update drake to master

[manuelli]

Ready for merge.

Disables some lightly used code due to build issues with drake/master. They should be easy fixes but I don't want them holding up this PR. This specifically affects @gizatt

• RemoteTreeViewer (due to build issues with drake/master)
• Reachability Analyzer (due to dependency on RemoteTreeViewer)
• drake_ros_system (due to build issues with drake/master)

---

This change is 

[manuelli]

RemoteTreeViewer was having an error, so I turned it off. Now there seem to be issues related to PCL and VTK version issues. Specifically as part of the director build

[ 33%] Building CXX object surface/CMakeFiles/pcl_surface.dir/src/vtk_smoothing/vtk_utils.cpp.o
/home/manuelli/spartan/build/director/src/pcl/surface/src/vtk_smoothing/vtk_utils.cpp: In static member function 'static int pcl::VTKUtils::vtk2mesh(const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&)':
/home/manuelli/spartan/build/director/src/pcl/surface/src/vtk_smoothing/vtk_utils.cpp:124:20: error: 'class vtkUnsignedCharArray' has no member named 'GetTupleValue'
       poly_colors->GetTupleValue (i, &point_color[0]);
                    ^
/home/manuelli/spartan/build/director/src/pcl/surface/src/vtk_smoothing/vtk_utils.cpp: In static member function 'static int pcl::VTKUtils::mesh2vtk(const pcl::PolygonMesh&, vtkSmartPointer<vtkPolyData>&)':
/home/manuelli/spartan/build/director/src/pcl/surface/src/vtk_smoothing/vtk_utils.cpp:240:15: error: 'class vtkUnsignedCharArray' has no member named 'InsertNextTupleValue'
       colors->InsertNextTupleValue (color);
               ^
/home/manuelli/spartan/build/director/src/pcl/surface/src/vtk_smoothing/vtk_utils.cpp:257:16: error: 'class vtkFloatArray' has no member named 'InsertNextTupleValue'
       normals->InsertNextTupleValue (normal);

As per this issue it seems that since VTK 7 some function signatures have changed. This has been fixed in pcl/master as of Nov 9, 2017 it seems. See this PR.

It looks like this was fixed in PCL 1.8.1 which director/master is using, but the current sha of director that spartan is targeting doesn't. Current fix is to move to director/master.

[manuelli]

Ok looks like the error is with embree. @fbudin69500 any suggestions?

11:34:56 [ 40%] Building CXX object filters/CMakeFiles/pcl_filters.dir/src/conditional_removal.cpp.o
11:34:57 [ 36%] Building CXX object surface/CMakeFiles/pcl_surface.dir/src/texture_mapping.cpp.o
11:34:57 make[8]: *** No rule to make target '/embree-build/libembree.so.2.17.4', needed by 'lib/libpcl_surface.so.1.8.1'.  Stop.

[manuelli]

@jamiesnape I just tried a (incremental) build with drake pointed to your update-vtk-packages branch but still ran into some errors. I am running a full clean build now (and one is running on the jenkins machine).

Install the project...
-- Install configuration: "Release"
-- Up-to-date: /home/manuelli/spartan/build/install/lib/cmake/libbot2/libbot2-config.cmake
[ 66%] Completed 'libbot'
[ 70%] Built target libbot
[ 71%] Performing configure step for 'director'
loading initial cache file /home/manuelli/spartan/build/tmp/director-cache-Release.cmake
CMake Error at /home/manuelli/spartan/build/install/lib/cmake/vtk-8.1/VTKTargets-release.cmake:554 (set_property):
  set_property could not find TARGET vtkWrapTcl.  Perhaps it has not yet been
  created.
Call Stack (most recent call first):
  /home/manuelli/spartan/build/install/lib/cmake/vtk-8.1/VTKTargets.cmake:1688 (include)
  /home/manuelli/spartan/build/install/lib/cmake/vtk-8.1/VTKConfig.cmake:120 (include)
  cmake/externals.cmake:335 (find_package)
  CMakeLists.txt:27 (include)

[jamiesnape]

Those packages don’t have a file named lib/cmake/vtk-8.1/VTKTargets-release.cmake. Remove your old install directories.

[manuelli]

Ok thanks will do, I am running a clean build (rm -rf build) so that should fix it.

[manuelli]

Ok that worked thanks @jamiesnape for the quick help. I'll merge this once the drake PR lands.

[manuelli]

@gizatt per our discussion this disables drake_ros_systems with a CATKIN_IGNORE file. If you want to go in and fix them I would be happy to get that merged in. I think it's just some simple drake API changes

[manuelli]

Confirmed that this runs on the robot.