Hi all,
I am trying to set up a connexion beetween a ROS application (arp_master)
and an Orocos application (arp_hml) . There are both in 2 packages in the
same stack. The messages I want to share (which are customized) are
currently in arp_master in a msg folder as usual for ROS.
I am trying to go througth this wiki page :
http://www.ros.org/wiki/rtt_ros_integration
but I don't understand how things works.
I just add
rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
ros_generate_rtt_typekit(MsgPackageName)
to my CmakeLists but it failed to compile. What I don't understand is what
is MsgPackageName ? Does ros_generate_rtt_typekit will create a new package
with the typekit I need for my custom Messages ? As I didn't give my
messages in the compilation sources, it can't works.
I may put my messages definitions out of arp_master in an independant
package if it is a common ROS practice. But if I do so, I'd be glad to also
have the rtt_typekits in it.
Here is the compilation log. You have to know I already have a typekit in my
arp_hml application to add my types to orocos. I did it by hand (ie) without
typegen because it was not working out of the box and didn't have time at
the time I did it the look at it. :
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
rosbuild`/rostoolchain.cmake ..
[rosbuild] Building package arp_hml
[rosbuild] Including /opt/ros/ros_comm/clients/roslisp/cmake/roslisp.cmake
[rosbuild] Including /opt/ros/ros_comm/clients/rospy/cmake/rospy.cmake
[rosbuild] Including /opt/ros/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake
[rosbuild] Including
/opt/ros/orocos_toolchain_ros/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
Orocos-RTT found in
/opt/ros/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
-- Found orocos-rtt for the gnulinux target. Available transports: mqueue
-- - Found requested orocos-rtt components: rtt-scripting rtt-marshalling
[UseOrocos] Building package arp_hml
-- checking for one of the modules 'arp_core;arp_core-gnulinux'
-- checking for one of the modules 'arp_master;arp_master-gnulinux'
-- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
-- checking for one of the modules 'socket_can;socket_can-gnulinux'
-- checking for one of the modules 'can_festival;can_festival-gnulinux'
[UseOrocos] Linking all targets with libraries from package
'rtt_ros_integration'.
-- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
[UseOrocos] Building package arp_hml
-- checking for one of the modules 'arp_core;arp_core-gnulinux'
-- checking for one of the modules 'arp_master;arp_master-gnulinux'
-- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
-- checking for one of the modules 'socket_can;socket_can-gnulinux'
-- checking for one of the modules 'can_festival;can_festival-gnulinux'
[UseOrocos] Linking all targets with libraries from package
'rtt_ros_integration'.
-- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
Cannot locate installation of package MsgPackageName: [rospack] couldn't
find package [MsgPackageName]. ROS_ROOT[/opt/ros/ros]
ROS_PACKAGE_PATH[/opt/ros/visualization_tutorials:/opt/ros/geometry_tutorials:/opt/ros/common_tutorials:/opt/ros/ros_tutorials:/opt/ros/documentation:/opt/ros/diagnostics_monitors:/opt/ros/executive_smach_visualization:/opt/ros/laser_pipeline:/opt/ros/image_common:/opt/ros/rx:/opt/ros/visualization:/opt/ros/visualization_common:/opt/ros/executive_smach:/opt/ros/robot_model:/opt/ros/geometry:/opt/ros/driver_common:/opt/ros/diagnostics:/opt/ros/common:/opt/ros/common_msgs:/opt/ros/ros_comm:/opt/ros/orocos_toolchain_ros:/opt/ros/ard:/opt/ros/perception_pcl:/opt/ros/ard/arp_core:/opt/ros/ard/arp_hml:/opt/ros/ard/advantech_susi:/opt/ros/ard/arp_master]
[UseOrocos] Building typekit library rtt-ros-MsgPackageName-typekit
[UseOrocos] Building typekit library rtt-ros-MsgPackageName-transport
[rosbuild] Including /opt/ros/ard/arp_core/cmake/ARP_common_functions.cmake
[+] --------------------
[+] Building ARP-arp_hml library version 11.0.0
[+] --------------------
[UseOrocos] Building package arp_hml
-- checking for one of the modules 'arp_core;arp_core-gnulinux'
-- checking for one of the modules 'arp_master;arp_master-gnulinux'
-- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
-- checking for one of the modules 'socket_can;socket_can-gnulinux'
-- checking for one of the modules 'can_festival;can_festival-gnulinux'
[UseOrocos] Linking all targets with libraries from package
'rtt_ros_integration'.
-- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
[+] configure version.h
[UseOrocos] Building component arp-hml in library arp-hml-gnulinux
[UseOrocos] Building component arp_hml-typekit in library
arp_hml-typekit-gnulinux
[UseOrocos] Generating package version 1.0 (default version).
-- Configuring done
-- Generating done
-- Build files have been written to: /opt/ros/ard/arp_hml/build
cd build && make -j3
make[1]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[2]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
[ 0%] Built target rospack_genmsg_libexe
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
[ 0%] Built target rosbuild_precompile
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
[ 5%] Built target rtt-ros-MsgPackageName-typekit
[ 11%] Built target rtt-ros-MsgPackageName-transport
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
[ 17%] Built target arp_hml-typekit
make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
Linking CXX shared library ../../lib/orocos/gnulinux/libarp-hml-gnulinux.so
CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
function `getRTTTargetName':
/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
multiple definition of `getRTTTargetName'
CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
first defined here
CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
function `loadRTTPlugin':
/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
multiple definition of `loadRTTPlugin'
CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
first defined here
CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
function `getRTTPluginName':
/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
multiple definition of `getRTTPluginName'
CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
first defined here
collect2: ld returned 1 exit status
make[3]: *** [../lib/orocos/gnulinux/libarp-hml-gnulinux.so] Erreur 1
make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
make[2]: *** [src/CMakeFiles/arp-hml.dir/all] Erreur 2
make[2]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
make[1]: *** [all] Erreur 2
make[1]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
make: *** [all] Erreur 2
Tryin rrt_ros_integration
Hey Willy,
2011/4/13 Willy Lambert <lambert [dot] willy [..] ...>
> Hi all,
>
> I am trying to set up a connexion beetween a ROS application (arp_master)
> and an Orocos application (arp_hml) . There are both in 2 packages in the
> same stack. The messages I want to share (which are customized) are
> currently in arp_master in a msg folder as usual for ROS.
>
> I am trying to go througth this wiki page :
> http://www.ros.org/wiki/rtt_ros_integration
> but I don't understand how things works.
>
> I just add
>
> rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
> ros_generate_rtt_typekit(MsgPackageName)
>
> to my CmakeLists but it failed to compile. What I don't understand is what
> is MsgPackageName ? Does ros_generate_rtt_typekit will create a new package
> with the typekit I need for my custom Messages ? As I didn't give my
> messages in the compilation sources, it can't works.
>
This 'MsgPackageName' refers to the name of the package which contains the
ROS messages you want to generate the typekit for. So you need to write, in
your case:
ros_generate_rtt_typekit(arp_master)
to generate a typekit for all messages defined in the arp_master package.
The typekit generation will create all necessary files inside the package
you use it in - it will _not_ create a new package for it. If you do want a
seperate package containing all typekits, then create it yourself and only
add to your CMakeLists.txt the typekit generation commands.
>
> I may put my messages definitions out of arp_master in an independant
> package if it is a common ROS practice. But if I do so, I'd be glad to also
> have the rtt_typekits in it.
>
That makes sense. Just create a new package containing your messages and add
the typekit CMake code in the CMakeLists.txt. If you check the
orocos_toolchain_ros stack you'll see a lot of rtt_ros_integration_*_msgs
packages. These contain _only_ rtt typekit code for the most common ros
messages. You can compare your implementation with those in case it is still
not clear.
Regards,
Steven
>
>
> Here is the compilation log. You have to know I already have a typekit in
> my arp_hml application to add my types to orocos. I did it by hand (ie)
> without typegen because it was not working out of the box and didn't have
> time at the time I did it the look at it. :
>
> mkdir -p bin
> cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
> rosbuild`/rostoolchain.cmake ..
> [rosbuild] Building package arp_hml
> [rosbuild] Including /opt/ros/ros_comm/clients/roslisp/cmake/roslisp.cmake
> [rosbuild] Including /opt/ros/ros_comm/clients/rospy/cmake/rospy.cmake
> [rosbuild] Including
> /opt/ros/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake
> [rosbuild] Including
> /opt/ros/orocos_toolchain_ros/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
> Orocos-RTT found in
> /opt/ros/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
> -- Found orocos-rtt for the gnulinux target. Available transports: mqueue
> -- - Found requested orocos-rtt components: rtt-scripting rtt-marshalling
> [UseOrocos] Building package arp_hml
> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
> -- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
> [UseOrocos] Linking all targets with libraries from package
> 'rtt_ros_integration'.
> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
> [UseOrocos] Building package arp_hml
> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
> -- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
> [UseOrocos] Linking all targets with libraries from package
> 'rtt_ros_integration'.
> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
> Cannot locate installation of package MsgPackageName: [rospack] couldn't
> find package [MsgPackageName]. ROS_ROOT[/opt/ros/ros]
> ROS_PACKAGE_PATH[/opt/ros/visualization_tutorials:/opt/ros/geometry_tutorials:/opt/ros/common_tutorials:/opt/ros/ros_tutorials:/opt/ros/documentation:/opt/ros/diagnostics_monitors:/opt/ros/executive_smach_visualization:/opt/ros/laser_pipeline:/opt/ros/image_common:/opt/ros/rx:/opt/ros/visualization:/opt/ros/visualization_common:/opt/ros/executive_smach:/opt/ros/robot_model:/opt/ros/geometry:/opt/ros/driver_common:/opt/ros/diagnostics:/opt/ros/common:/opt/ros/common_msgs:/opt/ros/ros_comm:/opt/ros/orocos_toolchain_ros:/opt/ros/ard:/opt/ros/perception_pcl:/opt/ros/ard/arp_core:/opt/ros/ard/arp_hml:/opt/ros/ard/advantech_susi:/opt/ros/ard/arp_master]
> [UseOrocos] Building typekit library rtt-ros-MsgPackageName-typekit
> [UseOrocos] Building typekit library rtt-ros-MsgPackageName-transport
> [rosbuild] Including /opt/ros/ard/arp_core/cmake/ARP_common_functions.cmake
> [+] --------------------
> [+] Building ARP-arp_hml library version 11.0.0
> [+] --------------------
> [UseOrocos] Building package arp_hml
> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
> -- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
> [UseOrocos] Linking all targets with libraries from package
> 'rtt_ros_integration'.
> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
> [+] configure version.h
> [UseOrocos] Building component arp-hml in library arp-hml-gnulinux
> [UseOrocos] Building component arp_hml-typekit in library
> arp_hml-typekit-gnulinux
> [UseOrocos] Generating package version 1.0 (default version).
> -- Configuring done
> -- Generating done
> -- Build files have been written to: /opt/ros/ard/arp_hml/build
> cd build && make -j3
> make[1]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[2]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 0%] Built target rospack_genmsg_libexe
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 0%] Built target rosbuild_precompile
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 5%] Built target rtt-ros-MsgPackageName-typekit
> [ 11%] Built target rtt-ros-MsgPackageName-transport
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 17%] Built target arp_hml-typekit
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> Linking CXX shared library ../../lib/orocos/gnulinux/libarp-hml-gnulinux.so
> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
> function `getRTTTargetName':
> /opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
> multiple definition of `getRTTTargetName'
> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
> first defined here
> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
> function `loadRTTPlugin':
> /opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
> multiple definition of `loadRTTPlugin'
> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
> first defined here
> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
> function `getRTTPluginName':
> /opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
> multiple definition of `getRTTPluginName'
> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
> first defined here
> collect2: ld returned 1 exit status
> make[3]: *** [../lib/orocos/gnulinux/libarp-hml-gnulinux.so] Erreur 1
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make[2]: *** [src/CMakeFiles/arp-hml.dir/all] Erreur 2
> make[2]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make[1]: *** [all] Erreur 2
> make[1]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make: *** [all] Erreur 2
>
Tryin rrt_ros_integration
2011/4/13 Steven Bellens <steven [dot] bellens [..] ...>
> Hey Willy,
>
> 2011/4/13 Willy Lambert <lambert [dot] willy [..] ...>
>
>> Hi all,
>>
>> I am trying to set up a connexion beetween a ROS application (arp_master)
>> and an Orocos application (arp_hml) . There are both in 2 packages in the
>> same stack. The messages I want to share (which are customized) are
>> currently in arp_master in a msg folder as usual for ROS.
>>
>> I am trying to go througth this wiki page :
>> http://www.ros.org/wiki/rtt_ros_integration
>> but I don't understand how things works.
>>
>> I just add
>>
>> rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
>> ros_generate_rtt_typekit(MsgPackageName)
>>
>> to my CmakeLists but it failed to compile. What I don't understand is what
>> is MsgPackageName ? Does ros_generate_rtt_typekit will create a new package
>> with the typekit I need for my custom Messages ? As I didn't give my
>> messages in the compilation sources, it can't works.
>>
>
> This 'MsgPackageName' refers to the name of the package which contains the
> ROS messages you want to generate the typekit for. So you need to write, in
> your case:
>
> ros_generate_rtt_typekit(arp_master)
>
> to generate a typekit for all messages defined in the arp_master package.
