Update documentation

README.md

@@ -11,7 +11,7 @@ own project:
 
 ## Continuous Integration
 
-Scripts are provided for various CI instances in `scripts/continuous_integration`. The intended purpose of each is described below:
+Scripts are provided for various CI instances in each example's respective subdirectory under `.github/`. The intended purpose of each is described below:
 
 * `github_actions`:  exemplifies how to put a project depending on a Drake installation on GitHub Actions
 * `jenkins` : provides complete coverage of additional external example projects

drake_bazel_external/README.md

@@ -11,7 +11,7 @@ First, run the `install_prereqs` script to download the drake source and run
 drake's source setup script to install the required Ubuntu packages:
 
 ```
-setup/install_prereqs.sh
+sudo setup/install_prereqs
 ```
 
 Then, to build and test all apps:

drake_bazel_external_legacy/README.md

@@ -16,7 +16,7 @@ First, run the `install_prereqs` script to download the drake source and run
 drake's source setup script to install the required Ubuntu packages:
 
 ```
-setup/install_prereqs.sh
+sudo setup/install_prereqs
 ```
 
 Then, to build and test all apps:

drake_cmake_external/CMakeLists.txt

@@ -96,10 +96,10 @@ set(DRAKE_PREFIX "${PROJECT_BINARY_DIR}/drake-prefix")
 ExternalProject_Add(drake
   DEPENDS eigen fmt spdlog
   URL https://github.com/RobotLocomotion/drake/archive/master.tar.gz
-  # Or from a commit (download and use "shashum -a 256 'xxx.tar.gz'" on it to
+  # Or from a commit (download and use "shasum -a 256 'xxx.tar.gz'" on it to
   # get the URL_HASH.
-  # URL https://github.com/RobotLocomotion/drake/archive/65c4366ea2b63278a286b1e22b8d464d50fbe365.tar.gz
-  # URL_HASH SHA256=899d98485522a7cd5251e50a7a6b8a64e40aff2a3af4951a3f0857fd938cafca
+  # URL https://github.com/RobotLocomotion/drake/archive/962483669d015ee2618585ace2c884598fbadbb5.tar.gz
+  # URL_HASH SHA256=2605b7ba18ee7ab86e5a4f5ec6449766b0d4e9652bf5f701beb4f51bce251325
   TLS_VERIFY ON
   CMAKE_ARGS
     -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}

drake_cmake_external/README.md

@@ -8,7 +8,7 @@ First, run the `install_prereqs` script to download the drake source and run
 drake's source setup script to install the required Ubuntu packages:
 
 ```
-setup/install_prereqs.sh
+sudo setup/install_prereqs
 ```
 
 Keep in mind that within the top-level CMakeLists, the drake source is once

drake_cmake_installed/README.md

@@ -13,14 +13,6 @@ These instructions are only supported for Ubuntu 22.04 (Jammy).
 # Various system dependencies
 sudo setup/install_prereqs
 
-# (Optionally) Install GTest
-# You could also explicitly pull gtest into the CMake build directly:
-#     https://github.com/google/googletest/tree/master/googletest
-sudo apt-get install libgtest-dev
-ls
-mkdir ~/gtest && cd ~/gtest && cmake /usr/src/gtest && make
-sudo cp *.a /usr/local/lib
-
 ###############################################################
 # Install Drake to $HOME/drake
 ###############################################################
@@ -34,20 +26,20 @@ tar -xvzf drake-latest-jammy.tar.gz -C $HOME
 
 # 3) Manual Installation
 # git clone https://github.com/RobotLocomotion/drake.git
-# (mkdir drake-build && cd drake-build && cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake ../drake && make)
+# (cd drake && mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake .. && make)
 
 # 4) Manual Installation w/ Licensed Gurobi
 # Install & setup gurobi (http://drake.mit.edu/bazel.html?highlight=gurobi#install-on-ubuntu)
 # git clone https://github.com/RobotLocomotion/drake.git
-# (mkdir drake-build && cd drake-build && cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake -DWITH_GUROBI=ON ../drake && make)
+# (cd drake && mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake -DWITH_GUROBI=ON .. && make)
 
 ###############################################################
 # Build Everything
 ###############################################################
 git clone https://github.com/RobotLocomotion/drake-external-examples.git
-cd drake-external-examples
-mkdir drake_cmake_installed-build && cd drake_cmake_installed-build
-cmake -DCMAKE_PREFIX_PATH=$HOME/drake ../drake_cmake_installed
+cd drake-external-examples/drake_cmake_installed
+mkdir build && cd build
+cmake -DCMAKE_PREFIX_PATH=$HOME/drake ..
 make
 # (Optionally) Run Tests
 make test
@@ -73,8 +65,8 @@ build this project, and then run all available tests:
 ```shell
 # Build development version of Drake, ensuring no old artifacts are present.
 cd drake  # Where you are developing.
-rm -rf ../drake-build && mkdir ../drake-build && cd ../drake-build
-cmake ../drake  # Configure Gurobi, Mosek, etc, if needed.
+rm -rf build && mkdir build && cd build
+cmake .. # Configure Gurobi, Mosek, etc, if needed.
 # Build locally.
 make
 # Record the build's install directory.
@@ -84,11 +76,11 @@ drake_install=${PWD}/install
 cd ..
 # Clone this repository if you have not already.
 git clone https://github.com/RobotLocomotion/drake-external-examples.git
-cd drake-external-examples
+cd drake-external-examples/drake_cmake_installed
 # Follow "Install Prerequisites" in the instructions linked above if you
 # have not already.
-mkdir drake_cmake_installed-build && cd drake_cmake_installed-build
-cmake -DCMAKE_PREFIX_PATH=${drake_install} ../drake_cmake_installed
+mkdir build && cd build
+cmake -DCMAKE_PREFIX_PATH=${drake_install} ..
 make
 ctest
 ```