In fact it was my deployer that was doing the job of the rosnode and I was
certainly automatically turned into a node the previous implementation of
the ros bridge.

I was having hard time in connecting ros-messages to ports, but updating my
git trees to last versions solved the issue.

Thanks for the other tips, I'll have a look at this.

2014-03-23 18:12 GMT+01:00 Jonathan Bohren <jonathan [dot] bohren [..] ...>:

> Willy,
>
> You shouldn't have to do anything other than import the `rtt_rosnode`
> orocos plugin. This will call ros::init with the proper arguments. You
> should never have to call ros::init yourself in an orocos component.
>
> Previously, orocos would attempt to load all dependencies in a package's
> manifest.xml file. In Catkin, this changed so that identifiers listed in
> the package.xml as dependencies might be either system dependencies or
> packages. Unfortunately with this new XML specification, there's an
> ambiguity in the case where a package isn't found: it could either be a
> system dependency, or it could be a missing orocos package. To make this
> explicit, plugins form ROS packages and their dependencies can be imported
> by using the <export> section of a package.xml file or manifest.xml file.
> This works in the following way:
>
> https://github.com/orocos/rtt_ros_integration/tree/hydro-devel/rtt_ros#r...
>
> So if you want to automatically load `rtt_rosnode` when your package is
> imported by `rtt_ros.import`, you can add it as a plugin_depend in your
> package's XML manifest.
>
> Additionally, if you want to connect an operation to a ROS service, you
> can now use this API if you like:
>
> https://github.com/orocos/rtt_ros_integration/tree/hydro-devel/rtt_rosco...
>
> -j
>
>
> On Sat, Mar 22, 2014 at 6:43 PM, Willy Lambert <lambert [dot] willy [..] ...>wrote:
>
>> Hi,
>>
>> I used to type the following lines in my ros-orocos components in the
>> contructor :
>>
>> ros::NodeHandle nh;
>> m_srvSetMotorPower = nh.advertiseService("/Ubiquity/setMotorPower",
>> &RosHmlItf::srvSetMotorPower, this);
>>
>> But I have the following error :
>>
>> [FATAL] [1395527990.310948091]: You must call ros::init() before creating
>> the first NodeHandle
>> [FATAL] [1395527990.311063471]: BREAKPOINT HIT
>> file =
>> /home/ard/arp_os/dependencies/ros/src/roscpp/src/libros/node_handle.cpp
>> line=151
>>
>> Should I add the ros::init() call or should I use something else ? I have
>> sawn a rtt_rosnode package, but there is no instructions about it.
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>>
>
>
> --
> Jonathan Bohren
> Laboratory for Computational Sensing and Robotics
> http://dscl.lcsr.jhu.edu/People/JonathanBohren
>
>