Solved a provlem with an assertion in the Eigen library.

Added the smart_charger.c module to the simulator.

darwin_controller/CMakeLists.txt

@@ -119,6 +119,7 @@ add_library(${PROJECT_NAME} src/darwin_controller.cpp
                             ${DARWIN_FW_PATH}/src/joint_motion.c
                             ${DARWIN_FW_PATH}/src/head_tracking.c
                             ${DARWIN_FW_PATH}/src/motion_manager.c
+                            ${DARWIN_FW_PATH}/src/smart_charger.c
                             ${DARWIN_FW_PATH}/src/grippers.c
                             src/sim/stm32_hal.c
                             src/sim/stm32_cortex.c

darwin_odometry/include/darwin_odometry_alg.h

@@ -61,6 +61,7 @@ class DarwinOdometryAlgorithm
     bool right_leg_fk_ready;
 
   public:
+   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    /**
     * \brief define config type
     *