpp-dev
+
+if [ "$BUILD_AIKIDOPY" = "ON" ]; then
+  $SUDO apt-get -y install python3-dev python3-numpy
+  $SUDO apt-get -y install python3-pip -y
+  $SUDO pip3 install pytest -U
+
+  if [ $(lsb_release -sc) = "trusty" ]; then
+    git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
+    cd pybind11
+    mkdir build
+    cd build
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
+    make -j4
+    $SUDO make install
+    cd ../..
+  elif [ $(lsb_release -sc) = "xenial" ]; then
+    git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
+    cd pybind11
+    mkdir build
+    cd build
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
+    make -j4
+    $SUDO make install
+    cd ../..
+  elif [ $(lsb_release -sc) = "bionic" ]; then
+    git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
+    cd pybind11
+    mkdir build
+    cd build
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
+    make -j4
+    $SUDO make install
+    cd ../..
+  elif [ $(lsb_release -sc) = "cosmic" ]; then
+    $SUDO apt-get -y install pybind11-dev python3 libpython3-dev python3-pytest \
+      python3-distutils
+  elif [ $(lsb_release -sc) = "disco" ]; then
+    $SUDO apt-get -y install pybind11-dev python3 libpython3-dev python3-pytest \
+      python3-distutils
+  else
+    echo -e "$(lsb_release -sc) is not supported."
+    exit 1
+  fi
+fi
+
+if [ $BUILD_DOCS = "ON" ]; then
+  $SUDO apt-get -qq -y install doxygen
+fi
+
+if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
+  sudo apt-get install -y clang-format-3.8
+fi

.ci/script.sh

@@ -2,8 +2,8 @@
 
 set -ex
 
-if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/script_linux.sh"
-elif [ "${TRAVIS_OS_NAME}" = "osx"   ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/script_macos.sh"
+if [ "${USE_CATKIN}" = "ON" ]; then
+  . "${TRAVIS_BUILD_DIR}/.ci/script_catkin.sh"
+else
+  . "${TRAVIS_BUILD_DIR}/.ci/script_cmake.sh"
 fi

.ci/script_macos.sh → .ci/script_cmake.sh

@@ -2,7 +2,7 @@
 
 set -ex
 
-unset -f cd; # Disable rvm ovveride of cd (see https://github.com/travis-ci/travis-ci/issues/8703)
+unset -f cd; # Disable rvm override of cd (see https://github.com/travis-ci/travis-ci/issues/8703)
 
