Use non-POD octomap

.gitmodules

@@ -30,7 +30,7 @@
 	url = https://github.com/mitdrc/signal-scope.git
 [submodule "externals/octomap"]
 	path = externals/octomap
-	url = https://github.com/RobotLocomotion/octomap-pod.git
+	url = https://github.com/OctoMap/octomap.git
 [submodule "externals/snopt"]
 	path = externals/snopt
 	url = git@github.com:RobotLocomotion/snopt.git

CMakeLists.txt

@@ -112,7 +112,6 @@ drake_add_external(gloptipoly CMAKE)
 drake_add_external(gurobi)
 drake_add_external(meshconverters PUBLIC CMAKE)
 drake_add_external(mosek PUBLIC)
-drake_add_external(octomap PUBLIC)
 drake_add_external(sedumi)
 drake_add_external(snopt CMAKE)
 drake_add_external(spdlog PUBLIC CMAKE)
@@ -207,6 +206,10 @@ drake_add_external(nlopt PUBLIC
     --includedir=${CMAKE_INSTALL_PREFIX}/include/nlopt
   INSTALL_COMMAND ${MAKE_COMMAND} install)
 
+# octomap
+drake_add_external(octomap PUBLIC CMAKE
+  SOURCE_SUBDIR octomap)
+
 # swig_matlab
 drake_add_external(swig_matlab PUBLIC
   PATCH_COMMAND ./autogen.sh

drake/systems/robotInterfaces/CMakeLists.txt

@@ -22,12 +22,12 @@ endif()
 if(MATLAB_FOUND)
   add_mex(footstepCollocationConstraintsMex footstepCollocationConstraintsMex.cpp)
 
-  pods_find_pkg_config(octomap 1.6.3)
+  find_package(octomap)
 
   if(octomap_FOUND)
     add_mex(octomapWrapper octomapWrapper.cpp)
-    target_link_libraries(octomapWrapper drakeUtil drakeMexUtil)  # note: drakeUtil depends on eigen
-    pods_use_pkg_config_packages(octomapWrapper octomap)
+    target_include_directories(octomapWrapper PRIVATE ${OCTOMAP_INCLUDE_DIRS})
+    target_link_libraries(octomapWrapper drakeUtil drakeMexUtil ${OCTOMAP_LIBRARIES})
   endif()
 
   if(lcm_FOUND AND NOT WIN32)