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Setup conda environment to run the ergoCub walking controller in Gazebo

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#163 18 comments 1 reaction 0 assignees View on GitHub

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Assessment

Difficulty
4/5
Estimated time
3-5 days
Newbie friendliness
30/100
Issue type
Feature
Clarity
Needs clarification
Activity status
Stale
Tech stack
cpp
Domain
build-system, robotics

Research direction

Start by reproducing the reported mamba environment command and inspect WalkingModule/src/main.cpp and WalkingModule/include/WalkingControllers/WalkingModule/Module.h, especially the missing BipedalLocomotion header. Compare the bipedal-locomotion-framework and icub-main dependency requirements. Done means a documented, solvable environment can build and run the walking controller in Gazebo.

Written by the indexing model from the issue text.

Description

I am trying to reproduce the test performed by @carloscp3009 of running the walking controller on Gazebo, this time by using a conda environment instead of the robotology-superbuild.

I created the environment with the following command:

mamba create -n walking -c robotology -c conda-forge bipedal-locomotion-framework=0.17.0 idyntree yarp icub-contrib-common icub-main osqp-eigen qpoases libunicycle-footstep-planner gazebo catch2 gazebo-yarp-plugins whole-body-estimators icub-models ergocub-software

When building with make I obtained the following error:

In file included from /home/acroci/repos/walking/src/WalkingModule/src/main.cpp:14:
/home/acroci/repos/walking/src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h:25:10: fatal error: BipedalLocomotion/YarpUtilities/VectorsCollectionServer.h: No such file or directory
   25 | #include <BipedalLocomotion/YarpUtilities/VectorsCollectionServer.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

@S-Dafarra discovered this is due to the fact that such header is defined in bipedal-locomotion-framework version 0.17.0, whereas version 0.16.0 was installed.

I tried also to pin the version of bipedal-locomotion-framework by running:

mamba create -n walking -c robotology -c conda-forge bipedal-locomotion-framework=0.17.0 idyntree yarp icub-contrib-common icub-main osqp-eigen qpoases libunicycle-footstep-planner gazebo catch2 gazebo-yarp-plugins whole-body-estimators icub-models ergocub-software

but it was not possible to create such environment for dependency incompatibilities:

Looking for: ['bipedal-locomotion-framework=0.17.0', 'idyntree', 'yarp', 'icub-contrib-common', 'icub-main', 'osqp-eigen', 'qpoases', 'libunicycle-footstep-planner', 'gazebo', 'catch2', 'gazebo-yarp-plugins', 'whole-body-estimators', 'icub-models', 'ergocub-software']

robotology/linux-64                                         Using cache
robotology/noarch                                           Using cache
conda-forge/linux-64                                        Using cache
conda-forge/noarch                                          Using cache
Could not solve for environment specs
The following packages are incompatible
├─ bipedal-locomotion-framework 0.17.0**  is installable and it requires
│  └─ libbipedal-locomotion-framework 0.17.0 he4f1b30_0, which requires
│     └─ libyarp >=3.9.0,<3.9.1.0a0 , which requires
│        └─ ace >=7.1.2,<7.1.3.0a0 , which can be installed;
└─ icub-main is not installable because there are no viable options
   ├─ icub-main [1.19.1|1.19.2] would require
   │  └─ ace >=7.0.1,<7.0.2.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main [1.19.2|1.20.0] would require
   │  └─ ace >=7.0.2,<7.0.3.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main [1.20.0|1.21.0] would require
   │  └─ ace >=7.0.3,<7.0.4.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main 1.21.0 would require
   │  └─ ace >=7.0.4,<7.0.5.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main 1.22.0 would require
   │  └─ ace >=7.0.5,<7.0.6.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main [1.23.1|1.24.0|1.24.1] would require
   │  └─ ace >=7.0.6,<7.0.7.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main [1.25.0|1.26.0] would require
   │  └─ ace >=7.0.7,<7.0.8.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main [1.26.1|1.27.0|1.28.1] would require
   │  └─ ace >=7.0.8,<7.0.9.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main 1.28.1 would require
   │  └─ ace >=7.0.9,<7.0.10.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main 2.0.2 would require
   │  └─ ace >=7.0.11,<7.0.12.0a0 , which conflicts with any installable versions previously reported;
   ├─ icub-main [2.1.0|2.1.1|2.2.0] would require
   │  └─ ace >=7.1.0,<7.1.1.0a0 , which conflicts with any installable versions previously reported;
   └─ icub-main [2.2.1|2.3.0|2.4.0] would require
      └─ ace >=7.1.1,<7.1.2.0a0 , which conflicts with any installable versions previously reported.

CC @traversaro @S-Dafarra

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