Hello,

Thank you for your quick response!
I looked in to the ways to go from eigen2 to eigen3 as shown at: http://eigen.tuxfamily.org/dox/Eigen2SupportModes.html
It still didn't work with eigen2 support or using FullPivLU.

I'll look at the duplicated port statement

Oke thanks for the advice, it would be very nice if someone can help me port MTTD to Electric. So if someone who knows how to do this has some time it would be really help full!

Regards Jimmy
________________________________________
Van: Peter Soetens [peter [..] ...]
Verzonden: donderdag 10 november 2011 9:45
Aan: Heuvel, J. van den
CC: orocos-users [..] ...
Onderwerp: Re: [Orocos-users] Problems getting MTTD running

On Wed, Nov 9, 2011 at 1:07 PM, Heuvel, J. van den
<j [dot] v [dot] d [dot] heuvel [..] ...> wrote:
> Hello,
>
> I am trying to use the multitarget tracking and detection (MTTD) package from:
> http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/
>
> I have two problems.
>
> 1. I tried to run the examples using ROS electric. I had to change several things: the ros dependency libreadline5-dev in ocl_1.10 and in srl_people_tracker_0.2 the tarball urls had to be updated, but now I am stuck at the following error:
>
> kul-ros-pkg/srl_people_tracker_0.2/build/srl_source/base/gating_model/DefaultGating.hpp:42: error: ‘LU’ is not a member of ‘Eigen’

This is probably because this code was written against Eigen2 and ROS
electric is using Eigen3.

>
> Does anyone have experience combining MTTD with ROS electric?

Afaikt, MTTD was developed for RTT 1.x and 'official' ROS support is
only available from RTT 2.x on.

>
> 2. As an alternative I have also tried to run the examples in Cturtle. Before I compile the code I had to add the function GetCopyDataAssociationProbs() in dataAssociationFilterMurty.h, since it was not defined. After adding it, the following orocos error appeared, when running experiment1:
> 0.182 [ ERROR ][VBClusters] Can not 'addPort' priorVBClustersParameters: name already in use.

I don't know this code, but for some reason an 'addPort' statement in
the component was done with twice the same port name. You'll have to
figure out why and if one of both addPort statements can be removed.

>
> In addition, I got the following warning:
> (type 'ls' for context info) :SVD did not converge after 150 iterations!
> /opt/ros/cturtle/ros/bin/rosrun: line 35: 4461 Segmentation fault $exepath "$@"
> However, the results shown are as expected.
>
> If I try the same for the other experiments I get the following error:
> 0.040 [ ERROR ][DeploymentComponent::loadComponent] Can not 'addPort' priorVBClustersParameters: name already in use.
>
> And no results are generated.
>
> Can anyone help me with this?

Maybe you could motivate some people on the list to port this
functionality to Electric/RTT2.x. There are scripts available and
people with experience...

Peter