=> Checking for clear installation
===> Installing bootstrap dependencies for sot-torque-control-1.6.5r1
=> Installing /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-24.04-x86_64/All/digest-20080510.tgz
=> Installing /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-24.04-x86_64/All/tnftp-20151004~ssl.tgz
===> Checking bootstrap dependencies for sot-torque-control-1.6.5r1
=> Required robotpkg package digest>=20080510: digest-20080510 found
=> Required robotpkg package tnftp>=20130505~ssl: tnftp-20151004~ssl found
=> Required system package gnupg>=1: gnupg-2.4.4 found
=> Required system package gzip: gzip-1.12 found
=> Required system package pax and tar archivers: pax found
=> Required system package pkg_install>=20110805.12: pkg_install-20211115.3 found
=> Required system package pkgrepo2deb>=1.9: pkgrepo2deb-1.13 found
===> Done bootstrap-depends for sot-torque-control-1.6.5r1
===> Installing full dependencies for sot-torque-control-1.6.5r1
=> Installing /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-24.04-x86_64/All/coal-3.0.0r1.tgz
=> Installing /opt/robotpkg/var/lib/robotpkg/wip/packages/bsd/Ubuntu-24.04-x86_64/All/ddp-actuator-solver-1.2.3.tgz
=> Dependency digest-20080510 already installed
=> Installing /opt/robotpkg/var/lib/robotpkg/wip/packages/bsd/Ubuntu-24.04-x86_64/All/dynamic-graph-v3-4.4.3.tgz
=> Installing /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-24.04-x86_64/All/example-robot-data-4.2.0.tgz
=> Installing /opt/robotpkg/var/lib/robotpkg/wip/packages/bsd/Ubuntu-24.04-x86_64/All/parametric-curves-1.4.4.tgz
=> Installing /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-24.04-x86_64/All/pinocchio-3.3.0.tgz
=> Installing /opt/robotpkg/var/lib/robotpkg/wip/packages/bsd/Ubuntu-24.04-x86_64/All/py312-sot-core-v3-4.11.8r2.tgz
=> Dependency qpoases-3.2.1r1~doc already installed
=> Dependency tnftp-20151004~ssl already installed
=> Installing /opt/robotpkg/var/lib/robotpkg/packages/bsd/Ubuntu-24.04-x86_64/All/tsid-1.7.1r1.tgz
===> Checking build options for sot-torque-control-1.6.5r1
=> Building with no option.
===> Checking alternatives for sot-torque-control-1.6.5r1
=> Use the GNU C++ compiler: c++-compiler provided by g++>=3
=> Use the GNU C compiler: c-compiler provided by gcc>=3
=> Use python-3.12: python>=2.5 provided by python312>=3.12<3.13
===> Checking dependencies for sot-torque-control-1.6.5r1
=> Required system package boost-headers>=1.34.1: boost-headers-1.83 found
=> Required system package boostlib-filesystem>=1.34.1: boost-libs-1.83.0 found
=> Required system package boostlib-iostreams>=1.34.1: boost-libs-1.83.0 found
=> Required system package boostlib-math>=1.34.1: boost-libs-1.83.0 found
=> Required system package boostlib-thread>=1.34.1: boost-libs-1.83.0 found
=> Required system package cmake>=3.10: cmake-3.28.3 found
=> Required system package doxygen>=1.5: doxygen-1.9.8 found
=> Required system package eigen3>=3.0.0: eigen3-3.4.0 found
=> Required system package g++>=3: g++-13 found
=> Required system package gcc>=3: gcc-13 found
=> Required system package graphviz>=2: graphviz-2.43.0 found
=> Required system package libstdc++: libstdc++ found
=> Required system package octomap>=1.6.0: octomap-1.9.7 found
=> Required system package pkg-config>=0.22: pkg-config-1.8.1 found
=> Required system package python312>=3.12<3.13: python312-3.12.3 found
=> Required system package urdfdom>=0.2.8: urdfdom-4.0.0 found
=> Required robotpkg package coal>=3: coal-3.0.0r1 found
=> Required robotpkg package ddp-actuator-solver>=1.0.0: ddp-actuator-solver-1.2.3 found
=> Required robotpkg package dynamic-graph-v3>=4.3.0: dynamic-graph-v3-4.4.3 found
=> Required robotpkg package example-robot-data>=4.1: example-robot-data-4.2.0 found
=> Required robotpkg package parametric-curves>=1.0.0: parametric-curves-1.4.4 found
=> Required robotpkg package pinocchio>=2.3: pinocchio-3.3.0 found
=> Required robotpkg package py312-sot-core-v3>=4.11.7<5.0.0: py312-sot-core-v3-4.11.8r2 found
=> Required robotpkg package qpoases>=3.2: qpoases-3.2.1r1~doc found
=> Required robotpkg package tsid>=1.6.0: tsid-1.7.1r1 found
===> Done depends for sot-torque-control-1.6.5r1
===> Extracting for sot-torque-control-1.6.5r1
=> SHA1 checksums OK
=> RMD160 checksums OK
===> Configuring for sot-torque-control-1.6.5r1
CMake Deprecation Warning at CMakeLists.txt:6 (cmake_minimum_required):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument
value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.
