CartesIO_2

[matteoparigi]

Hi @alaurenzi,

In the SurfaceReacher utility that I have implemented I have some dependencies on CartesianInterface that do not allow me to build after CartesIO_2 refactor.

Could you please give me support on this?

Link to header file Utils.h: https://github.com/ADVRHumanoids/CentroidalPlanner/blob/master/include/CentroidalPlanner/Utils/Utils.h
here I include:

#include <cartesian_interface/CartesianInterfaceImpl.h>
#include <cartesian_interface/ros/RosServerClass.h>
#include <cartesian_interface/ros/RosImpl.h>

and the method that creates some problems is:

bool ReachSurface(XBot::Cartesian::RosImpl& ci,
                  std::string contact_name,
                  Eigen::Vector3d contact_lin_vel,
                  double F_thr); 

Link to source file SurfaceReacher.cpp:
https://github.com/ADVRHumanoids/CentroidalPlanner/blob/master/src/Utils/SurfaceReacher.cpp

Thank you in advance!

[alaurenzi]

I'll take a look! Meanwhile, I have written a migration guide

[EnricoMingo]

Is this solved?

[matteoparigi]

Yes, btw I removed all dependencies from master