Hi all,
I am writing about a couple of bugs:

- the file
rtt_kdl_conversions/kdl_conversions-types.cpp
has an error
(see patch for rtt_geometry (groovy) )

Can someone apply it?

- it is possible to make some operation with frames in lua (i tried the
multiplication), but when you convert back to geometry_msgs/Pose, it
raise an error (minimal example in test.lua)

...
t=rtt.Variable("KDL.Frame")
t2=t*t
kdlutils.frame_to_msg(t2))
...

produces

/opt/ros/groovy/stacks/orocos_toolchain/ocl/bin/rttlua-gnulinux:
...y/stacks/orocos_toolchain/ocl/lua/modules/rttlib.lua:702:
Operation.call: argument 1 is not assignable.
stack traceback:
[C]: in function 'op'
...y/stacks/orocos_toolchain/ocl/lua/modules/rttlib.lua:702: in
function 'FrameToMsg'
...scus/GroovyPKG/rtt_geometry/kdl_lua/lua/kdlutils.lua:61: in function
'frame_to_msg'
test.lua:34: in main chunk
[C]: ?

I found this behaviour strange, but i found a way out by re-copyng the
frame (see function copyFrame).

Regards, Gianni.