non-standard Ravelin and Moby install

[hsu]

Just a note for developers who prefers siloing libraries in local directories, below are changes I made to for non-standard installs, the changes are pretty straight forward, but thought I document it somewhere in case someone else is trying to reproduce the results in similar setup:

$ git diff
diff --git a/CMakeModules/FindMoby.cmake b/CMakeModules/FindMoby.cmake
index 4478198..51d65de 100644
--- a/CMakeModules/FindMoby.cmake
+++ b/CMakeModules/FindMoby.cmake
@@ -11,6 +11,7 @@ find_path(
   MOBY_INCLUDE_DIR
   NAMES Moby/EventDrivenSimulator.h
   PATHS /usr/local/include /usr/include
+  [path to my projects]/Moby/install_release/include
 )

 if( MOBY_INCLUDE_DIR )
@@ -18,6 +19,7 @@ if( MOBY_INCLUDE_DIR )
     MOBY_LIBRARY
     NAMES libMoby.so libMoby.dylib libMoby.a 
     PATHS /usr/local/lib /usr/lib
+    [path to my projects]/Moby/install_release/lib
   )
   if( MOBY_LIBRARY )
     set(MOBY_LIBRARY_DIR "")
diff --git a/CMakeModules/FindRavelin.cmake b/CMakeModules/FindRavelin.cmake
index 826ec96..ef61228 100644
--- a/CMakeModules/FindRavelin.cmake
+++ b/CMakeModules/FindRavelin.cmake
@@ -11,6 +11,7 @@ find_path(
   RAVELIN_INCLUDE_DIR
   NAMES Ravelin/VectorNd.h
   PATHS /usr/local/include /usr/include
+  [path to my projects]/Ravelin/install_release/include
 )

 if( RAVELIN_INCLUDE_DIR )
@@ -18,6 +19,7 @@ if( RAVELIN_INCLUDE_DIR )
     RAVELIN_LIBRARY
     NAMES libRavelin.so libRavelin.dylib libRavelin.a 
     PATHS /usr/local/lib /usr/lib
+   [path to my projects]/Ravelin/install_release/lib
   )
   if( RAVELIN_LIBRARY )
     set(RAVELIN_LIBRARY_DIR "")
diff --git a/setup.sh b/setup.sh
index dca7e6e..53382cd 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,5 +1,6 @@
 export PACER_HOME=$PWD
+export PACER_CMAKE_BUILD=$PACER_HOME/[custom build path]
 export PACER_MODEL_PATH=$PACER_HOME/example/models
-export PACER_PLUGIN_PATH=$PACER_HOME/build/example/plugins
+export PACER_PLUGIN_PATH=$PACER_CMAKE_BUILD/example/plugins
 export GAZEBO_MODEL_PATH=$PACER_HOME/example/models:$GAZEBO_MODEL_PATH
-export GAZEBO_PLUGIN_PATH=$PACER_HOME/build/example/interfaces:$GAZEBO_PLUGIN_PATH
+export GAZEBO_PLUGIN_PATH=$PACER_CMAKE_BUILD/example/interfaces:$GAZEBO_PLUGIN_PATH

Lots of path hacking here...

If pacer install all generated .sos to the cmake install target, and some steps above could be removed.

Ravelin cmake config should help remove the need to tweak FindRavelin cmake module. Similar steps should be done for Moby.

Nevertheless, the controller appears to be working nicely!