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Generalize hpipm build - #132
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manumerous wants to merge 10 commits into
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Add ros2 messages, interfaces and update to colcon build system
Pinocchio 4 renamed pinocchio::FrameTpl::parent to parentJoint (and added a separate parentFrame for the new frame-to-frame hierarchy). This was only used in a debug stream operator. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Same rename as 1493bb0, just in ocs2_centroidal_model this time: model.frames[i].parent no longer exists in Pinocchio 4's FrameTpl. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
ros-jazzy-pinocchio 4.x no longer ships a pkg-config .pc file, and its
CMake package config hardcodes _pinocchio_PKG_CONFIG_LIBS_LIST to ""
(it used to be generated by forwarding pkg-config's --libs output).
That means pinocchio_LIBRARIES is unconditionally empty now, even
though find_package(pinocchio REQUIRED) itself succeeds, so every
target_link_libraries(... ${pinocchio_LIBRARIES}) call silently linked
nothing, e.g.:
undefined reference to
`pinocchio::urdf::details::parseRootTree(...)'
(parseRootTree lives in libpinocchio_parsers.so, which v4 split out of
the old monolithic libpinocchio.so).
pinocchio's CMake config exports a real imported target instead:
pinocchio::pinocchio, an INTERFACE target bundling
pinocchio_default/pinocchio_parsers/pinocchio_collision. Link that
directly everywhere ${pinocchio_LIBRARIES} was used.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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