[Refactor] Using wstool to download libraries

do_everything.sh

@@ -113,43 +113,15 @@ export TARGET_DIR=$prefix/target
 export RBA_TOOLCHAIN=$ANDROID_NDK_HOME/build/cmake/android.toolchain.cmake
 apply_patch $my_loc/patches/android.toolchain.cmake.patch -d $ANDROID_NDK_HOME/build/cmake
 
-# Now get boost with a specialized build
-[ -d $prefix/libs/boost ] || run_cmd get_library boost $prefix/libs
-[ -d $prefix/libs/bzip2 ] || run_cmd get_library bzip2 $prefix/libs
-[ -d $prefix/libs/uuid ] || run_cmd get_library uuid $prefix/libs
-[ -d $prefix/libs/poco-1.8.0 ] || run_cmd get_library poco $prefix/libs
-[ -d $prefix/libs/tinyxml ] || run_cmd get_library tinyxml $prefix/libs
-[ -d $prefix/libs/tinyxml2 ] || run_cmd get_library tinyxml2 $prefix/libs
-[ -d $prefix/libs/console_bridge ] || run_cmd get_library console_bridge $prefix/libs
-[ -d $prefix/libs/lz4-r131 ] || run_cmd get_library lz4 $prefix/libs
-[ -d $prefix/libs/curl-7.47.0 ] || run_cmd get_library curl $prefix/libs
-[ -d $prefix/libs/urdfdom/ ] || run_cmd get_library urdfdom $prefix/libs
-[ -d $prefix/libs/urdfdom_headers ] || run_cmd get_library urdfdom_headers $prefix/libs
-[ -d $prefix/libs/libiconv-1.15 ] || run_cmd get_library libiconv $prefix/libs
-[ -d $prefix/libs/libxml2-2.9.7 ] || run_cmd get_library libxml2 $prefix/libs
-[ -d $prefix/libs/collada_dom ] || run_cmd get_library collada_dom $prefix/libs
-[ -d $prefix/libs/eigen-3.3.5 ] || run_cmd get_library eigen $prefix/libs
-[ -d $prefix/libs/assimp-3.1.1 ] || run_cmd get_library assimp $prefix/libs
-[ -d $prefix/libs/qhull-2015.2 ] || run_cmd get_library qhull $prefix/libs
-[ -d $prefix/libs/yaml-cpp-yaml-cpp-0.6.2 ] || run_cmd get_library yaml-cpp $prefix/libs
-[ -d $prefix/libs/flann ] || run_cmd get_library flann $prefix/libs
-[ -d $prefix/libs/pcl-pcl-1.8.1 ] || run_cmd get_library pcl $prefix/libs
-[ -d $prefix/libs/bullet ] || run_cmd get_library bullet $prefix/libs
-[ -d $prefix/libs/SDL-1.2.15 ] || run_cmd get_library sdl $prefix/libs
-[ -d $prefix/libs/SDL_image ] || run_cmd get_library sdl-image $prefix/libs
-[ -d $prefix/libs/libogg-1.3.3 ] || run_cmd get_library ogg $prefix/libs
-[ -d $prefix/libs/libvorbis-1.3.6 ] || run_cmd get_library vorbis $prefix/libs
-[ -d $prefix/libs/libtheora-1.1.1 ] || run_cmd get_library theora $prefix/libs
-
-# get rospkg dependency for pluginlib support at build time
-[ -d $my_loc/files/rospkg ] || run_cmd get_library rospkg $my_loc/files
+# Get all library dependencies.
+run_cmd get_system_dependencies $my_loc/system_deps.rosinstall $prefix/libs $my_loc/files
 
 echo
 echo -e '\e[34mGetting ROS packages\e[39m'
 echo
 
 if [[ $skip -ne 1 ]] ; then
-    run_cmd get_ros_stuff $prefix
+    run_cmd get_catkin_packages $prefix
 
