Compiling error

[lia2790]

I have downloaded the repository by using

git clone https://github.com/ADVRHumanoids/centauro_cartesio.git

into my catkin' workspace. Then, I tried to compile it with

catkin_make

but I got the following error

In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
                 from /usr/include/c++/9/bits/allocator.h:46,
                 from /usr/include/c++/9/vector:64,
                 from /opt/xbot/include/XBotInterface/ModelInterface.h:26,
                 from /opt/xbot/include/cartesian_interface/sdk/problem/Task.h:4,
                 from /home/liana/catkin_ws/src/centauro_cartesio/src/cartesio_addon.cpp:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = OpenSoT::tasks::velocity::CentauroAnkleSteering; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}; _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering]’:
/usr/include/c++/9/bits/alloc_traits.h:483:4:   required from ‘static void std::allocator_traits<std::allocator<_Tp1> >::construct(std::allocator_traits<std::allocator<_Tp1> >::allocator_type&, _Up*, _Args&& ...) [with _Up = OpenSoT::tasks::velocity::CentauroAnkleSteering; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}; _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<OpenSoT::tasks::velocity::CentauroAnkleSteering>]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39:   required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}; _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering; _Alloc = std::allocator<OpenSoT::tasks::velocity::CentauroAnkleSteering>; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16:   required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering; _Alloc = std::allocator<OpenSoT::tasks::velocity::CentauroAnkleSteering>; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71:   required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<OpenSoT::tasks::velocity::CentauroAnkleSteering>; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}; _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59:   required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<OpenSoT::tasks::velocity::CentauroAnkleSteering>; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}; _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering]’
/usr/include/c++/9/bits/shared_ptr.h:701:14:   required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering; _Alloc = std::allocator<OpenSoT::tasks::velocity::CentauroAnkleSteering>; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}]’
/usr/include/c++/9/bits/shared_ptr.h:717:39:   required from ‘std::shared_ptr<_Tp> std::make_shared(_Args&& ...) [with _Tp = OpenSoT::tasks::velocity::CentauroAnkleSteering; _Args = {std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double, std::allocator<double> >&}]’
/home/liana/catkin_ws/src/centauro_cartesio/src/cartesio_addon.cpp:104:18:   required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘OpenSoT::tasks::velocity::CentauroAnkleSteering::CentauroAnkleSteering(std::__cxx11::basic_string<char>&, std::shared_ptr<const XBot::ModelInterface>&, double, double&, double&, std::vector<double>&)’
  146 |  { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
      |    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/liana/catkin_ws/src/centauro_cartesio/src/cartesio_addon.cpp:3:
/opt/xbot/include/OpenSoT/tasks/velocity/CentauroAnkleSteering.h:85:9: note: candidate: ‘OpenSoT::tasks::velocity::CentauroAnkleSteering::CentauroAnkleSteering(std::string, XBot::ModelInterface::ConstPtr, double, double)’
   85 |         CentauroAnkleSteering(std::string wheel_name,
      |         ^~~~~~~~~~~~~~~~~~~~~
/opt/xbot/include/OpenSoT/tasks/velocity/CentauroAnkleSteering.h:85:9: note:   candidate expects 4 arguments, 6 provided
/opt/xbot/include/OpenSoT/tasks/velocity/CentauroAnkleSteering.h:78:11: note: candidate: ‘OpenSoT::tasks::velocity::CentauroAnkleSteering::CentauroAnkleSteering(const OpenSoT::tasks::velocity::CentauroAnkleSteering&)’
   78 |     class CentauroAnkleSteering : public Task<Eigen::MatrixXd, Eigen::VectorXd>
      |           ^~~~~~~~~~~~~~~~~~~~~
/opt/xbot/include/OpenSoT/tasks/velocity/CentauroAnkleSteering.h:78:11: note:   candidate expects 1 argument, 6 provided
/opt/xbot/include/OpenSoT/tasks/velocity/CentauroAnkleSteering.h:78:11: note: candidate: ‘OpenSoT::tasks::velocity::CentauroAnkleSteering::CentauroAnkleSteering(OpenSoT::tasks::velocity::CentauroAnkleSteering&&)’
/opt/xbot/include/OpenSoT/tasks/velocity/CentauroAnkleSteering.h:78:11: note:   candidate expects 1 argument, 6 provided
make[2]: *** [centauro_cartesio/CMakeFiles/centauro_cartesio_addon.dir/build.make:63: centauro_cartesio/CMakeFiles/centauro_cartesio_addon.dir/src/cartesio_addon.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:10581: centauro_cartesio/CMakeFiles/centauro_cartesio_addon.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

How should I fix it?