CMake Warning at /opt/openrobots/lib/cmake/hpp-fcl/hpp-fclConfig.cmake:3 (message):
Please update your CMake from 'hpp-fcl' to 'coal'
Call Stack (most recent call first):
/usr/share/cmake-3.28/Modules/CMakeFindDependencyMacro.cmake:76 (find_package)
/opt/openrobots/lib/cmake/pinocchio/pinocchioConfig.cmake:161 (find_dependency)
/usr/share/cmake-3.28/Modules/CMakeFindDependencyMacro.cmake:76 (find_package)
/opt/openrobots/lib/cmake/sot-core/sot-coreConfig.cmake:149 (find_dependency)
cmake/package-config.cmake:110 (find_package)
CMakeLists.txt:70 (add_project_dependency)
===> Building for sot-torque-control-1.6.5r1
In file included from /opt/openrobots/include/hpp/fcl/config.hh:1,
from /opt/openrobots/include/pinocchio/serialization/eigen.hpp:20,
from /opt/openrobots/include/pinocchio/serialization/fwd.hpp:11,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-composite.hpp:14,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-generic.hpp:9,
from /opt/openrobots/include/pinocchio/multibody/model.hpp:17,
from /opt/openrobots/include/tsid/robots/robot-wrapper.hpp:25,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/include/sot/torque_control/admittance-controller.hh:28,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/admittance-controller.cpp:9:
/opt/openrobots/include/hpp/fcl/coal.hpp:13:2: warning: #warning "Please update your includes from 'hpp/fcl' to 'coal'" [-Wcpp]
13 | #warning "Please update your includes from 'hpp/fcl' to 'coal'"
| ^~~~~~~
In file included from /opt/openrobots/include/hpp/fcl/config.hh:1,
from /opt/openrobots/include/pinocchio/serialization/eigen.hpp:20,
from /opt/openrobots/include/pinocchio/serialization/fwd.hpp:11,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-composite.hpp:14,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-generic.hpp:9,
from /opt/openrobots/include/pinocchio/multibody/model.hpp:17,
from /opt/openrobots/include/pinocchio/algorithm/kinematics.hpp:8,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/include/sot/torque_control/base-estimator.hh:38,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp:10:
/opt/openrobots/include/hpp/fcl/coal.hpp:13:2: warning: #warning "Please update your includes from 'hpp/fcl' to 'coal'" [-Wcpp]
13 | #warning "Please update your includes from 'hpp/fcl' to 'coal'"
| ^~~~~~~
In file included from /opt/openrobots/include/hpp/fcl/config.hh:1,
from /opt/openrobots/include/pinocchio/serialization/eigen.hpp:20,
from /opt/openrobots/include/pinocchio/serialization/fwd.hpp:11,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-composite.hpp:14,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-generic.hpp:9,
from /opt/openrobots/include/pinocchio/multibody/model.hpp:17,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/include/sot/torque_control/current-controller.hh:34,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/current-controller.cpp:10:
/opt/openrobots/include/hpp/fcl/coal.hpp:13:2: warning: #warning "Please update your includes from 'hpp/fcl' to 'coal'" [-Wcpp]
13 | #warning "Please update your includes from 'hpp/fcl' to 'coal'"
| ^~~~~~~
In file included from /opt/openrobots/include/hpp/fcl/config.hh:1,
from /opt/openrobots/include/pinocchio/serialization/eigen.hpp:20,
from /opt/openrobots/include/pinocchio/serialization/fwd.hpp:11,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-composite.hpp:14,
from /opt/openrobots/include/pinocchio/multibody/joint/joint-generic.hpp:9,
from /opt/openrobots/include/pinocchio/multibody/model.hpp:17,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/include/sot/torque_control/control-manager.hh:34,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/control-manager.cpp:10:
/opt/openrobots/include/hpp/fcl/coal.hpp:13:2: warning: #warning "Please update your includes from 'hpp/fcl' to 'coal'" [-Wcpp]
13 | #warning "Please update your includes from 'hpp/fcl' to 'coal'"
