Fix compatibility with ubuntu22.04 for real-time usage #383
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ManifoldFR
requested changes
Dec 5, 2025
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ManifoldFR
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I'll let @jorisv take care of the rest
| * (optional) [example-robot-data](https://github.com/Gepetto/example-robot-data) | [conda](https://anaconda.org/conda-forge/example-robot-data) (required for some examples and benchmarks) | ||
| * (optional) [Catch2](https://github.com/catchorg/Catch2) | [conda](https://anaconda.org/conda-forge/catch2) for testing | ||
| * a C++17 compliant compiler | ||
| * (optional) [Catch2](https://github.com/catchorg/Catch2) | [conda](https://anaconda.org/conda-forge/catch2) for testing a C++17 compliant compiler |
| @@ -1,5 +1,5 @@ | |||
| #pragma once | |||
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| #include <pinocchio/fwd.hpp> | |||
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That's not an acceptable change, because Pinocchio is an optional dependency. You could add include guards but most likely including Pinocchio's fwd header is too coarse a solution (what was the problem here?)
| solver.run(problem); | ||
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| fmt::print("{}\n", fmt::streamed(solver.results_)); | ||
| fmt::print("{}\n", solver.results_); |
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This breaks with recent versions of fmtlib. A possible solution would be to specialise the required template class from fmtlib using fmt::ostream_formatter
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As of today the 4th of December 2025, the real-time patch on Ubuntu is realiable on Ubuntu 22.04 and many robots still runs on this OS.
Hence I create this PR that ensure that aligator builds on Ubuntu 22.04 with the the bare minimum changes.
Unit-tests passes on my laptop on the AGIMUS docker: a Ubuntu22.04 with our custom packages.