[orocosusers] rtt ros integration

Dear all,

Here I have two questions which are closely related to each other...

1)

I have been reading up a bit about how to generate my own data types and
have them available at run time (Orocos typekit plugin
<http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-typekit-plugin.html>).
It seems that I have to generate the types using *'typegen*' (works) and
then somehow install it (doesn't work)... But in the same page it also
says that I need to have Orocos Toolchain installed with *autoproj*
(which I don't).

I have installed Orocos via Ubuntu package management
(ros-indigo-orocos-toolchain and the rest of rtt-).

So just to check, is it possible to make my generated types available to
the deployer in this situation?

---------------------------

2)

I also see on the GitHub page of rtt_ros_comm
<https://github.com/orocos/rtt_ros_integration/tree/toolchain-2.9/rtt_roscomm>
that I can make '*.msg'* types available. Assume that I have a ROS
package named my_pkg and it contains 'msg/my_msg.msg' and generate my_msg.

Calling

rosrun rtt_roscomm create_rtt_msgs my_pkg/my_msg

OR

rosrun rtt_roscomm create_rtt_msgs my_msg

doesn't really do much, does it?
Is this functionality available and working via standard ROS repository
installation?
I would appreciate it if someone comes up with a bit more clear
instruction...

Thanks

Regards
Keivan Zavari

[orocosusers] rtt ros integration

Dear Keivan,

> 2)
>
> I also see on the GitHub page of rtt_ros_comm
> <https://github.com/orocos/rtt_ros_integration/tree/toolchain-2.9/rtt_roscomm>
> that I can make '*.msg'* types available. Assume that I have a ROS
> package named my_pkg and it contains 'msg/my_msg.msg' and generate my_msg.
>
> Calling
>
> rosrun rtt_roscomm create_rtt_msgs my_pkg/my_msg
>
> OR
>
> rosrun rtt_roscomm create_rtt_msgs my_msg
>
> doesn't really do much, does it?
> Is this functionality available and working via standard ROS repository
> installation?
> I would appreciate it if someone comes up with a bit more clear
> instruction...
The instructions are pretty clear...
The `create_rtt_msgs` is a script that generates for you a ROS-package
containing what is needed to generate the typekit from a ROS msg.
However, the `create_rtt_msgs` targets to a ROS-package that defines
ROS-messages - it does not target to each single message.
Therefore, the sypnosis of the command is
```
rosrun rtt_roscom create_rtt <ROS-package-with-rosmsgs>
```
If your package is called `keivan_msgs`, then it will generate a
ROS-package called `rtt_keivan_msgs`. You must compile that package
after generation, and you are ready to go! :-)

Hope this helps,
- Enea

>
> Thanks
>
> Regards
> Keivan Zavari