{"action":"created","issue":{"url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/issues/19","repository_url":"https://api.github.com/repos/ocra-recipes/ocra-recipes","labels_url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/issues/19/labels{/name}","comments_url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/issues/19/comments","events_url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/issues/19/events","html_url":"https://github.com/ocra-recipes/ocra-recipes/issues/19","id":154470521,"number":19,"title":"Floating Base doesn't work with eigen version > 3.2.0","user":{"login":"rlober","id":3417094,"avatar_url":"https://avatars.githubusercontent.com/u/3417094?v=3","gravatar_id":"","url":"https://api.github.com/users/rlober","html_url":"https://github.com/rlober","followers_url":"https://api.github.com/users/rlober/followers","following_url":"https://api.github.com/users/rlober/following{/other_user}","gists_url":"https://api.github.com/users/rlober/gists{/gist_id}","starred_url":"https://api.github.com/users/rlober/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rlober/subscriptions","organizations_url":"https://api.github.com/users/rlober/orgs","repos_url":"https://api.github.com/users/rlober/repos","events_url":"https://api.github.com/users/rlober/events{/privacy}","received_events_url":"https://api.github.com/users/rlober/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/labels/bug","name":"bug","color":"fc2929"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2016-05-12T12:29:43Z","updated_at":"2016-05-12T15:53:00Z","closed_at":null,"body":"So I just installed everything on my mac and I have the same problem I was having in ubuntu 16.04 - the fixed base controller works but not the floating base. Really this should be in https://github.com/ocra-recipes/ocra-wbi-plugins but I am not 100% certain that eigen is the cause of this bug. I think it is eigen because the apt-get version of eigen3 on 14.04 is v3.2.0, and on OSX it is v3.2.5 and on 16.04 it is v3.3~beta. My guess is that somewhere in the 5 patches something broke https://github.com/ocra-recipes/eigen_lgsm ... The problem could be more subtle but I will have to test to find out. \r\n\r\n@jeljaik - Can you test on your machine?\r\n\r\nFirst see what version of eigen you have: `brew list eigen`\r\n\r\nthen open up an `icub.world` in gazebo and run:\r\n```\r\nocra-icub-server --floatingBase --taskSet wholeBodyTaskSet\r\n```"},"comment":{"url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/issues/comments/218801096","html_url":"https://github.com/ocra-recipes/ocra-recipes/issues/19#issuecomment-218801096","issue_url":"https://api.github.com/repos/ocra-recipes/ocra-recipes/issues/19","id":218801096,"user":{"login":"rlober","id":3417094,"avatar_url":"https://avatars.githubusercontent.com/u/3417094?v=3","gravatar_id":"","url":"https://api.github.com/users/rlober","html_url":"https://github.com/rlober","followers_url":"https://api.github.com/users/rlober/followers","following_url":"https://api.github.com/users/rlober/following{/other_user}","gists_url":"https://api.github.com/users/rlober/gists{/gist_id}","starred_url":"https://api.github.com/users/rlober/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rlober/subscriptions","organizations_url":"https://api.github.com/users/rlober/orgs","repos_url":"https://api.github.com/users/rlober/repos","events_url":"https://api.github.com/users/rlober/events{/privacy}","received_events_url":"https://api.github.com/users/rlober/received_events","type":"User","site_admin":false},"created_at":"2016-05-12T15:53:00Z","updated_at":"2016-05-12T15:53:00Z","body":"Ok pushed a commit to dev which logs the base pose and twist. @ahoarau, could you run the example for like 2 seconds and send me the logs? They will be wherever you launch the controller from."}}