On Feb 6, 2012, at 3:58 PM, Peter Soetens wrote:

> Hi Dustin,
>
> On Tue, Dec 13, 2011 at 4:01 PM, Gooding, Dustin R. (JSC-ER411)
> <dustin [dot] r [dot] gooding [..] ...> wrote:
>> On Dec 13, 2011, at 2:34 AM, Ruben Smits wrote:
>>
>>> Hi Dustin,
>>>
>>> On Monday 12 December 2011 17:19:47 Gooding, Dustin R. wrote:
>>>> On Dec 12, 2011, at 4:18 PM, Peter Soetens wrote:
>>>>> On Mon, Dec 12, 2011 at 9:26 PM, Gooding, Dustin R. (JSC-ER411)
>>>>>
>>>>> <dustin [dot] r [dot] gooding [..] ...> wrote:
>>>>>> Thanks Steven. I re-ran rosmake with the --pre-clean flag and it
>>>>>> cleared up this error I was seeing.
>>>>>>
>>>>>> Now, I'm moving on to figuring out why I'm getting undefined reference
>>>>>> errors:
>>>>>>
>>>>>> /*
>>>>>> Linking CXX executable ../../bin/cdeployer-xenomai
>>>>>>
>>>>>> /usr/xenomai/lib/libnative.so: undefined reference to
>>>>>> `xeno_set_current' /usr/xenomai/lib/libnative.so: undefined
>>>>>> reference to `xeno_current_mode_key' /usr/xenomai/lib/libnative.so:
>>>>>> undefined reference to `xeno_sigshadow_install_once'
>>>>>> /usr/xenomai/lib/libnative.so: undefined reference to
>>>>>> `xeno_slow_get_current' /usr/xenomai/lib/libnative.so: undefined
>>>>>> reference to `xeno_bind_skin_opt' /usr/xenomai/lib/libnative.so:
>>>>>> undefined reference to `xnarch_ns_to_tsc'
>>>>>> /usr/xenomai/lib/libnative.so: undefined reference to
>>>>>> `xeno_current_key' /usr/xenomai/lib/libnative.so: undefined
>>>>>> reference to `xeno_handle_mlock_alert'
>>>>>> /usr/xenomai/lib/libnative.so: undefined reference to
>>>>>> `xeno_map_heap' /usr/xenomai/lib/libnative.so: undefined reference
>>>>>> to `xnarch_tsc_to_ns' /usr/xenomai/lib/libnative.so: undefined
>>>>>> reference to `xeno_set_current_mode' /usr/xenomai/lib/libnative.so:
>>>>>> undefined reference to `xeno_fault_stack'
>>>>>> /usr/xenomai/lib/libnative.so: undefined reference to
>>>>>> `xeno_sem_heap' collect2: ld returned 1 exit status
>>>>>> make[3]: *** [../bin/cdeployer-xenomai] Error 1
>>>>>>
>>>>>> */
>>>>>>
>>>>>> My ldconfig shows I have Xenomai libraries available:
>>>>>>
>>>>>> /*
>>>>>> dgooding@wall-e:/opt/ros/electric/stacks/orocos_toolchain$ sudo
>>>>>> ldconfig -p | grep 'xeno'>>
>>>>>> libxenomai.so.0 (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libxenomai.so.0 libxenomai.so
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libxenomai.so
>>>>>> libvxworks.so.1 (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libvxworks.so.1 libvxworks.so
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libvxworks.so
>>>>>> libvrtx.so.0 (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libvrtx.so.0 libvrtx.so (libc6,x86-64)
>>>>>> => /usr/xenomai/lib/libvrtx.so libuitron.so.0
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libuitron.so.0
>>>>>> libuitron.so (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libuitron.so librtdm.so.1
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/librtdm.so.1
>>>>>> librtdm.so (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/librtdm.so libpthread_rt.so.1
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libpthread_rt.so.1
>>>>>> libpthread_rt.so (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libpthread_rt.so libpsos.so.0
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libpsos.so.0
>>>>>> libpsos.so (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libpsos.so libnative.so.3
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libnative.so.3
>>>>>> libnative.so (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libnative.so libanalogy.so.1
>>>>>> (libc6,x86-64) => /usr/xenomai/lib/libanalogy.so.1
>>>>>> libanalogy.so (libc6,x86-64) =>
>>>>>> /usr/xenomai/lib/libanalogy.so>>
>>>>>> */
>>>>>>
>>>>>> It looks like a prior post
>>>>>> (http://lists.mech.kuleuven.be/pipermail/orocos-users/2010-May/001909
>>>>>> .html) mentions a similar problem, and a work around is discussed
