deployment in rock

Dear sir,

I am trying to use the interesting feature of rock, but I have some difficulties to understand
how to use them.

My example consists of three tasks, the first should ask data to user using a console, the second made
some changes to received data and sent them to the third that shows the position of a cube in 3D space
using irrlicht.

I wrote the following orogen file and I got generated without any problem three executables

name 'robtipo'
version '0.1'

import_types_from "posizione.h"

task_context "hmi" do
output_port("desiredP", "/posizione/pos").
doc("set point di posizione")
end

task_context "oneaxisfilter" do
input_port("inDesiredP", "/posizione/pos").
doc("set point da filtrare")
output_port("outDesiredP", "/posizione/pos").
doc("set point filtrati da inviare al robot")

port_driven "inDesiredP"
end

task_context "robot" do
input_port("inDesiredP", "/posizione/pos").
doc("set point contenete la posizione da raggiungere")
property("curPos" , "/posizione/pos").
doc("posizione attuale del robot")
end

deployment "interfaccia" do
hmi = task("mmi", "hmi")
end

deployment "filtro" do
filter = task("filter", "oneaxisfilter").
realtime.
periodic(0.5)
end

deployment "visualizzatore" do
robot = task("myRobot", "robot").
realtime.
periodic(0.5)
end

I issued for this the following commands:
orogen robotViewer.orogen
mkdir build
cd build

cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/lib/rock
make install

After having the three executable genererated I returned in the parent directory with command cd
and issued the following command

ruby rviewer.rb

I got the following errors:

ruby viewer.rb
IOR:010000001f00000049444c3a5254542f636f7262612f435461736b436f6e746578743a312e300000010000000000000064000000010102000d0000003139322e3136382e322e31310000e9d60e000000feaaf4044d00000f1a000000000000000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100
1.224 [ Warning][TypekitRepository::Import] Overriding TypeInfo for '/std/string'.
1.130 [ Warning][TypekitRepository::Import] Overriding TypeInfo for '/std/string'.
1.241 [ Warning][TypekitRepository::Import] Overriding TypeInfo for '/std/string'.
/usr/src/rock/tools/orocos.rb/lib/orocos/task_context.rb:279:in `do_get': task context 'interfaccia' does not exist (Orocos::NotFound)
from /usr/src/rock/tools/orocos.rb/lib/orocos/task_context.rb:279:in `get'
from /usr/src/rock/tools/orocos.rb/lib/orocos/corba.rb:175:in `refine_exceptions'
from /usr/src/rock/tools/orocos.rb/lib/orocos/task_context.rb:278:in `get'
from viewer.rb:9
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:237:in `spawn'
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:530:in `guard'
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:236:in `spawn'
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:29:in `run'
from viewer.rb:8

rviewer.rb is a script file with the following instructions:

require 'orocos'

include Orocos

Orocos.initialize

Orocos.run 'interfaccia' , 'filtro' , 'visualizzatore' do
inter = TaskContext.get 'interfaccia'
filt = TaskContext.get 'filtro'
visua = TaskContext.get 'visualizzaztore'

inter.desiredP.connect_to filt.inDesiredP
filt.outDesiredP.connect_to visua.inDesiredP

inter.start
filt.start
visua.start
end

I think I didn't understand what is necessary to do in order to set connections among tasks
and getting modules running using ruby.
Which are the correct step I have to do to?

On the page

http://rock-robotics.org/runtime/quickstart.html

the link to complete example script doesn't work.

Than you for your support.

Gianpaolo Rizzi

deployment in rock

On 12/12/2010 05:38 PM, gprizzi [..] ... wrote:
> I think I didn't understand what is necessary to do in order to set
> connections among tasks
> and getting modules running using ruby.
> Which are the correct step I have to do to?

The issue is that you mix up deployment names and task names (the fault
is obviously on the documentation ;-))

Orocos.run expects deployment names, i.e. 'interfaccia'

TaskContext.get expects task names, i.e. 'mmi'

The idea is that you can use TaskContext.get to get tasks that are
started by other means than Ruby.

> On the page
>
> http://rock-robotics.org/runtime/quickstart.html
>
> the link to complete example script doesn't work.
Mmmmm ... I need to find out which .htaccess magic stanza is needed
--
Sylvain Joyeux (Dr. Ing.)
Researcher - Space and Security Robotics
DFKI Robotics Innovation Center
Bremen, Robert-Hooke-Straße 5, 28359 Bremen, Germany

Phone: +49 421 218-64136
Fax: +49 421 218-64150
Email: sylvain [dot] joyeux [..] ...

Weitere Informationen: http://www.dfki.de
--
Orocos-Dev mailing list
Orocos-Dev [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev

Rock: status

We are behind on our migration schedule at DFKI. That's the main reason
why we did not announce anything yet.

You can probably play around with the Rock tools. But you should expect
rough edges. And you should definitely track the 'master' flavor of
Rock. The "stable" flavor is really not ready for public consumption.
Moreover, don't hesitate asking questions / reporting issues on the
orocos-users / rock-dev mailing lists.

To change the flavor of an already bootstrapped rock installation, do

autoproj reconfigure

I'm in the final stage of my project's robot migration, so the most
obvious problems should disappear in the following week.
--
Sylvain Joyeux (Dr. Ing.)
Researcher - Space and Security Robotics
DFKI Robotics Innovation Center
Bremen, Robert-Hooke-Straße 5, 28359 Bremen, Germany

Phone: +49 421 218-64136
Fax: +49 421 218-64150
Email: sylvain [dot] joyeux [..] ...

Weitere Informationen: http://www.dfki.de
--
Orocos-Dev mailing list
Orocos-Dev [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev