at least compiles with noble+jazzy

CMakeLists.txt

@@ -37,7 +37,8 @@ find_package(PCL 1.7 QUIET COMPONENTS   common
                                         #search
                                         #io)
 
-find_package(eigen_conversions REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_eigen_kdl REQUIRED)
 find_package(xbot2_interface REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_package(matlogger2 REQUIRED)
@@ -84,7 +85,6 @@ set(OPENSOT_CONSTRAINTS_SOURCES src/constraints/Aggregated.cpp
     src/constraints/acceleration/TorqueLimits.cpp
     src/constraints/velocity/CartesianPositionConstraint.cpp
     src/constraints/velocity/CartesianVelocity.cpp
-    src/constraints/velocity/CoMVelocity.cpp
     src/constraints/velocity/JointLimits.cpp
     src/constraints/velocity/JointLimitsInvariance.cpp
     src/constraints/velocity/VelocityLimits.cpp
@@ -194,10 +194,10 @@ ADD_LIBRARY(OpenSoT SHARED
 
 set(PRIVATE_TLL ${PRIVATE_TLL} ${eigen_conversions_LIBRARIES})
 if(${OPENSOT_COMPILE_COLLISION})
-    target_link_libraries(OpenSoT PUBLIC xbot2_interface::collision)
+    target_link_libraries(OpenSoT PUBLIC xbot2_interface::collision moveit_msgs::moveit_msgs__rosidl_generator_cpp tf2_eigen_kdl::tf2_eigen_kdl)
 endif()
 if(${PCL_FOUND})
-    set(PRIVATE_TLL ${PRIVATE_TLL} ${QHULL_LIBRARIES} ${PCL_LIBRARIES})
+    set(PRIVATE_TLL ${PRIVATE_TLL} ${QHULL_LIBRARIES} ${PCL_LIBRARIES} tf2_eigen::tf2_eigen )
 endif()
 
 
@@ -324,8 +324,6 @@ library_install(OpenSoT
     ${PROJECT_VERSION_PATCH})
 
 
-add_subdirectory(doc)
-
 include(GenerateDeb)
 
 

OpenSoTConfig.cmake.in

@@ -3,6 +3,9 @@
 include(CMakeFindDependencyMacro)
 find_dependency(xbot2_interface)
 find_dependency(matlogger2)
+find_dependency(moveit_msgs)
+find_dependency(tf2_eigen_kdl)
+find_dependency(tf2_eigen)
 
 set_and_check(OpenSoT_TARGETS
     "${CMAKE_CURRENT_LIST_DIR}/OpenSoTTargets.cmake")

bindings/python/CMakeLists.txt

@@ -1,12 +1,6 @@
-cmake_minimum_required(VERSION 3.5)
-
-if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
-    message("Please consider to switch to latest version to enable
-    more reliable Python3 binaries detection")
-else()
-    #find_package(Python ${PYBIND11_PYTHON_VERSION} COMPONENTS Development Interpreter REQUIRED)
-endif()
+cmake_minimum_required(VERSION 3.20)
 
+find_package(Python ${PYBIND11_PYTHON_VERSION} COMPONENTS Development Interpreter REQUIRED)
 find_package(pybind11 QUIET)
 
 message(STATUS "check for pybind11")

include/OpenSoT/solvers/OSQPBackEnd.h

@@ -141,8 +141,8 @@ class OSQPBackEnd:  public BackEnd{
 
 private:
 
-    typedef Eigen::SparseMatrix<double> SparseMatrix;
-    typedef Eigen::SparseMatrix<double, Eigen::RowMajor> SparseMatrixRowMajor;
+    typedef Eigen::SparseMatrix<double, Eigen::ColMajor, c_int> SparseMatrix;
+    typedef Eigen::SparseMatrix<double, Eigen::RowMajor, c_int> SparseMatrixRowMajor;
 
     /**
      * @brief __generate_data_struct creates DENSE Hessian and Constraints matrices using a SPARSE representation.

src/solvers/OSQPBackEnd.cpp

@@ -107,7 +107,7 @@ void OpenSoT::solvers::OSQPBackEnd::update_data_struct()
 }
 
 
-void OSQPBackEnd::setCSCMatrix(csc* a, Eigen::SparseMatrix<double>& A)
+void OSQPBackEnd::setCSCMatrix(csc* a, SparseMatrix& A)
 {
     a->m = A.rows();
     a->n = A.cols();

src/tasks/acceleration/Cartesian.cpp

@@ -1,6 +1,6 @@
 #include <OpenSoT/tasks/acceleration/Cartesian.h>
 #include <xbot2_interface/logger.h>
-#include <eigen_conversions/eigen_kdl.h>
+#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 
 using XBot::Logger;
 using namespace OpenSoT::tasks::acceleration;
@@ -215,8 +215,8 @@ void Cartesian::setReference(const Eigen::Affine3d& pose_ref,
 void Cartesian::setReference(const KDL::Frame& pose_ref,
                              const KDL::Twist& vel_ref)
 {
-    tf::transformKDLToEigen(pose_ref, _pose_ref);
-    tf::twistKDLToEigen(vel_ref, _vel_ref);
+    tf2::transformKDLToEigen(pose_ref, _pose_ref);
+    tf2::twistKDLToEigen(vel_ref, _vel_ref);
     _acc_ref.setZero();
 
