Using iiwa_tools requires to compile with SIMD

[matthias-mayr]

I am currently exploring to use iiwa_tools for FK and the Jacobian in my code.

I always had crashes upon loading the controller in Gazebo when it parses the urdf to feed it to RBDyn.
It finally turned out, that the issue was, that I did not compile my new controller code with SIMD turned on.

I guess it would be possible to compile all the dependencies as well as iiwa_tools without SIMD and that would work as well.
But since it's the default and not directly intuitive that it is needed for derived code as well, I will leave this here as a note.

[costashatz]

It finally turned out, that the issue was, that I did not compile my new controller code with SIMD turned on.

The default behavior of robot_controllers is to compile with SIMD on. This is why iiwa_tools also compiles with SIMD on.

You can disable SIMD for iiwa_tools by passing the argument to catkin_make: -DENABLE_SIMD=OFF.

We should include this somewhere in the documentation..

[costashatz]

This this should be fixed by #61 no?

[matthias-mayr]

Should be fine. This also frees me from dragging the SIMD option into some projects that use SpaceVecAlg.