On 11/07/2010 12:00 PM, gprizzi [..] ... wrote:
> Dear Sir,
>
> I am experiencing with the useful function of orogen but I am a novice
> and I need some support.
>
> My question is the following
>
> I create the following user type
>
> #include <vector>
> using namespace std;
> namespace posizione {
> struct pos
> {
> vector<float> p3;
> };
> }
>
> that I used this definition in the following orogen project.
>
> name 'robtipo'
> version '0.1'
>
> import_types_from "posizione.h"
>
> task_context "hmi" do
> output_port "desiredP", "/posizione/pos"
> end
>
> task_context "oneaxisfilter" do
> input_port "inDesiredP", "/posizione/pos"
> output_port "outDesiredP", "/posizione/pos"
> end
>
> task_context "robot" do
> input_port "inDesiredP", "/posizione/pos"
> property "curPos" , "/posizione/pos"
> end
>
> # Static deployment for testing. The hmi produce a new setpoint
> # the filter component filter it and robot move to the desired set points
>
> deployment "testrobot" do
>
> hmi = task("mmi", "hmi").
> start
>
> filter = task("filter", "oneaxisfilter").
> start
>
> robot = task("myRobot", "robot").
> realtime.
> periodic(5.0).
> start
>
> connect(hmi.desiredP, filter.inDesiredP)
> connect(filter.outDesiredP , robot.inDesiredP)
> end
>
> The compilation is successful but when I try to execute I get the
> following warning
>
> ./testrobot
>
> cannot find the pkg-config specification associated with this typekit:
> robtipo-typekit-gnulinux
> this is required to use the typelib transport
> No typelib transport will be available for the types in this typekit
> 0.046 [ Warning][Thread] Forcing priority (1) of thread with SCHED_OTHER
> policy to 0.
> 0.050 [ Warning][Thread] Forcing priority (1) of thread with SCHED_OTHER
> policy to 0.
>
>
> What can I do to generate and install the required pkg-config specification?
First of all, it is harmless for now, as the typelib transport is only
used for logging and we did not publish our logging component (yet).

I've just realized that I did not publish the workflow description page
on oroGen's documentation. I plan to do it today.

In the meantime, the oroGen development workflow is (in a nutshell):

* develop
* compile
* install
* repeat

The important part is 'install'. This is done with 'make install'

Moreover, the PKG_CONFIG_PATH environment variable needs to contain
<prefix>/lib/pkgconfig where <prefix> is the installation prefix, i.e.
if you build your orogen project with

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=$HOME/dev/install ..
make install

then $HOME/dev/install/lib/pkgconfig needs to be in PKG_CONFIG_PATH

I'm testing a patch to remove this constraint (and have a more
informative error message).

> Thank in advance for your kid support.
You're welcome. Thanks for holding that far, and sorry for the problems
you had
--
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
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