Hi,

Three weeks ago, I installed orocos-toolchain and went through the exercises for rtt2.x succesfully. Now I want to test the coupling between orocos and ros.

Ros cturtle is installed on my machine and I added the orocos_toolchain_ros stack using apt-get. After that, I removed the orocos-toolchain installation completely. Now I am trying to go through the exercises again, but I found following issues:

1) installing orocos-toolchain and the orocos_toolchain_ros_stack is different in the sense that all headers and libraries of both ocl and rtt are in the same folder in the first case (/opt/orocos-toolchain/install) while that's not the case with the ros stack (/opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install and /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install). To deal with this issues I changed the makefiles to:

OROPATH1=/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install
OROPATH2=/opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install
CXXFLAGS=-I${OROPATH1}/include -I${OROPATH2}/include -DOROCOS_TARGET=${TARGET} -fPIC -DRTT_COMPONENT LDFLAGS=-shared -L${OROPATH1}/lib -L${OROPATH2}/lib -Wl,-rpath ${OROPATH1}/lib -Wl,-rpath ${OROPATH2}/lib -lorocos-rtt-${TARGET}

2)