>>>>>> (adjusting CMAKE_MODULE_LINKER_FLAGS) and Peter mentioned fixed the
>>>>>> FindXenomai.cmake macro… but I'm guessing those haven't made it into
>>>>>> the repo yet.>
>>>>> The FindXenomai.cmake macro is correct and search for both libraries.
>>>>> You can verify this by looking at rtt/orocos-rtt-xenomai.pc which is
>>>>> being picked up by OCL. So it's something else. The only obvious error
>>>>> you could make is that there is a mixup of Xenomai versions. For
>>>>> example including Xenomai 2.6 headers and linking with 2.5 (or the
>>>>> other way around).
>>>>
>>>> This is a brand new machine, installed from scratch. There's never been a
>>>> Xenomai 2.5 instance on it. My coworker has been shadowing my work on his
>>>> brand new box and is getting the same error. So it's very likely a
>>>> configuration error on my part, I just don't know where to start looking.
>>>>
>>>> You're correct in that orocos_toolchain/rtt/build/rtt/orocos-rtt-xenomai.pc
>>>> has both -lxenomai and -lnative listed in it's Libs variable, along with a
>>>> good -Lpath.
>>>>
>>>> I don't know if this helps at all, but here's some output from xeno-config:
>>>>
>>>> /*
>>>> dgooding@wall-e:/opt/ros/electric/stacks/orocos_toolchain$ xeno-config
>>>> --verbose xeno-config --verbose
>>>> --version="2.6.0"
>>>> --cc="gcc"
>>>> --arch="x86"
>>>> --prefix="/usr/xenomai"
>>>> --xeno-cflags="-I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT
>>>> -Wall -Werror-implicit-function-declaration -pipe -D__XENO__"
>>>> --xeno-ldflags="-L/usr/xenomai/lib -lxenomai -lpthread -lrt "
>>>> --posix-cflags=""
>>>> --posix-ldflags="-Wl,@/usr/xenomai/lib/posix.wrappers
>>>> -L/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt "
>>>> --library-dir="/usr/xenomai/lib"
>>>> */
>>>>
>>>> To me, it looks like the .pc file is using the same linker settings that
>>>> xeno-config is suggesting.
>>>
>>> I don't see -lnative in this list, maybe it's not needed??
>>>
>>>> I've attached the full log from running "rosmake --pre-clean
>>>> orocos_toolchain". Hopefully there's a secret nugget of info in there that
>>>> can help.
>>>
>>> Could you rerun only the rtt build with 'make VERBOSE=1' that will give us a
>>> lot more information.
>>>
>>>
>>> Ruben
>>
>> Hi Ruben,
>>
>> I did a bit more poking and found that "xeno-config --verbose" isn't the best way to find what the recommended flags are. Here's potentially a better result.
>>
>> /*
>> dgooding@wall-e:~$ xeno-config --skin=native --ldflags
>> -lnative -L/usr/xenomai/lib -lxenomai -lpthread -lrt
>>
>> dgooding@wall-e:~$ xeno-config --skin=posix --ldflags
>> -Wl,@/usr/xenomai/lib/posix.wrappers -L/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
>> */
>>
>> I've also attached the full log of making RTT with verbosity. The "make clean" step shown first has an error, but only because that's the second time I ran it. It's just evidence that the RTT directory is *really* clean before I started building. ;)
>>
>> Hope it helps.
>
> Sorry we couldn't help you further out. Did you find a fix in the mean time ?
>
> Peter

Thanks for checking, Peter. No, I never did. We're currently just using stock Ubuntu 11.10. When we get further along in our codebase, we'll revisit migrating to Xenomai. So far, so good though, codebase-wise. We've been rewriting stuff from the ground up (kernel drivers, etc) for our hardware and re-imagining the user interface to our serial data bus. We haven't had the time to do any real performance tests, but even if we had, I'm not sure how useful they'd be without Xenomai in the mix. And on the other end, some other folks have been wrapping our older codebase with ROS and getting some interesting new functionality. I hope we meet in the middle soon.

Peter, has anyone from NASA or Jacobs contacted you or SourceWorks about the Orocos training program? Let me know if not, and I'll go push harder.

-dustin