From 3eaa33342e25fee79d565f667fa582d21e77a9ee Mon Sep 17 00:00:00 2001 From: Kolin Guo Date: Fri, 12 Apr 2024 13:04:47 -0700 Subject: [PATCH 1/2] Switch FCL to haosulab/fcl master branch --- docker/Dockerfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index de5066f..77f59d3 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -44,8 +44,8 @@ RUN git clone --single-branch -b v1.9.8 --depth 1 https://github.com/OctoMap/oct cmake .. && make -j$(nproc) && make install && \ rm -rf /workspace/octomap -# v0.6.1 does not work, use newer instead -RUN git clone --single-branch -b 0.7.0 --depth 1 https://github.com/flexible-collision-library/fcl.git && \ +# Use our fork for Halfspace distance impl & bugfix +RUN git clone --single-branch -b master --depth 1 https://github.com/haosulab/fcl.git && \ cd fcl && mkdir build && cd build && \ cmake .. && make -j$(nproc) && make install && \ rm -rf /workspace/fcl From c8aa961c8455ca3ed21a8b49fa21b4444f850f19 Mon Sep 17 00:00:00 2001 From: Kolin Guo Date: Fri, 12 Apr 2024 14:01:28 -0700 Subject: [PATCH 2/2] Update dev/README --- dev/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dev/README.md b/dev/README.md index b2d89ca..73a3f57 100644 --- a/dev/README.md +++ b/dev/README.md @@ -56,7 +56,7 @@ The `compile_commands.json` file can be generated with 3. Collision detection `libccd`. Follow the guides [here](https://github.com/danfis/libccd#compile-and-install) or do `sudo apt install libccd-dev`. 4. Open Motional Planning Library `ompl`. Install by following these [instructions](https://ompl.kavrakilab.org/installation.html). Ubuntu users can also do `sudo apt install libompl-dev`. 5. Point cloud library `octomap`. Install from source [here](https://github.com/OctoMap/octomap.git). Ubuntu users can also do `sudo apt install liboctomap-dev`. -6. Flexible Collision Library `fcl`. This depends on `Eigen3` and `libccd`. Follow the instructions [here](https://github.com/flexible-collision-library/fcl/blob/master/INSTALL). Ubuntu users can also do `sudo apt install libfcl-dev`. (Note: you can also add in the faster hpp-fcl from [here](https://github.com/humanoid-path-planner/hpp-fcl/blob/devel/INSTALL)) +6. Flexible Collision Library `fcl` (our [fork](https://github.com/haosulab/fcl)). This depends on `Eigen3` and `libccd`. Follow the instructions [here](https://github.com/haosulab/fcl/blob/master/INSTALL). (Note: you can also add in the faster hpp-fcl from [here](https://github.com/humanoid-path-planner/hpp-fcl/blob/devel/INSTALL)) 7. Asset import library `assimp`. Install instructions [here](https://github.com/assimp/assimp/blob/master/Build.md) 8. URDF parser `urdfdom`. Clone from [this repo](https://github.com/ros/urdfdom) and do the usual cmake+make+make install. Ubuntu users can also do `sudo apt install liburdfdom-dev`. 9. Rigid-body dynamics library `pinocchio`. Full installation instructions [here](https://stack-of-tasks.github.io/pinocchio/download.html). It's recommended if you install from source as other methods might not configure the paths well.