>
I get it ! Thanks. It is this detail that was not clear to me. It works now,
until I fall on this :
[ 62%] Building CXX object
CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderAction_typekit_plugin.o
In file included from
/opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderAction.h:8,
from
/opt/ros/ard/rtt_integration_arp_master_msgs/src/orocos/types/ros_OrderAction_typekit_plugin.cpp:1:
/opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderActionGoal.h:9:41:
error: actionlib_msgs/boost/GoalID.h: Aucun fichier ou dossier de ce type
In file included from
/opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderAction.h:9,
from
/opt/ros/ard/rtt_integration_arp_master_msgs/src/orocos/types/ros_OrderAction_typekit_plugin.cpp:1:
/opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderActionResult.h:9:45:
error: actionlib_msgs/boost/GoalStatus.h: Aucun fichier ou dossier de ce
type
[ 68%] Building CXX object
CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderGoal_typekit_plugin.o
[ 75%] Building CXX object
CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderActionGoal_typekit_plugin.o
In file included from
/opt/ros/ard/rtt_integration_arp_master_msgs/src/orocos/types/ros_OrderActionGoal_typekit_plugin.cpp:1:
/opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderActionGoal.h:9:41:
error: actionlib_msgs/boost/GoalID.h: Aucun fichier ou dossier de ce type
make[3]: ***
[CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderAction_typekit_plugin.o]
Erreur 1
which is certainely due to my bad ActionLib integration, I'll have a look a
this, if think I am in the case of :
"IMPORTANT: if the message depends on other non std_msgs, you have to
generate the typekit for those messages as well! The compile process will
complain it cannot find the corresponding message header files otherwise.
I propose to modify the wiki to add some explanation (I can do it but I
prefer discussing before and someone tells me I may edit the page) :
_ begin with a simple standard message integration (like std_msg), in fact
it is just explaining the ros_rtt_integration_example in a step by step way
_ explain of to add a custom type :
"Lets say we have a ROS package nammed MsgPackageName in which a custom
message named MyCustomMessage is defined. A good pratice is to create a new
rtt_ros_integration_msgpackagename_msgs package that will contain the
generated typekit (have a look at how ros_integration_std_msgs is doing for
std_msg declare in XXX ros package). In this
rtt_ros_integration_msgpackagename_msgs package, add these lines to your
package:
rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
ros_generate_rtt_typekit(MsgPackageName )
.... and so on
>
> The typekit generation will create all necessary files inside the package
> you use it in - it will _not_ create a new package for it. If you do want a
> seperate package containing all typekits, then create it yourself and only
> add to your CMakeLists.txt the typekit generation commands.
>
>
>>
>> I may put my messages definitions out of arp_master in an independant
>> package if it is a common ROS practice. But if I do so, I'd be glad to also
>> have the rtt_typekits in it.
>>
>
>
> That makes sense. Just create a new package containing your messages and
> add the typekit CMake code in the CMakeLists.txt. If you check the
> orocos_toolchain_ros stack you'll see a lot of rtt_ros_integration_*_msgs
> packages. These contain _only_ rtt typekit code for the most common ros
> messages. You can compare your implementation with those in case it is still
> not clear.
>
> Regards,
>
> Steven
>
>
>>
>>
>> Here is the compilation log. You have to know I already have a typekit in
>> my arp_hml application to add my types to orocos. I did it by hand (ie)
>> without typegen because it was not working out of the box and didn't have
>> time at the time I did it the look at it. :
>>
>> mkdir -p bin
>> cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
>> rosbuild`/rostoolchain.cmake ..
>> [rosbuild] Building package arp_hml
>> [rosbuild] Including /opt/ros/ros_comm/clients/roslisp/cmake/roslisp.cmake
>> [rosbuild] Including /opt/ros/ros_comm/clients/rospy/cmake/rospy.cmake
>> [rosbuild] Including
>> /opt/ros/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake
>> [rosbuild] Including
>> /opt/ros/orocos_toolchain_ros/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
>> Orocos-RTT found in
>> /opt/ros/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
>> -- Found orocos-rtt for the gnulinux target. Available transports: mqueue
>> -- - Found requested orocos-rtt components: rtt-scripting rtt-marshalling
>> [UseOrocos] Building package arp_hml
>> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
>> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
>> -- checking for one of the modules
>> 'advantech_susi;advantech_susi-gnulinux'
>> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
>> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
>> [UseOrocos] Linking all targets with libraries from package
>> 'rtt_ros_integration'.
>> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
>> [UseOrocos] Building package arp_hml
>> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
>> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
>> -- checking for one of the modules
>> 'advantech_susi;advantech_susi-gnulinux'
>> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
>> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
>> [UseOrocos] Linking all targets with libraries from package
>> 'rtt_ros_integration'.
>> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
>> Cannot locate installation of package MsgPackageName: [rospack] couldn't
>> find package [MsgPackageName]. ROS_ROOT[/opt/ros/ros]
>> ROS_PACKAGE_PATH[/opt/ros/visualization_tutorials:/opt/ros/geometry_tutorials:/opt/ros/common_tutorials:/opt/ros/ros_tutorials:/opt/ros/documentation:/opt/ros/diagnostics_monitors:/opt/ros/executive_smach_visualization:/opt/ros/laser_pipeline:/opt/ros/image_common:/opt/ros/rx:/opt/ros/visualization:/opt/ros/visualization_common:/opt/ros/executive_smach:/opt/ros/robot_model:/opt/ros/geometry:/opt/ros/driver_common:/opt/ros/diagnostics:/opt/ros/common:/opt/ros/common_msgs:/opt/ros/ros_comm:/opt/ros/orocos_toolchain_ros:/opt/ros/ard:/opt/ros/perception_pcl:/opt/ros/ard/arp_core:/opt/ros/ard/arp_hml:/opt/ros/ard/advantech_susi:/opt/ros/ard/arp_master]
>> [UseOrocos] Building typekit library rtt-ros-MsgPackageName-typekit
>> [UseOrocos] Building typekit library rtt-ros-MsgPackageName-transport
>> [rosbuild] Including
>> /opt/ros/ard/arp_core/cmake/ARP_common_functions.cmake
>> [+] --------------------
>> [+] Building ARP-arp_hml library version 11.0.0
>> [+] --------------------
>> [UseOrocos] Building package arp_hml
>> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
>> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
>> -- checking for one of the modules
>> 'advantech_susi;advantech_susi-gnulinux'
>> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
>> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
>> [UseOrocos] Linking all targets with libraries from package
>> 'rtt_ros_integration'.
>> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
>> [+] configure version.h
>> [UseOrocos] Building component arp-hml in library arp-hml-gnulinux
>> [UseOrocos] Building component arp_hml-typekit in library
>> arp_hml-typekit-gnulinux
>> [UseOrocos] Generating package version 1.0 (default version).
>> -- Configuring done
>> -- Generating done
>> -- Build files have been written to: /opt/ros/ard/arp_hml/build
>> cd build && make -j3
>> make[1]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[2]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> [ 0%] Built target rospack_genmsg_libexe
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> [ 0%] Built target rosbuild_precompile
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> [ 5%] Built target rtt-ros-MsgPackageName-typekit
>> [ 11%] Built target rtt-ros-MsgPackageName-transport
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> [ 17%] Built target arp_hml-typekit
>> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
>> Linking CXX shared library
>> ../../lib/orocos/gnulinux/libarp-hml-gnulinux.so
>> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
>> function `getRTTTargetName':
>> /opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
>> multiple definition of `getRTTTargetName'
>> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
>> first defined here
>> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
>> function `loadRTTPlugin':
>> /opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
>> multiple definition of `loadRTTPlugin'
>> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
>> first defined here
>> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
>> function `getRTTPluginName':
>> /opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_transport.cpp:33:
>> multiple definition of `getRTTPluginName'
>> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
>> first defined here
>> collect2: ld returned 1 exit status
>> make[3]: *** [../lib/orocos/gnulinux/libarp-hml-gnulinux.so] Erreur 1
>> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> make[2]: *** [src/CMakeFiles/arp-hml.dir/all] Erreur 2
>> make[2]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> make[1]: *** [all] Erreur 2
>> make[1]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
>> make: *** [all] Erreur 2
>>
>
>
BTW, if I may from my little ROS experience, if think you should not publish
set(ROS_BUILD_TYPE MinSizeRel) in the Cmakelists (there is one in
rtt_ros_integration_nav_msgs) . This should be in the user configuration. If
it is a workaround in order to reduce the generated code size with Orocos,
you should comment it.
Tryin rrt_ros_integration
> [...]
> [ 68%] Building CXX object CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderGoal_typekit_plugin.o
> [ 75%] Building CXX object CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderActionGoal_typekit_plugin.o
> In file included from /opt/ros/ard/rtt_integration_arp_master_msgs/src/orocos/types/ros_OrderActionGoal_typekit_plugin.cpp:1:
> /opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderActionGoal.h:9:41: error: actionlib_msgs/boost/GoalID.h: Aucun fichier ou dossier de ce type
> make[3]: *** [CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderAction_typekit_plugin.o] Erreur 1
>
> which is certainely due to my bad ActionLib integration, I'll have a look a this, if think I am in the case of :
> "IMPORTANT: if the message depends on other non std_msgs, you have to generate the typekit for those messages as well! The compile process will complain it cannot find the corresponding message header files otherwise.
