openrave installation patch

openrave_installation.patch

diff --git a/install-dependencies.sh b/install-dependencies.sh
index 01a43fe..db378e6 100755
--- a/install-dependencies.sh
+++ b/install-dependencies.sh
@@ -6,6 +6,7 @@
 # Description:
 #   OpenRAVE Installation Script: Dependencies
 
+set -e
 # Check ubuntu version
 UBUNTU_VER=$(lsb_release -sr)
 if [ ${UBUNTU_VER} != '14.04' ] && [ ${UBUNTU_VER} != '16.04' ] && [ ${UBUNTU_VER} != '18.04' ]; then
@@ -43,7 +44,7 @@ libassimp-dev libavcodec-dev libavformat-dev libeigen3-dev libfaac-dev
 libflann-dev libfreetype6-dev liblapack-dev libglew-dev libgsm1-dev             \
 libmpfi-dev  libmpfr-dev liboctave-dev libode-dev libogg-dev libpcre3-dev       \
 libqhull-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libtinyxml-dev      \
-libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev libbz2-dev
+libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev libbz2-dev libopenscenegraph-dev
 if [ ${UBUNTU_VER} = '14.04' ]; then
   sudo apt-get install -y --no-install-recommends collada-dom-dev libccd      \
   libpcrecpp0 liblog4cxx10-dev libqt4-dev
@@ -57,15 +58,15 @@ if [ ${UBUNTU_VER} = '14.04' ] || [ ${UBUNTU_VER} = '16.04' ]; then
     sudo apt-get install -y --no-install-recommends libboost-all-dev libboost-python-dev
 elif [ ${UBUNTU_VER} = '18.04' ]; then
     # Install boost 1.58 from source
-    BOOST_SRC_DIR=~/git/boost_1_58_0
-    mkdir -p ~/git; cd ~/git
+    BOOST_SRC_DIR=~/3rdparty/boost_1_58_0
+    mkdir -p ~/3rdparty; cd ~/3rdparty
     wget https://vorboss.dl.sourceforge.net/project/boost/boost/1.58.0/boost_1_58_0.tar.gz -O ${BOOST_SRC_DIR}.tar.gz
     tar -xzf ${BOOST_SRC_DIR}.tar.gz
     cd ${BOOST_SRC_DIR}
-    ./bootstrap.sh --exec-prefix=/usr/local
+    ./bootstrap.sh --exec-prefix=$HOME/install_openrave
     ./b2 -j `nproc`
     sudo ./b2 -j `nproc` install threading=multi
 fi
 
 # updatedb for debugging purposes
-sudo updatedb
+# sudo updatedb
diff --git a/install-fcl.sh b/install-fcl.sh
index 04210e6..cc23ab4 100755
--- a/install-fcl.sh
+++ b/install-fcl.sh
@@ -18,10 +18,10 @@ fi
 echo ""
 echo "Installing FCL 0.5.0 from source..."
 echo ""
-mkdir -p ~/git; cd ~/git
+mkdir -p ~/3rdparty; cd ~/3rdparty
 git clone https://github.com/flexible-collision-library/fcl
 cd fcl; git reset --hard 0.5.0
 mkdir build; cd build
-cmake ..
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/install_openrave
 make -j `nproc`
-sudo make install
+make install
diff --git a/install-openrave.sh b/install-openrave.sh
index 8d7024b..02050f5 100755
--- a/install-openrave.sh
+++ b/install-openrave.sh
@@ -6,6 +6,7 @@
 # Description:
 #   OpenRAVE Installation Script
 
+set -eu
 # Check ubuntu version
 UBUNTU_VER=$(lsb_release -sr)
 if [ ${UBUNTU_VER} != '14.04' ] && [ ${UBUNTU_VER} != '16.04' ] && [ ${UBUNTU_VER} != '18.04' ]; then
@@ -15,25 +16,27 @@ if [ ${UBUNTU_VER} != '14.04' ] && [ ${UBUNTU_VER} != '16.04' ] && [ ${UBUNTU_VE
 fi
 
 # Sympy version 0.7.1
-echo ""
-echo "Downgrading sympy to version 0.7.1..."
-echo ""
-pip install --upgrade --user sympy==0.7.1
+# echo ""
+# echo "Downgrading sympy to version 0.7.1..."
+# echo ""
+# pip install --upgrade --user sympy==0.7.1
 
 # OpenRAVE
-RAVE_COMMIT=7c5f5e27eec2b2ef10aa63fbc519a998c276f908
+#RAVE_COMMIT=7c5f5e27eec2b2ef10aa63fbc519a998c276f908
+RAVE_COMMIT=production
 echo ""
 echo "Installing OpenRAVE 0.9 from source (Commit ${RAVE_COMMIT})..."
 echo ""
-mkdir -p ~/git; cd ~/git
-git clone https://github.com/rdiankov/openrave.git
-cd openrave; git reset --hard ${RAVE_COMMIT}
-mkdir build; cd build
+mkdir -p ~/3rdparty; cd ~/3rdparty
+#git clone https://github.com/rdiankov/openrave.git
+cd openrave; git checkout ${RAVE_COMMIT}
+mkdir -p build; cd build
 if [ ${UBUNTU_VER} = '14.04' ] || [ ${UBUNTU_VER} = '16.04' ]; then
   cmake -DODE_USE_MULTITHREAD=ON -DOSG_DIR=/usr/local/lib64/ ..
 elif [ ${UBUNTU_VER} = '18.04' ]; then
-  cmake -DODE_USE_MULTITHREAD=ON -DCMAKE_CXX_STANDARD=11            \
-        -DBoost_NO_SYSTEM_PATHS=TRUE -DBOOST_ROOT=/usr/local/ ..
+  cmake -DOSG_DIR=$HOME/install_openrave -DODE_USE_MULTITHREAD=ON -DCMAKE_CXX_STANDARD=11  -DOPT_IKFAST_FLOAT32=OFF \
+        -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/install_openrave \
+        -DBoost_NO_SYSTEM_PATHS=TRUE -DBOOST_ROOT=$HOME/install_openrave ..
 fi
 make -j `nproc`
-sudo make install
+make install
diff --git a/install-osg.sh b/install-osg.sh
index a0ef5b0..3ee2815 100755
--- a/install-osg.sh
+++ b/install-osg.sh
@@ -20,7 +20,7 @@ echo ""
 echo "Installing OpenSceneGraph 3.4 from source (Commit ${OSG_COMMIT})..."
 echo ""
 
-mkdir -p ~/git; cd ~/git
+mkdir -p ~/3rdparty; cd ~/3rdparty
 git clone https://github.com/openscenegraph/OpenSceneGraph.git
 cd OpenSceneGraph; git reset --hard ${OSG_COMMIT}
 mkdir build; cd build
@@ -28,8 +28,8 @@ mkdir build; cd build
 if [ ${UBUNTU_VER} = '14.04' ]; then
   cmake ..
 elif [ ${UBUNTU_VER} = '16.04' ] || [ ${UBUNTU_VER} = '18.04' ]; then
-  cmake -DDESIRED_QT_VERSION=4 ..
+  cmake -DREQUIRES_LIBPATH_MESSAGE=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/install_openrave -DDESIRED_QT_VERSION=4 ..
 fi
 make -j `nproc`
-sudo make install
-sudo make install_ld_conf
+make install
+#sudo make install_ld_conf