I finally figured out what the problem was. When compiling, rtt uses the
"xeno-config" binary to retrieve the xenomai linking flags. However, ocl
does _not_ seem to use them (at least on my system) to build the
deployer-xenomai binary. Instead the libraries path seem to be hard coded
and some flags (such as -lpthread_rt) are not included. I had to rerun the
make command for deployer-xenomai and add `usr/xenomai/bin.xeno-config
--skin=posix --ldflags`in it.
This is strange because I didn't have this problem on Xenomai 2.6.2.1.
Should I file a bug report for it?

Flavian Hautbois

2013/6/27 Flavian Hautbois <f [dot] hautbois [..] ...>

> Hi Ruben,
>
> I got rid of everything that was about Xenomai 2.6.2. I also made sure the
> library called was the right one.
> I made sure that shm_unlink was effectively in kallsyms (so it's not
> undefined), I also created a dummy program that used it and didn't have any
> problem running.
>
> Even more disturbing: I made a small program consisting in:
> > dlopen(/home/alex/ros_workspace/
> orocos/orocos_toolchain/install/lib/orocos/xenomai/./types/librtt-transport-mqueue-xenomai.so,
> RTLD_NOW, RTLD_GLOBAL)
>
> (which is exactly what fails in Orocos)
>
> and this succeeded...
>
> I must be missing something.
>
>
>
> 2013/6/26 Ruben Smits <ruben [dot] smits [..] ...>
>
>>
>>
>> Op woensdag 26 juni 2013 schreef Flavian Hautbois (f [dot] hautbois [..] ...)
>> het volgende:
>>
>> Hello everyone,
>>>
>>> I have been downgrading Xenomai recently. My configuration is now:
>>> - Ubuntu 12.04
>>> - Linux Kernel 2.6.37
>>> - Xenomai 2.5.6
>>> - GCC 4.4
>>> - ROS Fuerte
>>> - Orocos Toolchain 2.6
>>>
>>> I configured Xenomai with the --enable-dlopen-skins option.
>>> I have been testing the deployer with a single "import" command on a
>>> dummy component. To my surprise, I got this error:
>>>
>>> 0.040 [ ERROR ][Logger] could not load library
>>> '/home/alex/ros_workspace/orocos/orocos_toolchain/install/lib/orocos/xenomai/./types/librtt-transport-mqueue-xenomai.so':
>>> /usr/xenomai/lib/libpthread_rt.so.1: undefined symbol: shm_unlink
>>> 0.040 [ Warning][Logger] Some found plugins could not be loaded !
>>> 0.040 [ Warning][Logger] Corrupted files found in
>>> '/home/alex/ros_workspace/orocos/orocos_toolchain/install/lib/orocos'. Fix
>>> or remove these plugins.
>>> 0.110 [ Info ][DeploymentComponent::import] Importing directory
>>> /home/alex/ros_workspace/dummy/lib/orocos/xenomai ...
>>> 0.110 [ Debug ][DeploymentComponent::import] Scanning file
>>> /home/alex/ros_workspace/dummy/lib/orocos/xenomai/plugins ...not a regular
>>> file: ignored.
>>> Segmentation error (core dumped)
>>>
>>> Here is the backtrace:
>>>
>>> #0 0x00003216 in ?? ()
>>> #1 0xb6097546 in __init_posix_interface () from
>>> /usr/xenomai/lib/libpthread_rt.so.1
>>> #2 0xb7815e9b in ?? () from /lib/ld-linux.so.2
>>> #3 0xb7815f84 in ?? () from /lib/ld-linux.so.2
>>> #4 0xb7819f96 in ?? () from /lib/ld-linux.so.2
>>> #5 0xb7815cbf in ?? () from /lib/ld-linux.so.2
>>> #6 0xb78197e4 in ?? () from /lib/ld-linux.so.2
>>> #7 0xb7012be9 in ?? () from /lib/i386-linux-gnu/libdl.so.2
>>> #8 0xb7815cbf in ?? () from /lib/ld-linux.so.2
>>> #9 0xb701333a in ?? () from /lib/i386-linux-gnu/libdl.so.2
>>> #10 0xb7012c97 in dlopen () from /lib/i386-linux-gnu/libdl.so.2
>>> #11 0xb779812c in RTT::ComponentLoader::loadInProcess (this=0x832c918,
>>> file=..., libname=..., log_error=true)
>>> at
>>> /home/alex/ros_workspace/orocos/orocos_toolchain/rtt/rtt/deployment/ComponentLoader.cpp:678
>>>
>>> I never had this problem on Xenomai 2.6. Maybe it comes from the fact
>>> that I used a former version of GCC that I had (I used to run GCC 4.6), but
>>> I installed GCC4.4 because the 4.6 couldn't compile the linux 2.6.37 kernel
>>> (which is a documented issue).
>>>
>>> Any ideas?
>>>
>>>
>> Could it be that you have old libs lying around?
>>
>> Ruben
>>
>>
>>
>>
>>> Thanks in advance
>>>
>>> --
>>> F. Hautbois
>>>
>>
>>
>> --
>> Ruben Smits, Phd
>> Chief Technology Officer
>> Intermodalics BVBA
>> +32479511786
>> www.intermodalics.eu
>>
>
>
>
> --
> F. Hautbois
>