     _vel_ref_cached = _vel_ref;
@@ -239,9 +239,9 @@ void Cartesian::setReference(const KDL::Frame& pose_ref,
                              const KDL::Twist& vel_ref,
                              const KDL::Twist& acc_ref)
 {
-    tf::transformKDLToEigen(pose_ref, _pose_ref);
-    tf::twistKDLToEigen(vel_ref, _vel_ref);
-    tf::twistKDLToEigen(acc_ref, _acc_ref);
+    tf2::transformKDLToEigen(pose_ref, _pose_ref);
+    tf2::twistKDLToEigen(vel_ref, _vel_ref);
+    tf2::twistKDLToEigen(acc_ref, _acc_ref);
 
     _vel_ref_cached = _vel_ref;
     _acc_ref_cached = _acc_ref;
@@ -319,7 +319,7 @@ void Cartesian::getReference(Eigen::Affine3d& ref) const
 
 void Cartesian::getReference(KDL::Frame& ref) const
 {
-    tf::transformEigenToKDL(_pose_ref, ref);
+    tf2::transformEigenToKDL(_pose_ref, ref);
 }
 
 void Cartesian::getReference(Eigen::Affine3d& desiredPose,
@@ -332,8 +332,8 @@ void Cartesian::getReference(Eigen::Affine3d& desiredPose,
 void Cartesian::getReference(KDL::Frame& desiredPose,
                              KDL::Twist& desiredTwist) const
 {
-    tf::transformEigenToKDL(_pose_ref, desiredPose);
-    tf::twistEigenToKDL(_vel_ref, desiredTwist);
+    tf2::transformEigenToKDL(_pose_ref, desiredPose);
+    tf2::twistEigenToKDL(_vel_ref, desiredTwist);
 }
 
 void Cartesian::getReference(Eigen::Affine3d& desiredPose,
@@ -349,9 +349,9 @@ void Cartesian::getReference(KDL::Frame& desiredPose,
                              KDL::Twist& desiredTwist,
                              KDL::Twist& desiredAcceleration) const
 {
-    tf::transformEigenToKDL(_pose_ref, desiredPose);
-    tf::twistEigenToKDL(_vel_ref, desiredTwist);
-    tf::twistEigenToKDL(_acc_ref, desiredAcceleration);
+    tf2::transformEigenToKDL(_pose_ref, desiredPose);
+    tf2::twistEigenToKDL(_vel_ref, desiredTwist);
+    tf2::twistEigenToKDL(_acc_ref, desiredAcceleration);
 }
 
 
@@ -362,7 +362,7 @@ void Cartesian::getActualPose(Eigen::Affine3d& actual) const
 
 void Cartesian::getActualPose(KDL::Frame& actual)
 {
-    tf::transformEigenToKDL(_pose_current, actual);
+    tf2::transformEigenToKDL(_pose_current, actual);
 }
 
 const Eigen::Affine3d& Cartesian::getActualPose() const
@@ -377,7 +377,7 @@ void Cartesian::getActualTwist(Eigen::Vector6d& actual) const
 
 void Cartesian::getActualTwist(KDL::Twist& actual)
 {
-    tf::twistEigenToKDL(_vel_current, actual);
+    tf2::twistEigenToKDL(_vel_current, actual);
 }
 
 const Eigen::Vector6d& Cartesian::getActualTwist() const

src/utils/cartesian_utils.cpp

@@ -19,8 +19,7 @@
 
 #include <OpenSoT/utils/cartesian_utils.h>
 #include <memory>
-#include <eigen_conversions/eigen_kdl.h>
-
+#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #define toDeg(X) (X*180.0/M_PI)
 
 
@@ -45,14 +44,14 @@ void cartesian_utils::computeCartesianError(const Eigen::Matrix4d &T,
     KDL::Frame x; // ee pose
     x.Identity();
     Eigen::Matrix4d tmp = T;
-    tf::transformEigenToKDL(Eigen::Affine3d(tmp),x);
+    tf2::transformEigenToKDL(Eigen::Affine3d(tmp),x);
     quaternion q;
     x.M.GetQuaternion(q.x, q.y, q.z, q.w);
 
     KDL::Frame xd; // ee desired pose
     xd.Identity();
     tmp = Td;
-    tf::transformEigenToKDL(Eigen::Affine3d(tmp),xd);
+    tf2::transformEigenToKDL(Eigen::Affine3d(tmp),xd);
     quaternion qd;
     xd.M.GetQuaternion(qd.x, qd.y, qd.z, qd.w);