On Tue, Feb 5, 2013 at 10:56 AM, Willy Lambert <lambert [dot] willy [..] ...> wrote:
> 2013/2/5 Mohamad Javad Aein <javad [dot] aein [..] ...>:
>> No,
>> These libraries are not in the search paths that I see in the error message.
>>
>
> [please don't top post, the thread is messing after this]
>
>
>
>>
>> On Tue, Feb 5, 2013 at 10:32 AM, Willy Lambert <lambert [dot] willy [..] ...> wrote:
>>> 2013/2/4 Mohamad Javad Aein <javad [dot] aein [..] ...>:
>>>> Yes, I can roscd into motion_control stack.
>>>>
>>>> On Mon, Feb 4, 2013 at 5:46 PM, Willy Lambert <lambert [dot] willy [..] ...> wrote:
>>>>> 2013/2/4 <javad [dot] aein [..] ...>:
>>>>>> Hi everyone,
>>>>>>
>>>>>> I am trying to use Ros and OROCOS together with the kuka_lwr component.
>>>>>> But I have problems setting it up and using the example provided.
>>>>>>
>>>>>> I run this command to deploy: rosrun ocl deployer-gnulinux -s
>>>>>> test_LWR_naxes.xml
>>>>>> This is the errors I get: (I have successfully compiled the motion_control:
>>>>>> rosmake
>>>>>> motion_control)
>>>>>
>>>>> did you add your motion_control package to the search path of ROS ? an
>>>>> easy test is trying to "roscd motion_control". If this doesn't work,
>>>>> you should fix it first.
>>>>>
>>>>>> -----------------------------------------------------------
>>>>>> Real-time memory: 517904 bytes free of 524288 allocated.
>>>>>> [rospack] Error: stack/package motion_control not found
>>>>>> [librospack]: error while executing command
>>>>>> 0.193 [ ERROR ][DeploymentComponent::import] No such package or
>>>>>> directory found in search path: motion_control. Search path is:
>>>>>> 0.193 [ ERROR ][DeploymentComponent::import]
>>>>>> /home/wadmin/fuerte_workspace/orocos/orocos_toolchain/rtt/../install/lib/orocos:.
>>>>>> 0.193 [ ERROR ][DeploymentComponent::import]
>>>>>> /home/wadmin/fuerte_workspace/orocos/orocos_toolchain/rtt/../install/lib/orocos/motion_control
>>>>>> 0.193 [ ERROR ][DeploymentComponent::import]
>>>>>> /home/wadmin/fuerte_workspace/orocos/orocos_toolchain/rtt/../install/lib/orocos/gnulinux/motion_control
>>>>>> 0.193 [ ERROR ][DeploymentComponent::import] ./motion_control
>>>>>> 0.193 [ ERROR ][DeploymentComponent::import] ./gnulinux/motion_control
>>>>>> 0.626 [ ERROR ][DeploymentComponent::loadComponent] Unable to create
>>>>>> Orocos Component 'motion_control::nAxesGeneratorPos': unknown
>>>>>> component type.
>>>
>>> The error log suggest that you should have your library in a list of
>>> directories, is it the case ?
>
>
> you said : " These libraries are not in the search paths that I see in
> the error message."
>
> Then were are they ? you can try the following commands :
> roscd motion_control
> find . -name motion_control
>
> BTW this error message is not good :
> [rospack] Error: stack/package motion_control not found
>
> I'm a bit surprised that you can roscd your dir but rospack doesn't find it.
> You should first try to make rospack working.
>
The problem is solved by a solution I got from kuka_lwr mailing list.
See this link:
http://lists.mech.kuleuven.be/mailman/private/kuka-lwr/2013-February/000...
There were two problems:
1- the package should be imported: naxes_motion_control instead of
stack motion_control
2- The namespace MotionControl should be used instead of
motion_control or naxes_motion_control so the correct line is:
<struct name="nAxesGeneratorPos" type="MotionControl::nAxesGeneratorPos">

I hope this is useful for someone in future :-)
Thanks for your help!

>>>
>>>>>> 0.626 [ Warning][DeploymentComponent::loadComponents] Could not
>>>>>> configure 'nAxesGeneratorPos': No such peer.
>>>>>> 0.627 [ ERROR ][Logger] Failed to load a component: aborting kick-start.
>>>>>> Switched to : Deployer
>>>>>> ----------------------------------------------------------
>>>>>> After this I have something like this:
>>>>>> Deployer [S]>
>>>>>>
>>>>>> This is my whole test_LWR_naxes.xml file
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>> rtt_rosnode
>>>>>> ocl
>>>>>> motion_control
>>>>>> lwr_fri
>>>>>>
>>>>>>
>>>>>>
>>>>>> 1
>>>>>> ORO_SCHED_RT
>>>>>>
>>>>>> 1
>>>>>> 1
>>>>>> cpf/FRIServer.cpf
>>>>>>
>>>>>> JntPosMsr
>>>>>> JntPosDsr
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>> 0.01
>>>>>> 1
>>>>>> ORO_SCHED_RT
>>>>>>
>>>>>> 1
>>>>>> 0
>>>>>> cpf/nAxesGeneratorPos.cpf
>>>>>>
>>>>>> JntPosMsr
>>>>>> JntPosDsr
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>> A separate but maybe related problem is:
>>>>>> I can cd into FRIServer
>>>>>> but then I cannot read the data from Robot. I put the robot to Monitor
>>>>>> mode, and in the console try to get the state of robot:
>>>>>> FRIServer [U]> FRIState.last
>>>>>> = {timestamp = 0, state = 0, quality = 0, desiredMsrSampleTime = 0,
>>>>>> desiredCmdSampleTime = 0, safetyLimits = 0, stat = {answerRate = 0,
>>>>>> latency = 0, jitter = 0, missRate = 0, missCounter = 0 } }
>>>>>>
>>>>>> There seems to be no connection.
>>>>>>
>>>>>>
>>>>>> Could someone please give me a hint on these problems?
>>>>>> Thanks in advance for your help!
>>>>>> --
>>>>>> Orocos-Users mailing list
>>>>>> Orocos-Users [..] ...
>>>>>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users