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ARC-OPT / wbc

C++ library for optimization-based control of redundant robots
BSD 3-Clause "New" or "Revised" License
33 stars 13 forks source link

Build with new master of urdfdom (after they switched to tinyxml2) #84

Open moooeeeep opened 8 months ago

moooeeeep commented 8 months ago

FWIW: These are the required changes to build after urdfdom master switched to depend on tinyxml2 (instead of old tinyxml).

The rock package set provides the master version with the updated dependency (since this update: https://github.com/rock-core/rock-package_set/pull/261).

The latest urdfdom release (3.0.0) doesn't include this breaking change yet, though.

For further reading: https://discourse.ros.org/t/upcoming-api-break-in-urdfdom/34750

dmronga commented 7 months ago

I am afraid this works only for Rock as it pulls urdfdom from master branch. It works neither for ROS2 nor when using the normal install (both use urdfdom-dev V3.01, which uses tinyxml). I think Rock should use better a fixed version of urdfdom.

maltewi commented 7 months ago

According to https://github.com/ros/urdfdom/commit/29426ec119e9c3a9df9fc705d08c262a97b7f285 a the newest urdfdom release (4.0.0) uses tinyxml2 apparently this will be the version to be used in ROS2: https://discourse.ros.org/t/upcoming-api-break-in-urdfdom/34750.

I also think that rock could pin to a urdfdom release. But I think this will be 4.0.0 then..