Hello Sir,

I was having look at the CartesI/O API to use it for one small simulation project that I am working on. I am following this for installation and the tutorials. I am facing some issues while working with it. Would it be possible to guide me for the following questions/problems that I am facing?

• Installation is smooth did not get any errors with Ubuntu (16.04, 18.04). I am able to do source /opt/xbot/setup.sh as well. But I can not roscd cartesian_interface/examples
• I have sourced the setup.bash for the ros environment as well, yet I am unable to do it.
• Do you know the reason of it?
• Other thing I have tried is to merge the share/, include/ and lib/ into /opt/ros/$distro as a though that it might help. it did help at some extent as now I am able to launch cartesian_interface/launch/cartesio.launch with errors.
• I have attached the terminal log along with the msg for your reference (cartesio_launch_1.log). To solve the issue of libmatlogger2.so I have built it from here (which is version 1.0.1) but it didn't helped (I guess due to the version missmatch).

For now, I am trying to use it on Ubuntu 18.04 with ros-melodic and Ubuntu 16.04 with ros-kinetic. I am okay to change the versions of linux or ros if it can help.

Thank you for helping me out.

Best Regards,
Aarsh
cartesio_launch_1.log

Problem

In order to understand how to use Cartesio, I was trying to replicate the examples provided in the Cartesio Doc. As far as Luca suggested to me to look at the example cartesio_solver.cpp of this repo.

Then I bit wrapped that code in my own code (you can see it here) in order to build it inside a ROS Node.

Then, if I execute my code I obtain an error as described here.

I am not familiar with xbot, I just started now. Before I looked at bit here, and I understood that I need to do some setup/configuration of XBot but I do not know how to do it exactly.

Do you know how I could solve my problem?

thank you in advance!

@DavideAntonucci