Probably. Print out your message type using 'rosmsg show YourMsgName'
and check all sub-messages for generated typekits.
>
> I propose to modify the wiki to add some explanation (I can do it but I prefer discussing before and someone tells me I may edit the page) :
> _ begin with a simple standard message integration (like std_msg), in fact it is just explaining the ros_rtt_integration_example in a step by step way
> _ explain of to add a custom type :
> "Lets say we have a ROS package nammed MsgPackageName in which a custom message named MyCustomMessage is defined. A good pratice is to create a new rtt_ros_integration_msgpackagename_msgs package that will contain the generated typekit (have a look at how ros_integration_std_msgs is doing for std_msg declare in XXX ros package). In this rtt_ros_integration_msgpackagename_msgs package, add these lines to your package:
>
> rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
> ros_generate_rtt_typekit(MsgPackageName )
>
> .... and so on
I'd say, go ahead :)
[...]
>
> BTW, if I may from my little ROS experience, if think you should not publish set(ROS_BUILD_TYPE MinSizeRel) in the Cmakelists (there is one in rtt_ros_integration_nav_msgs) . This should be in the user configuration. If it is a workaround in order to reduce the generated code size with Orocos, you should comment it.
>
I think the ROS_BUILD_TYPE macro is package-specific, so it should not
influence other package build options.
Steven
Tryin rrt_ros_integration
2011/4/13 Steven Bellens <steven [dot] bellens [..] ...>
> > [...]
> > [ 68%] Building CXX object
> CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderGoal_typekit_plugin.o
> > [ 75%] Building CXX object
> CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderActionGoal_typekit_plugin.o
> > In file included from
> /opt/ros/ard/rtt_integration_arp_master_msgs/src/orocos/types/ros_OrderActionGoal_typekit_plugin.cpp:1:
> >
> /opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderActionGoal.h:9:41:
> error: actionlib_msgs/boost/GoalID.h: Aucun fichier ou dossier de ce type
> > make[3]: ***
> [CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderAction_typekit_plugin.o]
> Erreur 1
> >
> > which is certainely due to my bad ActionLib integration, I'll have a look
> a this, if think I am in the case of :
> > "IMPORTANT: if the message depends on other non std_msgs, you have to
> generate the typekit for those messages as well! The compile process will
> complain it cannot find the corresponding message header files otherwise.
>
> Probably. Print out your message type using 'rosmsg show YourMsgName'
> and check all sub-messages for generated typekits.
>
Thanks, everything is generated now.
I just had not to forget the <export> tag in the manifest of
rtt_ros_integration_mymsgs :)
>
> >
> > I propose to modify the wiki to add some explanation (I can do it but I
> prefer discussing before and someone tells me I may edit the page) :
> > _ begin with a simple standard message integration (like std_msg), in
> fact it is just explaining the ros_rtt_integration_example in a step by step
> way
> > _ explain of to add a custom type :
> > "Lets say we have a ROS package nammed MsgPackageName in which a custom
> message named MyCustomMessage is defined. A good pratice is to create a new
> rtt_ros_integration_msgpackagename_msgs package that will contain the
> generated typekit (have a look at how ros_integration_std_msgs is doing for
> std_msg declare in XXX ros package). In this
> rtt_ros_integration_msgpackagename_msgs package, add these lines to your
> package:
> >
> > rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
> > ros_generate_rtt_typekit(MsgPackageName )
> >
> > .... and so on
>
>
> I'd say, go ahead :)
>
> [...]
> >
> > BTW, if I may from my little ROS experience, if think you should not
> publish set(ROS_BUILD_TYPE MinSizeRel) in the Cmakelists (there is one in
> rtt_ros_integration_nav_msgs) . This should be in the user configuration. If
> it is a workaround in order to reduce the generated code size with Orocos,
> you should comment it.
> >
>
> I think the ROS_BUILD_TYPE macro is package-specific, so it should not
> influence other package build options.
>
>
> Steven
>
Tryin rrt_ros_integration
2011/4/13 Willy Lambert <lambert [dot] willy [..] ...>
>
>
> 2011/4/13 Steven Bellens <steven [dot] bellens [..] ...>
>
>> > [...]