| ^~~~~~~
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/admittance-controller.cpp: In member function 'virtual void dynamicgraph::sot::torque_control::AdmittanceController::display(std::ostream&) const':
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/admittance-controller.cpp:414:28: warning: catching polymorphic type 'class dynamicgraph::ExceptionSignal' by value [-Wcatch-value=]
414 | } catch (ExceptionSignal e) {
| ^
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp: In member function 'dynamicgraph::Vector& dynamicgraph::sot::torque_control::BaseEstimator::kinematics_computationsSINNER_function(dynamicgraph::Vector&, int)':
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp:614:37: error: no matching function for call to 'framesForwardKinematics(pinocchio::Model&, pinocchio::Data&)'
614 | pinocchio::framesForwardKinematics(m_model, *m_data);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
In file included from /opt/openrobots/include/pinocchio/algorithm/frames.hpp:599,
from /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp:13:
/opt/openrobots/include/pinocchio/algorithm/frames.hxx:59:15: note: candidate: 'template > class JointCollectionTpl, class ConfigVectorType> void pinocchio::framesForwardKinematics(const ModelTpl<_Scalar, _Options, JointCollectionTpl>&, DataTpl&, const Eigen::MatrixBase&)'
59 | inline void framesForwardKinematics(
| ^~~~~~~~~~~~~~~~~~~~~~~
/opt/openrobots/include/pinocchio/algorithm/frames.hxx:59:15: note: template argument deduction/substitution failed:
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp:614:37: note: candidate expects 3 arguments, 2 provided
614 | pinocchio::framesForwardKinematics(m_model, *m_data);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp: In member function 'virtual void dynamicgraph::sot::torque_control::BaseEstimator::display(std::ostream&) const':
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/base-estimator.cpp:1258:28: warning: catching polymorphic type 'class dynamicgraph::ExceptionSignal' by value [-Wcatch-value=]
1258 | } catch (ExceptionSignal e) {
| ^
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/current-controller.cpp: In member function 'virtual void dynamicgraph::sot::torque_control::CurrentController::display(std::ostream&) const':
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/current-controller.cpp:386:28: warning: catching polymorphic type 'class dynamicgraph::ExceptionSignal' by value [-Wcatch-value=]
386 | } catch (ExceptionSignal e) {
| ^
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/control-manager.cpp: In member function 'virtual void dynamicgraph::sot::torque_control::ControlManager::display(std::ostream&) const':
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/control-manager.cpp:705:28: warning: catching polymorphic type 'class dynamicgraph::ExceptionSignal' by value [-Wcatch-value=]
705 | } catch (ExceptionSignal e) {
| ^
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/control-manager.cpp: In member function 'void dynamicgraph::sot::torque_control::ControlManager::setStreamPrintPeriod(const double&)':
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/control-manager.cpp:482:6: warning: infinite recursion detected [-Winfinite-recursion]
482 | void ControlManager::setStreamPrintPeriod(const double& s) {
| ^~~~~~~~~~~~~~
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src/control-manager.cpp:483:23: note: recursive call
483 | setStreamPrintPeriod(s);
| ~~~~~~~~~~~~~~~~~~~~^~~
make[2]: *** [src/CMakeFiles/base-estimator.dir/build.make:79: src/CMakeFiles/base-estimator.dir/base-estimator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1445: src/CMakeFiles/base-estimator.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:149: all] Error 2
An unexpected error occured. The last 10 log lines are shown below.
