Add unicycle-footstep-planner, walking-controllers and their dependencies

[traversaro]

Original title: add unicycle-footstep-planner
cc @S-Dafarra @DanielePucci

[S-Dafarra]

It is possible I misunderstood the meaning of this issue. I will try to add it soon!

[traversaro]

I don't know if we want to wait to have at least a basic walking demo ready working only with open source software, and at that point we try to make sure that it easy to compile and run it using the robotology-superbuild .

[S-Dafarra]

Fine for me!

[traversaro]

Great, modified the title of the issue.
It would be great to also modify the Dynamics profile documentation (see https://github.com/robotology/robotology-superbuild#dynamics) to add a "Check your installation" section that would link a simple tutorial on how to run the walking demo in simulation.

[traversaro]

Now that https://github.com/robotology/capture-point-walking is available, I think it is possible to proceed.

Any volunteer?

[S-Dafarra]

I can try to deal with the CMake stuff, but I would ask @GiulioRomualdi to fill the tutorial 😁

[S-Dafarra]

See also robotology/unicycle-footstep-planner#14

[traversaro]

@S-Dafarra great! Let me know if there are any problem.

[GiulioRomualdi]

Right now qpOASES is compiled by the robotology-superbuild only if ROBOTOLOGY_USES_MATLAB is set to ON

robotology-superbuild/cmake/BuildqpOASES.cmake

Lines 24 to 29 in 04e9aee

	ycm_ep_helper(qpOASES TYPE GIT
	STYLE GITHUB
	REPOSITORY robotology-dependencies/qpOASES.git
	TAG master
	COMPONENT external
	CMAKE_ARGS -DQPOASES_BUILD_BINDINGS_MATLAB:BOOL=${ROBOTOLOGY_USES_MATLAB})

However, it is needed by the capture-point-walking module and this module does not require MATLAB (e.g. it can be installed inside iCub-head)

[S-Dafarra]

Noticed that 😉 Thanks!

[traversaro]

However, it is needed by the capture-point-walking module and this module does not require MATLAB (e.g. it can be installed inside iCub-head)

This will automatically handled if you list qpOASES in the DEPENDS of some project (such as capture-point-walking) for which then find_or_build_package() is listed in

robotology-superbuild/CMakeLists.txt

Line 120 in 04e9aee

find_or_build_package(codyco-modules)

.

[S-Dafarra]

See #87

[traversaro]

Fixed by #87 .