Merge pull request #271 from dic-iit/fix/YarpRobotControl

Bugfix in YarpRobotControl::Impl::setReferences
ami-iit · Apr 6, 2021 · afae4ba · afae4ba
2 parents b7026bd + 786fc80
commit afae4ba
Show file tree

Hide file tree

Showing 3 changed files with 80 additions and 66 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -42,6 +42,7 @@ All notable changes to this project are documented in this file.
 - Avoid the "Generating the Urdf Model from" message to appear when doing ccmake. (https://github.com/dic-iit/bipedal-locomotion-framework/pull/243)
 - Fixed the installation path of public headers related to perception libraries. (https://github.com/dic-iit/bipedal-locomotion-framework/pull/245)
 - Fixed InstallBasicPackageFiles to avoid the same problem of https://github.com/dic-iit/matio-cpp/pull/41 (https://github.com/dic-iit/bipedal-locomotion-framework/pull/253)
+- Call `positionInterface->setRefSpeeds()` only once when a position reference is set in `YarpRobotControl` (https://github.com/dic-iit/bipedal-locomotion-framework/pull/271)
 
 ## [0.1.0] - 2021-02-22
 ### Added

diff --git a/src/RobotInterface/CMakeLists.txt b/src/RobotInterface/CMakeLists.txt
@@ -11,6 +11,7 @@ add_bipedal_locomotion_library(
  SOURCES src/IRobotControl.cpp
  PUBLIC_HEADERS ${H_PREFIX}/ISensorBridge.h ${H_PREFIX}/IRobotControl.h
  PUBLIC_LINK_LIBRARIES BipedalLocomotion::ParametersHandler Eigen3::Eigen
+ PRIVATE_LINK_LIBRARIES BipedalLocomotion::TextLogging
  SUBDIRECTORIES YarpImplementation tests)
 endif()
 
@@ -23,4 +24,3 @@ add_bipedal_locomotion_library(
  PUBLIC_LINK_LIBRARIES BipedalLocomotion::ParametersHandler ${OpenCV_LIBS} ${PCL_LIBRARIES}
  INSTALLATION_FOLDER RobotInterface)
 endif()
-