 mkdir build
 cd build

.travis.yml

@@ -21,68 +21,134 @@ matrix:
     - os: linux
       compiler: gcc
       env:
-        - BUILD_NAME=TRUSTY_RELEASE
+        - BUILD_NAME=TRUSTY_CATKIN_RELEASE
+        - DOCKER_FILE="ubuntu-trusty"
         - REQUIRED_ONLY=--required-only
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
+
     - os: linux
       compiler: gcc
       env:
-        - BUILD_NAME=TRUSTY_FULL_DEBUG
+        - BUILD_NAME=TRUSTY_CATKIN_FULL_DEBUG
+        - DOCKER_FILE="ubuntu-trusty"
         - BUILD_TYPE=Debug
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Debug -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
+
     - os: linux
       compiler: gcc
       env:
-        - BUILD_NAME=TRUSTY_FULL_RELEASE
+        - BUILD_NAME=TRUSTY_CATKIN_FULL_RELEASE
+        - DOCKER_FILE="ubuntu-trusty"
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
+
     - os: linux
       env:
-        - BUILD_NAME=XENIAL_FULL_RELEASE
+        - BUILD_NAME=XENIAL_CATKIN_FULL_RELEASE
         - DOCKER_FILE="ubuntu-xenial"
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
       services: docker
+
     - os: linux
       env:
-        - BUILD_NAME=BIONIC_FULL_RELEASE
+        - BUILD_NAME=BIONIC_CATKIN_FULL_RELEASE
         - DOCKER_FILE="ubuntu-bionic"
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
+
+    - os: linux
+      env:
+        - BUILD_NAME=BIONIC_CMAKE_RELEASE
+        - DOCKER_FILE="ubuntu-bionic"
+        - BUILD_TYPE=Release
+        - USE_CATKIN=OFF
       services: docker
+
+    - os: linux
+      env:
+        - BUILD_NAME=DISCO_CMAKE_RELEASE
+        - DOCKER_FILE="ubuntu-disco"
+        - BUILD_TYPE=Release
+        - USE_CATKIN=OFF
+      services: docker
+
     - os: osx
       osx_image: xcode9.3
       compiler: clang
       env:
-        - BUILD_NAME=XCODE93_RELEASE
+        - BUILD_NAME=XCODE93_CMAKE_RELEASE
         - BUILD_TYPE=Release
+        - USE_CATKIN=OFF
+
     - os: linux
       compiler: gcc
       env:
         - BUILD_NAME=DOCS
+        - DOCKER_FILE="ubuntu-bionic"
         - BUILD_TYPE=Release
+        - USE_CATKIN=ON
+      services: docker
+
   allow_failures:
     - os: linux
+      compiler: gcc
       env:
-        - BUILD_NAME=XENIAL_FULL_RELEASE
-        - DOCKER_FILE="ubuntu-xenial"
+        - BUILD_NAME=TRUSTY_CATKIN_RELEASE
+        - DOCKER_FILE="ubuntu-trusty"
+        - REQUIRED_ONLY=--required-only
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
       services: docker
+
     - os: linux
+      compiler: gcc
       env:
-        - BUILD_NAME=BIONIC_FULL_RELEASE
-        - DOCKER_FILE="ubuntu-bionic"
+        - BUILD_NAME=TRUSTY_CATKIN_FULL_DEBUG
+        - DOCKER_FILE="ubuntu-trusty"
+        - BUILD_TYPE=Debug
+        - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Debug -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
+
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=TRUSTY_CATKIN_FULL_RELEASE
+        - DOCKER_FILE="ubuntu-trusty"
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
       services: docker
-    - os: osx
-      osx_image: xcode9.3
-      compiler: clang
+
+    - os: linux
+      env:
+        - BUILD_NAME=XENIAL_CATKIN_FULL_RELEASE
+        - DOCKER_FILE="ubuntu-xenial"
+        - BUILD_TYPE=Release
+        - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
+
+    - os: linux
       env:
-        - BUILD_NAME=XCODE93_RELEASE
+        - BUILD_NAME=BIONIC_CATKIN_FULL_RELEASE
+        - DOCKER_FILE="ubuntu-bionic"
         - BUILD_TYPE=Release
+        - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+        - USE_CATKIN=ON
+      services: docker
 
 before_install:
   - if [ -n "$DOCKER_FILE" ]; then

CMakeLists.txt

@@ -82,7 +82,7 @@ include(ClangFormat)
 
 find_package(Boost REQUIRED COMPONENTS filesystem)
 
-find_package(DART 6.8.2 REQUIRED
+find_package(DART 6.6.2 REQUIRED
   COMPONENTS optimizer-nlopt utils
   OPTIONAL_COMPONENTS utils-urdf # for 'perception' target
   CONFIG

src/constraint/dart/InverseKinematicsSampleable.cpp

@@ -220,8 +220,12 @@ bool IkSampleGenerator::sample(statespace::StateSpace::State* _state)
 
     mInverseKinematics->getTarget()->setTransform(poseState.getIsometry());
 
-     // Run the IK solver. If an exact solution is computed, apply it to the skeleton.
+    // Run the IK solver. If an exact solution is computed, apply it to the skeleton.
+#if DART_VERSION_AT_LEAST(6, 8, 0)
     if (mInverseKinematics->solveAndApply(true))
+#else
+    if (mInverseKinematics->solve(true))
+#endif
     {
       mMetaSkeletonStateSpace->getState(mMetaSkeleton.get(), outputState);
       return true;