     echo
     echo -e '\e[34mApplying patches.\e[39m'
@@ -347,29 +319,29 @@ echo
 [ -f $TARGET_DIR/lib/libbz2.a ] || run_cmd build_library bzip2 $prefix/libs/bzip2
 [ -f $TARGET_DIR/lib/libuuid.a ] || run_cmd build_library uuid $prefix/libs/uuid
 [ -f $TARGET_DIR/lib/libboost_system.a ] || run_cmd copy_boost $prefix/libs/boost
-[ -f $TARGET_DIR/lib/libPocoFoundation.a ] || run_cmd build_library_with_toolchain poco $prefix/libs/poco-1.8.0
+[ -f $TARGET_DIR/lib/libPocoFoundation.a ] || run_cmd build_library_with_toolchain poco $prefix/libs/poco
 [ -f $TARGET_DIR/lib/libtinyxml.a ] || run_cmd build_library tinyxml $prefix/libs/tinyxml
 [ -f $TARGET_DIR/lib/libtinyxml2.a ] || run_cmd build_library tinyxml2 $prefix/libs/tinyxml2
 [ -f $TARGET_DIR/lib/libconsole_bridge.a ] || run_cmd build_library console_bridge $prefix/libs/console_bridge
-[ -f $TARGET_DIR/lib/liblz4.a ] || run_cmd build_library lz4 $prefix/libs/lz4-r131/cmake_unofficial
-[ -f $TARGET_DIR/lib/libcurl.a ] || run_cmd build_library_with_toolchain curl $prefix/libs/curl-7.47.0
+[ -f $TARGET_DIR/lib/liblz4.a ] || run_cmd build_library lz4 $prefix/libs/lz4/cmake_unofficial
+[ -f $TARGET_DIR/lib/libcurl.a ] || run_cmd build_library_with_toolchain curl $prefix/libs/curl
 [ -f $TARGET_DIR/include/urdf_model/model.h ] || run_cmd build_library urdfdom_headers $prefix/libs/urdfdom_headers
 [ -f $TARGET_DIR/lib/liburdfdom_model.a ] || run_cmd build_library urdfdom $prefix/libs/urdfdom
-[ -f $TARGET_DIR/lib/libiconv.a ] || run_cmd build_library_with_toolchain libiconv $prefix/libs/libiconv-1.15
-[ -f $TARGET_DIR/lib/libxml2.a ] || run_cmd build_library_with_toolchain libxml2 $prefix/libs/libxml2-2.9.7
+[ -f $TARGET_DIR/lib/libiconv.a ] || run_cmd build_library_with_toolchain libiconv $prefix/libs/libiconv
+[ -f $TARGET_DIR/lib/libxml2.a ] || run_cmd build_library_with_toolchain libxml2 $prefix/libs/libxml2
 [ -f $TARGET_DIR/lib/libcollada-dom2.4-dp.a ] || run_cmd build_library collada_dom $prefix/libs/collada_dom
-[ -f $TARGET_DIR/lib/libassimp.a ] || run_cmd build_library assimp $prefix/libs/assimp-3.1.1
-[ -f $TARGET_DIR/include/eigen3/signature_of_eigen3_matrix_library ] || run_cmd build_library eigen $prefix/libs/eigen-3.3.5
-[ -f $TARGET_DIR/lib/libqhullstatic.a ] || run_cmd build_library qhull $prefix/libs/qhull-2015.2
-[ -f $TARGET_DIR/lib/libyaml-cpp.a ] || run_cmd build_library yaml-cpp $prefix/libs/yaml-cpp-yaml-cpp-0.6.2
+[ -f $TARGET_DIR/lib/libassimp.a ] || run_cmd build_library assimp $prefix/libs/assimp
+[ -f $TARGET_DIR/include/eigen3/signature_of_eigen3_matrix_library ] || run_cmd build_library eigen $prefix/libs/eigen
+[ -f $TARGET_DIR/lib/libqhullstatic.a ] || run_cmd build_library qhull $prefix/libs/qhull
+[ -f $TARGET_DIR/lib/libyaml-cpp.a ] || run_cmd build_library yaml-cpp $prefix/libs/yaml-cpp
 [ -f $TARGET_DIR/lib/libflann_cpp_s.a ] || run_cmd build_library flann $prefix/libs/flann
-[ -f $TARGET_DIR/lib/libpcl_common.a ] || run_cmd build_library pcl $prefix/libs/pcl-pcl-1.8.1
+[ -f $TARGET_DIR/lib/libpcl_common.a ] || run_cmd build_library pcl $prefix/libs/pcl
 [ -f $TARGET_DIR/lib/libBulletSoftBody.a ] || run_cmd build_library bullet $prefix/libs/bullet
-[ -f $TARGET_DIR/lib/libSDL.a ] || run_cmd build_library_with_toolchain sdl $prefix/libs/SDL-1.2.15
-[ -f $TARGET_DIR/lib/libSDL_image.a ] || run_cmd build_library_with_toolchain sdl-image $prefix/libs/SDL_image
-[ -f $TARGET_DIR/lib/libogg.a ] || run_cmd build_library_with_toolchain ogg $prefix/libs/libogg-1.3.3
-[ -f $TARGET_DIR/lib/libvorbis.a ] || run_cmd build_library_with_toolchain vorbis $prefix/libs/libvorbis-1.3.6
-[ -f $TARGET_DIR/lib/libtheora.a ] || run_cmd build_library_with_toolchain theora $prefix/libs/libtheora-1.1.1
+[ -f $TARGET_DIR/lib/libSDL.a ] || run_cmd build_library_with_toolchain sdl $prefix/libs/sdl
+[ -f $TARGET_DIR/lib/libSDL_image.a ] || run_cmd build_library_with_toolchain sdl-image $prefix/libs/sdl-image
+[ -f $TARGET_DIR/lib/libogg.a ] || run_cmd build_library_with_toolchain ogg $prefix/libs/ogg
+[ -f $TARGET_DIR/lib/libvorbis.a ] || run_cmd build_library_with_toolchain vorbis $prefix/libs/vorbis
+[ -f $TARGET_DIR/lib/libtheora.a ] || run_cmd build_library_with_toolchain theora $prefix/libs/theora
 