>> > [ 68%] Building CXX object
>> CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderGoal_typekit_plugin.o
>> > [ 75%] Building CXX object
>> CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderActionGoal_typekit_plugin.o
>> > In file included from
>> /opt/ros/ard/rtt_integration_arp_master_msgs/src/orocos/types/ros_OrderActionGoal_typekit_plugin.cpp:1:
>> >
>> /opt/ros/ard/rtt_integration_arp_master_msgs/include/arp_master/boost/OrderActionGoal.h:9:41:
>> error: actionlib_msgs/boost/GoalID.h: Aucun fichier ou dossier de ce type
>> > make[3]: ***
>> [CMakeFiles/rtt-ros-arp_master-typekit.dir/src/orocos/types/ros_OrderAction_typekit_plugin.o]
>> Erreur 1
>> >
>> > which is certainely due to my bad ActionLib integration, I'll have a
>> look a this, if think I am in the case of :
>> > "IMPORTANT: if the message depends on other non std_msgs, you have to
>> generate the typekit for those messages as well! The compile process will
>> complain it cannot find the corresponding message header files otherwise.
>>
>> Probably. Print out your message type using 'rosmsg show YourMsgName'
>> and check all sub-messages for generated typekits.
>>
>
> Thanks, everything is generated now.
>
> I just had not to forget the <export> tag in the manifest of
> rtt_ros_integration_mymsgs :)
>
>
>>
>> >
>> > I propose to modify the wiki to add some explanation (I can do it but I
>> prefer discussing before and someone tells me I may edit the page) :
>> > _ begin with a simple standard message integration (like std_msg), in
>> fact it is just explaining the ros_rtt_integration_example in a step by step
>> way
>> > _ explain of to add a custom type :
>> > "Lets say we have a ROS package nammed MsgPackageName in which a custom
>> message named MyCustomMessage is defined. A good pratice is to create a new
>> rtt_ros_integration_msgpackagename_msgs package that will contain the
>> generated typekit (have a look at how ros_integration_std_msgs is doing for
>> std_msg declare in XXX ros package). In this
>> rtt_ros_integration_msgpackagename_msgs package, add these lines to your
>> package:
>> >
>> > rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
>> > ros_generate_rtt_typekit(MsgPackageName )
>> >
>> > .... and so on
>>
>>
>> I'd say, go ahead :)
>>
>>
please review the modifications done there (espacially grammar :p) :
http://www.ros.org/wiki/rtt_ros_integration
I didn't change anything in the deployment section since I am not there at
the time, but I will add the script version as I am only using scripted
deployments
> [...]
>> >
>> > BTW, if I may from my little ROS experience, if think you should not
>> publish set(ROS_BUILD_TYPE MinSizeRel) in the Cmakelists (there is one in
>> rtt_ros_integration_nav_msgs) . This should be in the user configuration. If
>> it is a workaround in order to reduce the generated code size with Orocos,
>> you should comment it.
>> >
>>
>> I think the ROS_BUILD_TYPE macro is package-specific, so it should not
>> influence other package build options.
>>
>>
>> Steven
>>
>
>
Tryin rrt_ros_integration
2011/4/13 Willy Lambert <lambert [dot] willy [..] ...>
> Hi all,
>
> I am trying to set up a connexion beetween a ROS application (arp_master)
> and an Orocos application (arp_hml) . There are both in 2 packages in the
> same stack. The messages I want to share (which are customized) are
> currently in arp_master in a msg folder as usual for ROS.
>
> I am trying to go througth this wiki page :
> http://www.ros.org/wiki/rtt_ros_integration
> but I don't understand how things works.
>
> I just add
>
> rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
> ros_generate_rtt_typekit(MsgPackageName)
>
> to my CmakeLists but it failed to compile.
the CMakeFiles of arp_hml
> What I don't understand is what is MsgPackageName ? Does
> ros_generate_rtt_typekit will create a new package with the typekit I need
> for my custom Messages ? As I didn't give my messages in the compilation
> sources, it can't works.
>
> I may put my messages definitions out of arp_master in an independant
> package if it is a common ROS practice. But if I do so, I'd be glad to also
> have the rtt_typekits in it.
>
>
> Here is the compilation log. You have to know I already have a typekit in
> my arp_hml application to add my types to orocos. I did it by hand (ie)
> without typegen because it was not working out of the box and didn't have
> time at the time I did it the look at it. :
>
> mkdir -p bin
> cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
> rosbuild`/rostoolchain.cmake ..
