On Thursday 31 March 2011 22:39:55 Gajamohan Mohanarajah wrote:
> Hi Peter,
>
> >> Hi,
> >>
> >> 1. I tried with mqueue only as transport. There were no component
> >> loading errors. But when I do an [ls] in the talk browser I still see
> >> unknown_ts. See attached files [mqueueOnly_verboseMake] and
> >> [mqueueOnle_unknownts].
> >> 2 I am also attaching the verbose make and the taskbrowser output
> >> when mqueue and typelib transports both enabled.
> >
> > For these unknown_t's I need to see the fricomm.h file and we have to
> > find out why these types are not there.
> >
> > For the typelib linking error, there is an issue with the generated
> > CMakeLists.txt file by typegen, where it fails to link with typelib
> > itself. This can be seen from the verbose make output. It's probably a
> > variable name mismatch in transports/typelib/CMakeLists.txt
> >
> > Since you are on the cturtle branch of orocos_toolchain_ros, you're
> > having a fixed version of orogen that we can't upgrade easily (it uses
> > a tar ball that Steven prepared). I'll have to let Ruben answer what
> > the best solution for you is. I think that you'll have to upgrade to a
> > branch that contains the latest toolchain-2.2 or latest toolchain-2.3
> > for a definitive solution. You still could leave the typelib transport
> > disabled, and try again once you upgraded.
>
> Thanks ! Let's wait for Ruben's opinion on this.

I'm in the middle of releasing orocos_toolchain_ros 0.3.0 which uses
toolchain-2.3. The debian packages should be available soon. This is still for
diamondback. I have possibly found a way to get rid of the cturtle branch and
merge it back into master. Version 0.3.1 should incorporate this change.

> In the meantime, In one of the previous mails [Willy Lambert] mentioned,
> -----
> I don't know what is the supposed manner to do it, but personnaly I
> always switch the default orocos_toolchain_ros modules to the last
> toolchain (currently toolchain-2.3)
> -----
> Can this also be a solution ? Can anyone elaborate on how to do this switch
> ?

Go into the rtt/ocl/typelib/orogen/utilmm/utilrb/log4cpp (all the original
gitorious repositories) and do a 'git fetch', 'git checkout toolchain-2.3'

-- Ruben

>
> Gajan
>
> > Peter
> >
> >> Gajan
> >>
> >> On Thu, Mar 31, 2011 at 4:30 PM, Peter Soetens <peter [..] ...>
wrote:
> >>> On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
> >>>> Hi,
> >>>>
> >>>> I am trying to make the [lwr_fri] work with rtt 2.x
> >>>>
> >>>> I generated the typekit using
> >>>> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h -t
> >>>> mqueue,typelib
> >>>> [thank you Peter for the patch this morning]
> >>>> cd kuka_typekit
> >>>> make
> >>>
> >>> Thanks for sticking with us :-) There are two more patches that
> >>> might be needed for orogen, although it appears it didn't harm your
> >>> setup (see attachment).
> >>>
> >>> You could also try to compile with mqueue only and omit the typelib
> >>> transport. The latter is used for the ruby bindings only.
> >>>
> >>>> rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
> >>>> ----
> >>>> 0.033 [ ERROR ][Logger] could not load library
> >>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/
> >>>> libkuka_t ypekit-transport-typelib-gnulinux.so':
> >>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/l
> >>>> ibkuka_t ypekit-transport-typelib-gnulinux.so: undefined symbol:
> >>>> _ZTVN7Typelib11TypeVisitorE
> >>>> 0.033 [ Warning][Logger] Some found plugins could not be loaded !
> >>>> 0.033 [ Warning][Logger] Corrupted files found in
> >>>> '/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/oroco
> >>>> s:/home/g
> >>>> ajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/r
> >>>> os/stacks/ orocos_toolchain_ros/rtt/install/lib/orocos'. Fix or
> >>>> remove these plugins. 0.034 [ ERROR
> >>>> ][DeploymentComponent::configure] could not load library
> >>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/
> >>>> libkuka_ typekit-transport-typelib-gnulinux.so':
> >>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/l
> >>>> ibkuka_t ypekit-transport-typelib-gnulinux.so: undefined symbol:
> >>>> _ZTVN7Typelib11TypeVisitorE
> >>>> 0.034 [ ERROR ][DeploymentComponent::configure] Some found
> >>>> plugins
> >>>> could not be loaded !
> >>>> 0.101 [ ERROR ][DeploymentComponent::import] could not load
> >>>> library
> >>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/
> >>>> libkuka_t ypekit-transport-typelib-gnulinux.so':
> >>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/l
> >>>> ibkuka_t ypekit-transport-typelib-gnulinux.so: undefined symbol:
> >>>> _ZTVN7Typelib11TypeVisitorE
> >>>
> >>> I could not reproduce this. could you:
> >>>
> >>> roscd kuka_typekit
> >>> rm -rf lib
> >>> cd build ; make clean
> >>> make VERBOSE=1
> >>>
> >>> and post the output of the last command ?
> >>>
> >>>> 0.101 [ ERROR ][DeploymentComponent::import] Some found plugins
> >>>> could
> >>>> not be loaded !
> >>>> 0.133 [ ERROR ][Logger] Failed to load a component: aborting
> >>>> kick-start. Switched to : Deployer
> >>>> ----
> >>>>
> >>>>
> >>>> ~/.bashrc
> >>>> source `rosstack find orocos_toolchain_ros`/env.sh
> >>>> export RTT_COMPONENT_PATH=`rospack find
> >>>> rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos
> >>>
> >>> Setting the RTT_COMPONENT_PATH is not necessary in ROS environments.
> >>> We find everything using rospack / manifest.xml
> >>>
> >>>> FRIComponentOnly.xml
> >>>> ----
> >>>> <?xml version="1.0" encoding="UTF-8"?>
> >>>> &lt;!DOCTYPE properties SYSTEM "cpf.dtd"&gt;
> >>>> <properties>
> >>>> <simple name="Import"
> >>>> type="string"><value>kdl_typekit<value><simple> <simple
> >>>> name="Import" type="string"><value>kuka_typekit<value><simple>
> >>>> <simple name="Import"
> >>>> type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/li
> >>>> b/orocos/ liblwr_fri-gnulinux.so<value><simple>
> >>>>
> >>>> <struct name="FRIServer" type="lwr_fri::FRIComponent">
> >>>> <struct name="Activity" type="NonPeriodicActivity">
> >>>> <simple name="Priority"
> >>>> type="short"><value>1<value><simple>
> >>>> <simple name="Scheduler"
> >>>> type="string"><value>ORO_SCHED_RT<value><simple>
> >>>> <struct>
> >>>> <simple name="AutoConf"
> >>>> type="boolean"><value>1<value><simple>
> >>>> <simple name="AutoStart"
> >>>> type="boolean"><value>1<value><simple>
> >>>> <simple name="LoadProperties"
> >>>> type="string"><value>cpf/FRIServer.cpf<value><simple>
> >>>> <struct>
> >>>> <properties>
> >>>> ----
> >>>>
> >>>>
> >>>> Gajan
> >>>
> >>> Peter