 echo
 echo -e '\e[34mCross-compiling ROS.\e[39m'
@@ -378,10 +350,10 @@ echo
 
 if [[ $debugging -eq 1 ]];then
     echo "Build type = DEBUG"
-    run_cmd build_cpp -p $prefix -b Debug -v $verbose
+    run_cmd build_catkin_workspace -p $prefix -b Debug -v $verbose
 else
     echo "Build type = RELEASE"
-    run_cmd build_cpp -p $prefix -b Release -v $verbose
+    run_cmd build_catkin_workspace -p $prefix -b Release -v $verbose
 fi
 
 if [[ $samples -eq 1 ]];then

get_ros_stuff.sh → get_catkin_packages.sh

@@ -22,9 +22,9 @@ mkdir -p catkin_ws/src && cd catkin_ws
 
 if [ -f src/.rosinstall ]; then
   cd src/
-  wstool merge $my_loc/ndk.rosinstall --merge-replace
+  wstool merge $my_loc/ros.rosinstall --merge-replace
   wstool update
   cd ..
 else
-  wstool init -j$PARALLEL_JOBS src $my_loc/ndk.rosinstall
+  wstool init -j$PARALLEL_JOBS src $my_loc/ros.rosinstall
 fi

get_system_dependencies.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+
+# Abort script on any failures
+set -e
+
+my_loc="$(cd "$(dirname $0)" && pwd)"
+source $my_loc/config.sh
+source $my_loc/utils.sh
+
+if [ $# != 3 ] || [ $1 == '-h' ] || [ $1 == '--help' ]; then
+    echo "Usage: $0 system_deps_rosinstall library_prefix_path files_prefix_path"
+    echo "  example: $0 /home/user/ros_android/system_deps.rosinstall /home/user/my_workspace/output/libs /home/user/ros_android/files"
+    echo $@
+    exit 1
+fi
+
+echo
+echo -e '\e[34mGetting system libraries.\e[39m'
+echo
+
+rosinstall_file=$1
+lib_prefix=$(cd $2 && pwd)
+files_prefix=$(cd $3 && pwd)
+
+# Get everything
+if [ -f $lib_prefix/.rosinstall ]; then
+  pushd $lib_prefix
+  wstool merge $rosinstall_file --merge-replace
+  wstool update -j$PARALLEL_JOBS
+  popd
+else
+  wstool init -j$PARALLEL_JOBS $lib_prefix $rosinstall_file
+fi
+
+# Library-specific patches / actions.
+
+# Boost
+pushd $lib_prefix/boost
+[ -d build/out ] || bash -x ./build-android.sh $ANDROID_NDK_HOME --boost=1.68.0 --arch=$ANDROID_ABI
+popd
+
+# Rospkg
+cp -r $lib_prefix/rospkg $files_prefix

