float type modelTpl fails when calling pinocchio::urdf::buildModel

[modu-robotics]

Bug description

When I call buildModel<float> for ModelTpl<float> with a urdf file, the code has a compilation error saying:

error: no matching function for call to 'parseRootTree'
      details::parseRootTree(filename, visitor);
candidate function not viable: no known conversion from 'details::UrdfVisitor<float, 0, pinocchio::JointCollectionDefaultTpl>' to 'pinocchio::urdf::details::UrdfVisitorBase &' (aka 'UrdfVisitorBaseTpl<double, 0> &') for 2nd argument
      void PINOCCHIO_DLLAPI parseRootTree(const std::string & filename,

I think this is a bug since parseRootTree takes UrdfVisitorBase instead of UrdfVisitorBaseTpl.

Expected behavior

Create float type model and load urdf file.

Reproduction steps

Steps to reproduce the behavior:

 pinocchio::ModelTpl<float> model_f;
 pinocchio::urdf::buildModel<float>(urdf_file, model_f);

System

• OS: [e.g. Mac]
• Pinocchio version: Installed it from brew

[jcarpent]

URDF parsers (urdfdom) only consider double types.
I would advise you to load using the ModelTpl type, and then cast it to float type using:

ModelTpl<double> model_double;
// load the model stored in model_double
ModelTpl<float> model_float = model_double.cast<float>();