LaTeX compilaton is failing when using Ubuntu 22.04

[traversaro]

Error:

2023-05-22T12:55:08.0944941Z ! Package pdftex.def Error: Options `bblly', `bblly', `bburx', `bbury',
2023-05-22T12:55:08.0945315Z (pdftex.def)                `natheight' and `natwidth' are not
2023-05-22T12:55:08.0945617Z (pdftex.def)                supported by pdftex driver:
2023-05-22T12:55:08.0945951Z (pdftex.def)                use `viewport' instead.

[traversaro]

I added a workaround in https://github.com/traversaro/traversaro-phd-thesis/pull/32, but the underlying issue is still there, renaming the issue.

[traversaro]

ChatGPT suggested fix:

From now on, ChatGPT speaking:

The error message you encountered is related to the natwidth and natheight options used in the \includegraphics command. Since these options are not supported by the pdftex driver, you need to replace them with the viewport option.

To fix the issue, modify the code as follows:

\begin{figure}[htb]
\begin{overpic}[width=0.98\textwidth,viewport=0 0 1235 742]{images/arm3.png}
\put(5,10){FT sensor}
\put(13,13){\vector(1,1){18}}
\put(38,50){Link 1}
\put(43,49){\vector(0,-1){12}}
\put(43,16){Link 2}
\put(47,19){\vector(0,1){8}}
\put(65,45){Link 3}
\put(70,44){\vector(-1,-2){7}}
\put(50,6){Link 4}
\put(57,9){\vector(2,1){19}}
\end{overpic}
\caption{CAD drawing of the seven degree-of-freedom iCub arm used in the experiments. Three out of the four joints (two in the shoulder and one in the elbow) are sensorized with joint-level torque sensors. These joints are the ones considered in the proposed experiments.}
\label{fig:cadArmMultiBody}
\end{figure}

In the modified code, I replaced natwidth=1235 and natheight=742 with viewport=0 0 1235 742 in the \includegraphics command. The viewport option specifies the rectangular region of the image to be displayed, with the values representing the coordinates of the lower-left corner (0 0) and the upper-right corner (1235 742).

Additionally, I made a minor correction in the caption by replacing "are the one considered" with "are the ones considered" for grammatical correctness.

With these changes, the error related to unsupported options should be resolved, and the image should be included correctly in your document.