These debs are available for precise, quantal, and raring. There is a problem with saucy that is being worked on.
This pull request targets gazebo_2.1, and I expect ABI to be compatible. To make sure, I just started an ABI checker) on Jenkins.
There are a number of places where DART doesn't pass integration tests. In these cases, issues have been created, and conditionals added to the test files. Search the issue tracker for component physics::DARTPhysics to see the full list.
I have not personally reviewed all the code in the gazebo/physics/dart subfolder, but I have tried to make sure the build is clean (no warnings, code_check errors, or test failures).
Respect to the jenkins ABI checker, Should we use inside jenkins the dartsim ppa to get dart into the building process, right? I can take care of that.
Thanks for the work Steve, awesome.
Responding to your points:
I didn't see libccd or fcl in the dartsim PPA, so I think we still need to add those. He appears to be hosting the non-core dependencies (urdfdom, console_bridge, assimp3 for precise, tinyxml2 for precise, flann 1.8).
Sure, lets add the dartsim pap to the ABI checker, and possibly a separate Jenkins job for dart testing.
In file included from /var/lib/jenkins/workspace/gazebo-default-dart_default-quantal-amd64-gpu-nvidia/gazebo/gazebo/physics/dart/DARTPhysics.cc:43:0:
/var/lib/jenkins/workspace/gazebo-default-dart_default-quantal-amd64-gpu-nvidia/gazebo/gazebo/physics/dart/DARTBoxShape.hh: In member function 'virtual void gazebo::physics::DARTBoxShape::SetSize(const gazebo::math::Vector3&)':
/var/lib/jenkins/workspace/gazebo-default-dart_default-quantal-amd64-gpu-nvidia/gazebo/gazebo/physics/dart/DARTBoxShape.hh:93:23: error: 'class dart::dynamics::BoxShape' has no member named 'setDim'
In file included from /var/lib/jenkins/workspace/gazebo-default-dart_default-quantal-amd64-gpu-nvidia/gazebo/gazebo/physics/dart/DARTPhysics.cc:44:0:
/var/lib/jenkins/workspace/gazebo-default-dart_default-quantal-amd64-gpu-nvidia/gazebo/gazebo/physics/dart/DARTSphereShape.hh: In member function 'virtual void gazebo::physics::DARTSphereShape::SetRadius(double)':
/var/lib/jenkins/workspace/gazebo-default-dart_default-quantal-amd64-gpu-nvidia/gazebo/gazebo/physics/dart/DARTSphereShape.hh:78:29: error: 'class dart::dynamics::EllipsoidShape' has no member named 'setDim'
This problem is not present on DART 3.0.0 ppa packages so probably something changed in master that is making it to fail.
You are right. We've changed master branch and it will make breaks with this pull request now. Present on DART 3.0.0 is release-3.0 branch of github repo, and its target is Gazebo 2.1.
The next release of DART (probably DART 4.0.0) will be compatible with newer version of Gazebo.
Jose Luis Rivero
Ok, thanks for the information.
All of the new DART classes must use opaque pointers.
that's a pretty big change, we should create a separate pull request to do that.
Yup, that's fine.
A lot of style fixes are in afb0737, the gazebo_dart_2.1_nate branch.
Fixes according to comments of @nkoenig are in 72dc8b7.
I didn't see this comment in time. I'm merging your changes in manually.
I have merged these fixes in manually; thanks @jlee02
This now has 2 approvals, but I'm holding off briefly on merging until I figure out a good way to merge forward to default. There's some changes in the gazebo_dart branch to make this work, but I'm still testing.