Update whole-body-controllers in latest.releases.yaml to fix downstream usage of MomentumVelocityControl MATLAB functions #956
Conversation
|
This PR is currently blocked until a new release of whole-body-controllers is done. fyi @gabrielenava @CarlottaSartore @fabiodinatale @Andrea8Testa |
traversaro
requested review from
Andrea8Testa,
CarlottaSartore,
fabiodinatale and
gabrielenava
|
I've created a new release https://github.com/robotology/whole-body-controllers/releases/tag/v2.5.6 which include the modifications to the path done in this PR: robotology/whole-body-controllers#141 In the near future I would like to finally reach a stable release for whole-body-controller, which will be the |
Great, thanks! So this PR should be ready for review, I had already bumped the version in latest releases to v2.5.6. |
| @@ -48,5 +48,5 @@ rem Set YARP and Gazebo related env variables | |||
| set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot" | |||
| set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots" | |||
| rem Configure the Matlab | |||
| set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images" | |||
| set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink\MomentumVelocityControl;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images" | |||
There was a problem hiding this comment.
Just a small comment: I didn't know there were examples installed in %ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples, is whole-body-controller installing them or another repo? In case it is another repo, we'll have to pay attention when refactor the installation path in WBC v3.0
|
The PR is ready for review @gabrielenava @CarlottaSartore @fabiodinatale @Andrea8Testa . Note that I totally imagine that you may not understand all the aspects of the PRs and the PR cannot be tested on its own, but the idea of the PRs in this context are:
So feel free to approve even if you do not understand 100% of the PR. : ) |
This fixes the problem reported in robotology/whole-body-controllers#140 and fixed (on the whole-body-controllers side) on robotology/whole-body-controllers#141 .
Basically after robotology/whole-body-controllers#141 the directory
<install_prefix>/mex/+wbc/simulink/MomentumVelocityControlneeds to be added to the MATLAB path. Once this change is released (in 2.5.6, I guess) this PR can be merged to make sure that the directory is added to the path once one sources the setup.sh script (if the robotology-superbuild is installed from sources) or once the conda environment is activated (if thewhole-body-controllersconda package is installed).