patches/assimp.patch

@@ -1,7 +1,7 @@
-diff --git libs/assimp-3.1.1/CMakeLists.txt libs/assimp-3.1.1/CMakeLists.txt
+diff --git libs/assimp/CMakeLists.txt libs/assimp/CMakeLists.txt
 index d332428..1af59dc 100644
---- libs/assimp-3.1.1/CMakeLists.txt
-+++ libs/assimp-3.1.1/CMakeLists.txt
+--- libs/assimp/CMakeLists.txt
++++ libs/assimp/CMakeLists.txt
 @@ -76,7 +76,7 @@ SET( ASSIMP_INCLUDE_INSTALL_DIR "include" CACHE PATH
  	"Path the header files are installed to." )
  SET( ASSIMP_BIN_INSTALL_DIR "bin" CACHE PATH
@@ -11,10 +11,10 @@ index d332428..1af59dc 100644
      "Build a static (.a) version of the library" )
 
  SET(ASSIMP_DEBUG_POSTFIX "d" CACHE STRING "Debug Postfitx for lib, samples and tools")
-diff --git libs/assimp-3.1.1/code/BlenderDNA.cpp libs/assimp-3.1.1/code/BlenderDNA.cpp
+diff --git libs/assimp/code/BlenderDNA.cpp libs/assimp/code/BlenderDNA.cpp
 index 16e639e..fdd49eb 100644
---- libs/assimp-3.1.1/code/BlenderDNA.cpp
-+++ libs/assimp-3.1.1/code/BlenderDNA.cpp
+--- libs/assimp/code/BlenderDNA.cpp
++++ libs/assimp/code/BlenderDNA.cpp
 @@ -56,10 +56,10 @@ using namespace Assimp::Formatter;
  #define for_each BOOST_FOREACH
  bool match4(StreamReaderAny& stream, const char* string) {

patches/lz4.patch

@@ -1,5 +1,5 @@
---- libs/lz4-r131/cmake_unofficial/CMakeLists.txt
-+++ libs/lz4-r131/cmake_unofficial/CMakeLists.txt
+--- libs/lz4/cmake_unofficial/CMakeLists.txt
++++ libs/lz4/cmake_unofficial/CMakeLists.txt
 @@ -14,7 +14,7 @@
      MESSAGE( STATUS "64 bit architecture detected size of void * is " ${SIZEOF_VOID_P})
  ENDIF()

patches/pcl-1.8.1.patch

@@ -1,5 +1,5 @@
---- libs/pcl-pcl-1.8.1/CMakeLists.txt
-+++ libs/pcl-pcl-1.8.1/CMakeLists.txt
+--- libs/pcl/CMakeLists.txt
++++ libs/pcl/CMakeLists.txt
 @@ -1,6 +1,8 @@
  ### ---[ PCL global CMake
  cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
@@ -13,7 +13,7 @@ diff --git a/android_pcl_config_minimal.cmake b/android_pcl_config_minimal.cmake
 new file mode 100644
 index 0000000..be84634
 --- /dev/null
-+++ libs/pcl-pcl-1.8.1/android_pcl_config_minimal.cmake
++++ libs/pcl/android_pcl_config_minimal.cmake
 @@ -0,0 +1,15 @@
 +set(WITH_FZAPI FALSE CACHE BOOL "fzapi: disabled (forced)" FORCE)
 +set(WITH_LIBUSB FALSE CACHE BOOL "libusb: disabled (forced)" FORCE)
@@ -31,8 +31,8 @@ index 0000000..be84634
 +set(HAVE_MM_MALLOC_EXITCODE "2" CACHE STRING "Result from TRY_RUN for HAVE_MM_MALLOC" FORCE)
 +set(HAVE_POSIX_MEMALIGN_EXITCODE "2" CACHE STRING "Result from TRY_RUN for HAVE_POSIX_MEMALIGN" FORCE)
 +
---- libs/pcl-pcl-1.8.1/PCLConfig.cmake.in
-+++ libs/pcl-pcl-1.8.1/PCLConfig.cmake.in
+--- libs/pcl/PCLConfig.cmake.in
++++ libs/pcl/PCLConfig.cmake.in
 @@ -853,8 +853,9 @@
        set(PCL_${COMPONENT}_LIBRARY ${PCL_${COMPONENT}_LIBRARY_DEBUG})
      endif(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
@@ -52,8 +52,8 @@ index 0000000..be84634
          endif(PCL_${INT_DEP}_LIBRARIES) 
        endif(PCL_${INT_DEP}_FOUND)
      endforeach(int_dep)
---- libs/pcl-pcl-1.8.1/cmake/pcl_pclconfig.cmake
-+++ libs/pcl-pcl-1.8.1/cmake/pcl_pclconfig.cmake
+--- libs/pcl/cmake/pcl_pclconfig.cmake
++++ libs/pcl/cmake/pcl_pclconfig.cmake
 @@ -61,6 +61,13 @@
      endif(_status)
  endforeach(_ss)