> [rosbuild] Building package arp_hml
> [rosbuild] Including /opt/ros/ros_comm/clients/roslisp/cmake/roslisp.cmake
> [rosbuild] Including /opt/ros/ros_comm/clients/rospy/cmake/rospy.cmake
> [rosbuild] Including
> /opt/ros/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake
> [rosbuild] Including
> /opt/ros/orocos_toolchain_ros/rtt_ros_integration/cmake/GenerateRTTtypekit.cmake
> Orocos-RTT found in
> /opt/ros/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
> -- Found orocos-rtt for the gnulinux target. Available transports: mqueue
> -- - Found requested orocos-rtt components: rtt-scripting rtt-marshalling
> [UseOrocos] Building package arp_hml
> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
> -- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
> [UseOrocos] Linking all targets with libraries from package
> 'rtt_ros_integration'.
> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
> [UseOrocos] Building package arp_hml
> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
> -- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
> [UseOrocos] Linking all targets with libraries from package
> 'rtt_ros_integration'.
> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
> Cannot locate installation of package MsgPackageName: [rospack] couldn't
> find package [MsgPackageName]. ROS_ROOT[/opt/ros/ros]
> ROS_PACKAGE_PATH[/opt/ros/visualization_tutorials:/opt/ros/geometry_tutorials:/opt/ros/common_tutorials:/opt/ros/ros_tutorials:/opt/ros/documentation:/opt/ros/diagnostics_monitors:/opt/ros/executive_smach_visualization:/opt/ros/laser_pipeline:/opt/ros/image_common:/opt/ros/rx:/opt/ros/visualization:/opt/ros/visualization_common:/opt/ros/executive_smach:/opt/ros/robot_model:/opt/ros/geometry:/opt/ros/driver_common:/opt/ros/diagnostics:/opt/ros/common:/opt/ros/common_msgs:/opt/ros/ros_comm:/opt/ros/orocos_toolchain_ros:/opt/ros/ard:/opt/ros/perception_pcl:/opt/ros/ard/arp_core:/opt/ros/ard/arp_hml:/opt/ros/ard/advantech_susi:/opt/ros/ard/arp_master]
> [UseOrocos] Building typekit library rtt-ros-MsgPackageName-typekit
> [UseOrocos] Building typekit library rtt-ros-MsgPackageName-transport
> [rosbuild] Including /opt/ros/ard/arp_core/cmake/ARP_common_functions.cmake
> [+] --------------------
> [+] Building ARP-arp_hml library version 11.0.0
> [+] --------------------
> [UseOrocos] Building package arp_hml
> -- checking for one of the modules 'arp_core;arp_core-gnulinux'
> -- checking for one of the modules 'arp_master;arp_master-gnulinux'
> -- checking for one of the modules 'advantech_susi;advantech_susi-gnulinux'
> -- checking for one of the modules 'socket_can;socket_can-gnulinux'
> -- checking for one of the modules 'can_festival;can_festival-gnulinux'
> [UseOrocos] Linking all targets with libraries from package
> 'rtt_ros_integration'.
> -- checking for one of the modules 'rtt_ros_param;rtt_ros_param-gnulinux'
> [+] configure version.h
> [UseOrocos] Building component arp-hml in library arp-hml-gnulinux
> [UseOrocos] Building component arp_hml-typekit in library
> arp_hml-typekit-gnulinux
> [UseOrocos] Generating package version 1.0 (default version).
> -- Configuring done
> -- Generating done
> -- Build files have been written to: /opt/ros/ard/arp_hml/build
> cd build && make -j3
> make[1]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[2]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 0%] Built target rospack_genmsg_libexe
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 0%] Built target rosbuild_precompile
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> [ 5%] Built target rtt-ros-MsgPackageName-typekit
> [ 11%] Built target rtt-ros-MsgPackageName-transport
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
> make[3]: quittant le répertoire « /opt/ros/ard/arp_hml/build »
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> make[3]: entrant dans le répertoire « /opt/ros/ard/arp_hml/build »
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> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
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> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
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> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_transport.cpp.o: In
> function `getRTTPluginName':
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> CMakeFiles/arp-hml.dir/orocos/types/ros_MsgPackageName_typekit.cpp.o:/opt/ros/ard/arp_hml/src/orocos/types/ros_MsgPackageName_typekit.cpp:32:
> first defined here
> collect2: ld returned 1 exit status
> make[3]: *** [../lib/orocos/gnulinux/libarp-hml-gnulinux.so] Erreur 1
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> make[2]: *** [src/CMakeFiles/arp-hml.dir/all] Erreur 2
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> make: *** [all] Erreur 2
>