Unable to compile in melodic with luamodel add on enabled and missing CMakelists.txt in urdfreader

[fjandrad]

I am trying to compile PAL's version of melodic. I get the following mistakes.
It complains about a CMakelist.txt file for the urdfreader. When I put one that is a quick fix and not properly done I get the following in the luamodel addon

/home/fandrade/rbdl/addons/luamodel/luamodel.cc:41:12: error: invalid use of template-name ‘RigidBodyDynamics::Math::SpatialVector’ without an argument list
 template<> SpatialVector LuaTableNode::getDefault<SpatialVector>(const SpatialVector &default_value) {
            ^~~~~~~~~~~~~
In file included from /home/fandrade/rbdl/include/rbdl/rbdl.h:11:0,
                 from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:1:
/home/fandrade/rbdl/include/rbdl/rbdl_math.h:70:41: note: ‘template<class T> using SpatialVector = SpatialVector_t<T>’ declared here
 using SpatialVector = SpatialVector_t<T>;
                                         ^
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:100:12: error: invalid use of template-name ‘RigidBodyDynamics::Math::SpatialTransform’ without an argument list
 template<> SpatialTransform LuaTableNode::getDefault<SpatialTransform>(const SpatialTransform &default_value) {
            ^~~~~~~~~~~~~~~~
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:100:12: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/fandrade/rbdl/include/rbdl/rbdl_math.h:98:0,
                 from /home/fandrade/rbdl/include/rbdl/rbdl.h:11,
                 from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:1:
/home/fandrade/rbdl/include/rbdl/SpatialAlgebraOperators.h:210:20: note: ‘template<class T> struct RigidBodyDynamics::Math::SpatialTransform’ declared here
 struct RBDL_DLLAPI SpatialTransform
                    ^~~~~~~~~~~~~~~~
/home/fandrade/rbdl/addons/luamodel/luamodel.cc: In member function ‘T LuaTableNode::getDefault(const T&) [with T = RigidBodyDynamics::Joint]’:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:156:66: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
       case 1: result = Joint (vector_table[1].get<SpatialVector>());
                                                                  ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:159:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[1].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:160:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[2].get<SpatialVector>()
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:164:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[1].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:165:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[2].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:166:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[3].get<SpatialVector>()
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:170:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[1].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:171:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[2].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:172:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[3].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:173:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[4].get<SpatialVector>()
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:177:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[1].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:178:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[2].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:179:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[3].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:180:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[4].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:181:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[5].get<SpatialVector>()
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:185:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[1].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:186:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[2].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:187:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[3].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:188:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[4].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:189:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[5].get<SpatialVector>(),
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:190:54: error: no matching function for call to ‘LuaTableNode::get<RigidBodyDynamics::Math::SpatialVector>()’
                   vector_table[6].get<SpatialVector>()
                                                      ^
In file included from /home/fandrade/rbdl/addons/luamodel/luamodel.cc:7:0:
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note: candidate: template<class T> T LuaTableNode::get()
  T get() {
    ^~~
/home/fandrade/rbdl/addons/luamodel/luatables.h:131:4: note:   template argument deduction/substitution failed:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc: In function ‘bool RigidBodyDynamics::Addons::LuaModelReadFromTable(LuaTable&, RigidBodyDynamics::Model*, bool)’:
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:274:22: error: missing template arguments before ‘joint_frame’
     SpatialTransform joint_frame = model_table["frames"][i]["joint_frame"].getDefault(SpatialTransform());
                      ^~~~~~~~~~~
/home/fandrade/rbdl/addons/luamodel/luamodel.cc:278:55: error: ‘joint_frame’ was not declared in this scope
     unsigned int body_id = model->AddBody (parent_id, joint_frame, joint, body, body_name);
                                                       ^~~~~~~~~~~
addons/luamodel/CMakeFiles/rbdl_luamodel.dir/build.make:75: recipe for target 'addons/luamodel/CMakeFiles/rbdl_luamodel.dir/luamodel.cc.o' failed
make[2]: *** [addons/luamodel/CMakeFiles/rbdl_luamodel.dir/luamodel.cc.o] Error 1
CMakeFiles/Makefile2:982: recipe for target 'addons/luamodel/CMakeFiles/rbdl_luamodel.dir/all' failed
make[1]: *** [addons/luamodel/CMakeFiles/rbdl_luamodel.dir/all] Error 2
Makefile:165: recipe for target 'all' failed
make: *** [all] Error 2