laas_package_from_source

LAAS -

NOTE : This option should only be used when absolutely necessary. Prefer to install with robotPkg or pip .

Clone LAAS Packages

Go to your workspace.

# rename your workspace folder
mv workspace workspace_cp
# clone the LAAS repositories in workspace_laas/
treep --clone ALL_LAAS
mv workspace workspace_laas
# source only ros
source /opt/ros/dashing/setup.bash
# build
cd workspace_laas
colcon build --merge-install --cmake-args -DINSTALL_DOCUMENTATION=OFF -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=`which python`
cd -
# mv back your own workspace
mv workspace_cp workspace
# source the laas worskpace
source workspace_laas/install/setup.bash
# build your workspace

Troubleshooting section:

Cannot find Oscillator in sot_tools

# fix the installation
cd workspace_laas/install/lib/python2.7/dist-packages/dynamic_graph/sot
cp core/admittance_control_op_point/__init__.py tools
cd -

Linking error on eigen-quadprog from dg_tools

The following error might be what you see:

Traceback (most recent call last):
  File "basic.py", line 1, in <module>
    from dynamic_graph_manager import dg_tools
  File "/.../workspace/devel/lib/python3/dist-package/dyanmic_graph_manager/dg_tools/__init__.py", line 23, in <modeule>
    from . import wrap
ImportError /.../workspace/devel/.private/dg_tools/lib/plugin/dg_tools.so: undefined symbol: _ZNK5Eigen14QuadProgCommon6resultEv

Assuming you install eigen-quadprog from the robotpkg, at the point of writing (28 August 2020) the .pc file for eigen-quadprog is broken.. Therefore in /opt/openrobots/lib/pkgconfig/eigen-quadprog.pc change:

Libs: -Wl,-rpath,${libdir} -L${libdir}

into

Libs: -Wl,-rpath,${libdir} -L${libdir} -leigen-quadprog

fix dynamic graph data storage bug

cd workspace_laas/src/dynamic-graph
wget https://raw.githubusercontent.com/machines-in-motion/machines-in-motion.github.io/master/small_patches/trace.patch
git apply trace.patch

fix the impendance controller

The error is linked to the master of sot-dynamic-pinocchio. The issue has been merged to the devel branch.

cd workspace_laas/src/sot-dynamic-pinocchio/
git checkout devel
git pull origin devel