search

robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
177 stars 67 forks source link

Migration to native classes: Use IDYNTREE_USES_KDL Cmake Option Where? #427

Closed mouhyemen closed 6 years ago

mouhyemen commented 6 years ago

[WARNING] The iDynTree::Regressors::DynamicsRegressorGenerator class still needs to be migrated to [WARNING] iDynTree native classes. To continue to use the iDynTree::HighLevel::DynamicsComputations class in the [WARNING] bindings in the current form, please compile iDynTree with the IDYNTREE_USES_KDL CMake option. [WARNING] The iDynTree::Regressors::DynamicsRegressorGenerator class still needs to be migrated to [WARNING] iDynTree native classes. To continue to use the iDynTree::HighLevel::DynamicsComputations class in the [WARNING] bindings in the current form, please compile iDynTree with the IDYNTREE_USES_KDL CMake option.

I keep getting the above warnings and i don't think iDynTree scripts are running effectively. I have compiled and installed iDynTree from CoDyCo superbuild as well as iDynTree superbuild.

In both the cases, I did not find any IDYNTREE_USES_KDL Cmake option? What's going on?

traversaro commented 6 years ago

Hi @mouhyemen , IDYNTREE_USES_KDL is currently a deprecated CMake option, and as such is not exposed from the superbuild. If you want to enable it, you need to manually go in the idyntree subproject build directory (i.e. <superbuild_dir>/build/libraries/idyntree), run ccmake .. there and enable it. However, I noticed that FloBaRoID still refers to the idyntree-superbuild as the preferred way to install iDynTree. For this reason, I exposed the IDYNTREE_USES_KDL option in idyntree-superbuild in https://github.com/robotology/idyntree-superbuild/commit/a61ba526fab6dcb01ac24cedfb9d070fc59982c2 . Note that we will need orocos_kdl and urdfdom installed on your computer, if you are using Ubuntu Linux 16.04 you can obtain them installing the liborocos-kdl-dev and liburdfdom-dev packages.

The regressor part of iDynTree will be migrated not to use KDL (hopefully) during the 2018.

Let me know if this solved your problem.

mouhyemen commented 6 years ago

Hey, I am getting the following CMake error while configuring. I cloned the latest repo because I was getting some other error by going into iDynTree subproject and running ccmake with the existing CMakeLists.txt. image

traversaro commented 6 years ago

That is a warning, we are going to solve it, but for the time being you can ignore it by pressing e.

mouhyemen commented 6 years ago

Thanks! I got it installed using IDYNTREE_USES_KDL option. I also installed the liborocos-kdl-dev and liburdfdom-dev packages.

traversaro commented 6 years ago

Closing as it seems that all the problems have been solved @mouhyemen feel free to reopen or open a new issue if you think it will be necessary.