advrhumanoids / centroidalplanner Goto Github PK

hi guys,
ho problemi a compilare. Quando faccio cmake . mi dice che vuole roscpp:

-- Could NOT find roscpp (missing: roscpp_DIR)
-- Could not find the required component 'roscpp'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /usr/share/catkin/cmake/catkinConfig.cmake:82 (find_package):
Could not find a package configuration file provided by "roscpp" with any
of the following names:

roscppConfig.cmake
roscpp-config.cmake

Add the installation prefix of "roscpp" to CMAKE_PREFIX_PATH or set
"roscpp_DIR" to a directory containing one of the above files. If "roscpp"
provides a separate development package or SDK, be sure it has been
installed.

E' necessario ROS o posso ovviare in qualche modo?

Grazie in anticipo se potete darmi una mano!

Hi @alaurenzi,

In the SurfaceReacher utility that I have implemented I have some dependencies on CartesianInterface that do not allow me to build after CartesIO_2 refactor.

Could you please give me support on this?

Link to header file Utils.h: https://github.com/ADVRHumanoids/CentroidalPlanner/blob/master/include/CentroidalPlanner/Utils/Utils.h
here I include:

#include <cartesian_interface/CartesianInterfaceImpl.h>
#include <cartesian_interface/ros/RosServerClass.h>
#include <cartesian_interface/ros/RosImpl.h>

and the method that creates some problems is:

bool ReachSurface(XBot::Cartesian::RosImpl& ci,
                  std::string contact_name,
                  Eigen::Vector3d contact_lin_vel,
                  double F_thr); 

Link to source file SurfaceReacher.cpp:
https://github.com/ADVRHumanoids/CentroidalPlanner/blob/master/src/Utils/SurfaceReacher.cpp

Thank you in advance!

This possibility is available only in the latest versions of ifopt:

https://github.com/ethz-adrl/ifopt/blob/master/ifopt_core/include/ifopt/solver.h

while in the ROS Kinetic installation is not present. I would suggest to migrate to the new version locally (I mean to manually compile the latest version of ifopt) for people with Ubuntu 16.04 (like me) while the rest should have the right version (maybe someone with Ubuntu 18.04 and ROS whatever can confirm).

@FrancescoRuscelli @lucarossini-iit @alaurenzi @matteoparigi