Hey,
I am trying to send customized message types from rtt to ros and vice versa (with the std_msgs it works fine). My customized message is MsgTiming.msg and I put it in a seperate pkg called OrocosMsgPkg:
duration start_time_Daq duration stop_time_Daq
0.429 [ Warning][DeploymentComponent::configureComponents] The protocol with id 3 did not register a fall-back handler for unknown types! 0.429 [ Warning][DeploymentComponent::configureComponents] triggered by: unknown_t which does not have a transport. 0.429 [ ERROR ][DeploymentComponent::configureComponents] Could not create transport stream for port Daq_Time_blacky with transport id 3 0.429 [ ERROR ][DeploymentComponent::configureComponents] No such transport registered. Check your policy.transport settings or add the transport for type MsgTiming 0.429 [ Warning][DeploymentComponent::configureComponents] Creating stream with name BlackyTime with Port Daq_Time_blacky from Daq failed. Switched to : Deployer
Note that 'blacky' is the name of my robot :). Part of my application.xml contains:
<simple name="Import" type="string"><value>./lib/orocos</value></simple> <simple name="Import" type="string"><value>\$(find OrocosMsgPkg)/lib/orocos</value></simple> <simple name="Import" type="string"><value>\$(find rtt_ros_integration)/lib/orocos</value></simple> <simple name="Import" type="string"><value>\$(find rtt_ros_integration_std_msgs)/lib/orocos</value></simple> <struct name="BlackyTime" type="ConnPolicy"> <simple name="type" type="short"><value>0</value></simple><!-- type of connection: 0 means Data --> <simple name="size" type="short"><value>1</value></simple><!-- buffer size --> <simple name="transport" type="short"><value>3</value></simple><!--3 means ROS--> <simple name="name_id" type="string"><value>time_blacky</value></simple><!-- topic name --> </struct> <!-- ************************************************************************ --> <struct name="Daq" type="Example::Daq"> <struct name="Activity" type="PeriodicActivity"> <simple name="Period" type="double"><value>0.0002</value></simple> <simple name="Priority" type="short"><value>70</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="AutoConnect" type="boolean"><value>1</value></simple> <struct name="Ports" type="PropertyBag"> <simple name="Daq_Torque_port" type="string"><value>Comm_Torque</value></simple> <simple name="Daq_Enc_port" type="string"><value>Comm_Enc</value></simple> <simple name="Daq_Time_port_O" type="string"><value>Comm_Time_O</value></simple> <simple name="Daq_Time_port_R" type="string"><value>Comm_Time_R</value></simple> <simple name="Daq_Time_blacky" type="string"><value>BlackyTime</value></simple> </struct>
Any idea what I am doing wrong?
Two smaller questions are:
1) when starting the deployer I always have to choose:
[rosrun] You have chosen a non-unique executable, please pick one of the following: 1) /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/bin/deployer-gnulinux 2) /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/bin/deployer-gnulinux
2) Even when my whole program is working fine I first get this 'big' list of (up to now NON problematic) warning and errors:
.037 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-transport-mqueue-gnulinux.so' already loaded. Not reloading it. 0.037 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-transport-corba-gnulinux.so' already loaded. Not reloading it. 0.037 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-typekit-gnulinux.so' already loaded. Not reloading it. 0.038 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins/librtt-marshalling-gnulinux.so' already loaded. Not reloading it. 0.038 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins/librtt-scripting-gnulinux.so' already loaded. Not reloading it. 0.039 [ ERROR ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: not a valid component library: 0.039 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: undefined symbol: createComponent 0.039 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: undefined symbol: getComponentType 0.040 [ ERROR ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: not a valid component library: 0.040 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: createComponent 0.040 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: getComponentType 0.042 [ ERROR ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: not a valid component library: 0.042 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: undefined symbol: createComponent 0.042 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: undefined symbol: getComponentType 0.043 [ ERROR ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so: not a valid component library: 0.043 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: createComponent 0.043 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: getComponentType 0.043 [ ERROR ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so: not a valid component library: 0.043 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: createComponent 0.043 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: getComponentType 0.043 [ ERROR ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so: not a valid component library: 0.043 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: createComponent 0.043 [ ERROR ][DeploymentComponent::configure] /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: getComponentType 0.125 [ ERROR ][DeploymentComponent::import] could not load library '/u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-ros-MsgTiming-transport.so': /u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-ros-MsgTiming-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.126 [ ERROR ][DeploymentComponent::import] could not load library '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Log-transport.so': /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Log-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.135 [ ERROR ][DeploymentComponent::import] could not load library '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Clock-transport.so': /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Clock-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.144 [ ERROR ][DeploymentComponent::import] could not load library '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Header-transport.so': /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Header-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.423 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users.. 0.423 [ Warning][DeploymentComponent::loadComponents] Forcing priority (70) of thread with SCHED_OTHER policy to 0. 0.424 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for non-privileged users.. 0.424 [ Debug ][Activity] 0.424 [ Warning][Activity] Lowering scheduler type to SCHED_OTHER for non-privileged users..
Is there anything in there to worry about (or a way to avoid this)?
Thanks a lot,
Bert
RTT-ROS integration - non std_msgs messages
On Wednesday 08 December 2010 23:34:57 bert [dot] willaert [..] ... wrote:
> Hey,
>
> I am trying to send customized message types from rtt to ros and vice versa
> (with the std_msgs it works fine). My customized message is MsgTiming.msg
> and I put it in a seperate pkg called OrocosMsgPkg:
> After I compile this pkg I have both the librtt-ros-MsgTiming-transport.so
> and librtt-ros-MsgTiming-typekit.so in the OrocosMsgPkg/lib/orocos/types
> folder. I can also compile the pkg that contains my two Orocos Components
> ('Daq' and 'Control'). In manifest file of this pkg I added the dependency
> on OrocosMsgPkg. However at runtime I get the following erros:
>
>
> Note that 'blacky' is the name of my robot :). Part of my application.xml
> contains:
>
> Any idea what I am doing wrong?
What version of RTT, OCL and orocos_toolchain_ros are you using?
Ruben
> Two smaller questions are:
> 1) when starting the deployer I always have to choose:
>
> I guess there is no difference between these two?
>
> 2) Even when my whole program is working fine I first get this 'big' list
> of (up to now NON problematic) warning and errors:
>
> Is there anything in there to worry about (or a way to avoid this)?
>
> Thanks a lot,
>
> Bert
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
RTT-ROS integration - non std_msgs messages
Hey,
I am trying to send customized message types from rtt to ros and vice versa (with the std_msgs it works fine). My customized message is MsgTiming.msg and I put it in a seperate pkg called OrocosMsgPkg:
After I compile this pkg I have both the librtt-ros-MsgTiming-transport.so and librtt-ros-MsgTiming-typekit.so in the OrocosMsgPkg/lib/orocos/types folder.
I can also compile the pkg that contains my two Orocos Components ('Daq' and 'Control'). In manifest file of this pkg I added the dependency on OrocosMsgPkg.
However at runtime I get the following erros:
Note that 'blacky' is the name of my robot :). Part of my application.xml contains:
Any idea what I am doing wrong?
Two smaller questions are:
1) when starting the deployer I always have to choose:
I guess there is no difference between these two?
2) Even when my whole program is working fine I first get this 'big' list of (up to now NON problematic) warning and errors:
Is there anything in there to worry about (or a way to avoid this)?
Thanks a lot,
Bert