From 244d7d5f41d735a9f815b01f3914fe20a72673c8 Mon Sep 17 00:00:00 2001 From: Ewen Dantec Date: Fri, 17 Jan 2025 11:40:34 +0100 Subject: [PATCH 1/3] Update devel-git-deps.yaml Remove private dependency of Pinocchio --- devel-git-deps.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/devel-git-deps.yaml b/devel-git-deps.yaml index 930c4dcc..383ee5e4 100644 --- a/devel-git-deps.yaml +++ b/devel-git-deps.yaml @@ -21,8 +21,8 @@ repositories: version: master pinocchio: type: git - url: git@gitlab.inria.fr:jucarpen/pinocchio.git - version: topic/simulation + url: git@github.com:stack-of-tasks/pinocchio.git + version: devel proxsuite-nlp: type: git url: git@github.com:simple-robotics/proxsuite-nlp.git From b3828ae1804513c2becfa8812eec254a9763475a Mon Sep 17 00:00:00 2001 From: Ewen Dantec Date: Fri, 17 Jan 2025 13:57:32 +0100 Subject: [PATCH 2/3] Working set of compilation instructions --- README.md | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index db11849e..78f44a79 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,7 @@ The **Simple-mpc** library provides: ```bash mkdir -p simple-mpc_ws/src cd simple-mpc_ws/src -git clone git@github.com:edantec/simple-mpc.git --recursive +git clone git@github.com:Simple-Robotics/simple-mpc.git --recursive ``` 2. Create conda environment. @@ -37,11 +37,11 @@ mamba activate simple-mpc-devel vcs import --recursive < simple-mpc/devel-git-deps.yaml ``` -4. Build all packages +4. Build all dependencies of simple-mpc: ```bash export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number. cd .. -colcon build --event-handlers console_direct+ --cmake-args \ +colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cmake-args \ -DCMAKE_BUILD_TYPE=Release \ -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ -DPYTHON_EXECUTABLE=$(which python) \ @@ -52,7 +52,8 @@ colcon build --event-handlers console_direct+ --cmake-args \ -DBUILD_BENCHMARK=OFF \ -DBUILD_BENCHMARKS=OFF \ -DBUILD_WITH_COLLISION_SUPPORT=ON \ --DGENERATE_PYTHON_STUBS=OFF +-DGENERATE_PYTHON_STUBS=OFF \ +-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON ``` 5. Source the environment From 5d6f81d65d5341971de11a48f41fa09fa1bb50b4 Mon Sep 17 00:00:00 2001 From: Ewen Dantec Date: Fri, 17 Jan 2025 13:59:55 +0100 Subject: [PATCH 3/3] Add one step to compilation instructions --- README.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 78f44a79..c48d9d5e 100644 --- a/README.md +++ b/README.md @@ -38,6 +38,7 @@ vcs import --recursive < simple-mpc/devel-git-deps.yaml ``` 4. Build all dependencies of simple-mpc: +(Due to a renaming issue, you may need to rename hpp-fcl into coal in the package.xml file of the Pinocchio library) ```bash export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number. cd .. @@ -56,8 +57,14 @@ colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cma -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON ``` -5. Source the environment -(This step need to be repeated every time a new shell is opened. It can be put in your ~/.bashrc) +5. Source the environment and install simple-mpc: +```bash +source install/setup.bash +colcon build --packages-select simple-mpc +``` + +6. Source the environment one more time +(This step needs to be repeated every time a new shell is opened. It can be put in your ~/.bashrc) ```bash mamba activate simple-mpc-devel # If not already done source install/setup.bash