Update CMake and README to work with SVA/RBDyn/mc_rbdyn_urdf master

[gergondet]

This PR updates the CMake script and the instruction to build the stack with up-to-date SpaceVecAlg, RBDyn and mc_rbdyn_urdf

Depending on how things go with jrl-umi3218/SpaceVecAlg#29 we can amend the instructions

[costashatz]

@gergondet sorry for the late reply! Many things going on!

This looks perfect. @nash169 @walidAmanhoud @fkhadivar can you make sure that this compiles on EPFL machines with latest jrl-umi3218 libraries and the lib runs ok for iiwa/ROS? If this causes no issues with our code and iiwa can be controlled/compiled smoothly, this is OK with me.

[domire8]

@gergondet @costashatz This is fine overall, I compiled the code and run some of the robot control in the lab and it works. I get one warning that is new though:

[rospack] Warning: error while crawling /home/lorenzo/iiwa_test_ws/src/mc_rbdyn_urdf/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests: boost::filesystem::status: Too many levels of symbolic links: "/home/lorenzo/iiwa_test_ws/src/mc_rbdyn_urdf/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake";  Too many levels of symbolic links
[rospack] Warning: error while crawling /home/lorenzo/iiwa_test_ws/src/mc_rbdyn_urdf/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests: boost::filesystem::status: Too many levels of symbolic links: "/home/lorenzo/iiwa_test_ws/src/mc_rbdyn_urdf/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake/_unittests/cmake"

This might come from this PR and can be tested without the connection to the robot, so maybe try to recreate and resolve. Also, it might be nice to add a small instruction line before catkin_make that the user should do a sudo ldconfig.
Cheers

[costashatz]

I get one warning that is new though:

@gergondet can you solve this? Afterwards, I'll merge this.

Also, it might be nice to add a small instruction line before catkin_make that the user should do a sudo ldconfig

I'll do a different PR for this. Thanks.

[gergondet]

Hi @domire8 @costashatz

Sorry for the late reply.

I think the issue should go away if you run git submodule update in the mc_rbdyn_urdf folder (this is an issue with our cmake submodule that has been fixed a while ago)

Thanks for trying it out

[domire8]

Hi @domire8 @costashatz

Sorry for the late reply.

I think the issue should go away if you run git submodule update in the mc_rbdyn_urdf folder (this is an issue with our cmake submodule that has been fixed a while ago)

Thanks for trying it out

That does not solve the issue. But that's also just a warning, not an error I guess.

[gergondet]

@domire8 did you update mc_rbdyn_urdf to the latest version available at jrl-umi3218/mc_rbdyn_urdf ?

[gergondet]

@domire8 did you update mc_rbdyn_urdf to the latest version available at jrl-umi3218/mc_rbdyn_urdf ?

Nevermind, I just realized I had looked at the wrong folder previously, I will update the submodule in jrl-umi3218/mc_rbdyn_urdf and that should do the trick

[costashatz]

Nevermind, I just realized I had looked at the wrong folder previously, I will update the submodule in jrl-umi3218/mc_rbdyn_urdf and that should do the trick

Great! Let us know when you are done to check..

[gergondet]

Great! Let us know when you are done to check..

It should be ok on the most recent version.

[costashatz]

@domire8 is the fix working now? Thanks!

[domire8]

Sorry guys, lost track of that but I tested it now and it works fine, without the CMake warning. Good to go! 🚀

[costashatz]

@domire8 @gergondet thanks a lot! Merging this!