patches/poco.patch

@@ -1,5 +1,5 @@
---- libs/poco-1.8.0/Foundation/include/Poco/SharedLibrary.h
-+++ libs/poco-1.8.0/Foundation/include/Poco/SharedLibrary.h
+--- libs/poco/Foundation/include/Poco/SharedLibrary.h
++++ libs/poco/Foundation/include/Poco/SharedLibrary.h
 @@ -23,7 +23,9 @@
  #include "Poco/Foundation.h"
 
@@ -11,8 +11,8 @@
  #include "Poco/SharedLibrary_HPUX.h"
  #elif defined(POCO_VXWORKS)
  #include "Poco/SharedLibrary_VX.h"
---- libs/poco-1.8.0/Foundation/src/SharedLibrary.cpp
-+++ libs/poco-1.8.0/Foundation/src/SharedLibrary.cpp
+--- libs/poco/Foundation/src/SharedLibrary.cpp
++++ libs/poco/Foundation/src/SharedLibrary.cpp
 @@ -18,7 +18,9 @@
  #include "Poco/Exception.h"
 
@@ -25,7 +25,7 @@
  #elif defined(POCO_VXWORKS)
  #include "SharedLibrary_VX.cpp"
 --- /dev/null
-+++ libs/poco-1.8.0/Foundation/src/SharedLibrary_ANDROID_STATIC.cpp
++++ libs/poco/Foundation/src/SharedLibrary_ANDROID_STATIC.cpp
 @@ -0,0 +1,119 @@
 +//
 +// SharedLibrary_ANDROID.cpp
@@ -147,7 +147,7 @@
 +
 +} // namespace Poco
 --- /dev/null
-+++ libs/poco-1.8.0/build/config/Android_static
++++ libs/poco/build/config/Android_static
 @@ -0,0 +1,91 @@
 +#
 +# $Id: //poco/1.4/build/config/Android#3 $

patches/qhull.patch

@@ -1,5 +1,5 @@
---- libs/qhull-2012.1/CMakeLists.txt	2014-12-19 18:26:42.612712590 -0300
-+++ libs/qhull-2012.1/CMakeLists.txt	2014-12-19 18:44:18.124752493 -0300
+--- libs/qhull/CMakeLists.txt	2014-12-19 18:26:42.612712590 -0300
++++ libs/qhull/CMakeLists.txt	2014-12-19 18:44:18.124752493 -0300
 @@ -241,7 +241,7 @@
 
  set(

patches/yaml-cpp.patch

@@ -1,5 +1,5 @@
---- libs/yaml-cpp-yaml-cpp-0.6.2/CMakeLists.txt
-+++ libs/yaml-cpp-yaml-cpp-0.6.2/CMakeLists.txt
+--- libs/yaml-cpp/CMakeLists.txt
++++ libs/yaml-cpp/CMakeLists.txt
 @@ -38,7 +38,11 @@ enable_testing()
  ### Project options
  ###