| make[2]: Leaving directory '/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5'
| [ 30%] Built target control-manager
| [ 32%] Linking CXX shared library libadmittance-controller.so
| cd /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/admittance-controller.dir/link.txt --verbose=1
| /usr/bin/g++ -fPIC -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -pipe -O3 -DNDEBUG -shared -Wl,-soname,libadmittance-controller.so.1.6.5 -o libadmittance-controller.so.1.6.5 "CMakeFiles/admittance-controller.dir/admittance-controller.cpp.o" -Wl,-rpath,/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5:/opt/openrobots/lib: ../libsot-torque-control.so.1.6.5 /opt/openrobots/lib/libtsid.so.1.7.1 /opt/openrobots/lib/libeiquadprog.so /opt/openrobots/lib/libsot-core.so.4.11.8 /opt/openrobots/lib/libpinocchio_parsers.so.3.3.0 /usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so.4.0 /usr/lib/x86_64-linux-gnu/liburdfdom_model.so.4.0 /usr/lib/x86_64-linux-gnu/liburdfdom_world.so.4.0 /opt/openrobots/lib/libpinocchio_collision.so.3.3.0 /opt/openrobots/lib/libpinocchio_default.so.3.3.0 /opt/openrobots/lib/libcoal.so /opt/openrobots/lib/libcoal.so /usr/lib/x86_64-linux-gnu/libboost_filesystem.so -loctomap -loctomath /usr/lib/x86_64-linux-gnu/libboost_regex.so /usr/lib/x86_64-linux-gnu/libboost_program_options.so /opt/openrobots/lib/libdynamic-graph-python.so.4.0.11 /opt/openrobots/lib/libdynamic-graph.so.4.4.3 /usr/lib/x86_64-linux-gnu/libboost_serialization.so /usr/lib/x86_64-linux-gnu/libboost_system.so /usr/lib/x86_64-linux-gnu/libboost_thread.so /usr/lib/x86_64-linux-gnu/libboost_chrono.so /usr/lib/x86_64-linux-gnu/libboost_atomic.so -ldl -lpthread /usr/lib/x86_64-linux-gnu/libpython3.12.so /usr/lib/x86_64-linux-gnu/libboost_python312.so /opt/openrobots/lib/libddp-actuator-solver.so.1.2.3 /opt/openrobots/lib/libqpOASES.so
| cd /local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5/src && /usr/bin/cmake -E cmake_symlink_library libadmittance-controller.so.1.6.5 libadmittance-controller.so.1.6.5 libadmittance-controller.so
| make[2]: Leaving directory '/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5'
| [ 32%] Built target admittance-controller
| make[1]: Leaving directory '/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5'
| make: *** [Makefile:149: all] Error 2
For details or bug reports, check the complete log file in:
/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/build.log
make[3]: *** [/local/robotpkg/var/lib/robotpkg/mk/build/build.mk:204: do-build-make(/local/robotpkg/var/tmp/robotpkg/wip/sot-torque-control/work/sot-torque-control-1.6.5)] Error 2
make[2]: *** [/local/robotpkg/var/lib/robotpkg/mk/pkg/package.mk:42: pkg-check-installed] Error 2
=> Marking sot-torque-control-1.6.5r1 as broken
ERROR: make: *** [package] Error 2
===> Deinstalling for sot-torque-control
Removing dependency py312-coal-3.0.0
Removing dependency pinocchio-3.3.0
Removing dependency tsid-1.7.1r1
Removing dependency py312-pinocchio-3.3.0
Removing dependency py312-example-robot-data-4.2.0
Removing dependency py312-sot-core-v3-4.11.8r2
Removed coal-3.0.0r1
Removing dependency qpoases-3.2.1r1~doc
Removing dependency
Removed ddp-actuator-solver-1.2.3
Removed digest-20080510
Removed parametric-curves-1.4.4
Removed tnftp-20151004~ssl
