typegen: `do_import': plugin not found (RuntimeError)

Hi Ruben and all,

I am having trouble type-generating the friComm.h header file that is
needed to run the lwr_fri package.

When I add [orocos_typegen_headers(include/friComm.h)] to my
CMakeList.txt I get
-------
Generating typekit for lwr_fri...
/opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchain-typelib/bindings/ruby/lib/typelib.rb:1023:in
`do_import': plugin not found (RuntimeError)
from /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchain-typelib/bindings/ruby/lib/typelib.rb:1023:in
`import'
from /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain-orogen/lib/orogen/typekit.rb:608:in
`initialize'
from /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain-orogen/bin/typegen:11:in
`new'
from /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain-orogen/bin/typegen:11
CMake Error at /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/UseOROCOS-RTT.cmake:253
(add_subdirectory):
add_subdirectory given source "typekit" which is not an existing directory.
Call Stack (most recent call first):
CMakeLists.txt:42 (orocos_typegen_headers)
-------

Please note:
1. I have properly sourced the env.sh is orocos_toolchain_ros
2. I was able to reproduce the same error in two different machines.
3. My friComm.h resides in include dir of the lwr_fri package.

FYI:
-----
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ ruby --version
ruby 1.8.7 (2010-01-10 patchlevel 249) [x86_64-linux]
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $RUBYLIB
/opt/ros/cturtle/stacks/orocos_toolchain_ros/utilrb/build/orocos-toolchain-utilrb/lib:/opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain-orogen/lib:/opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchain-typelib/bindings/ruby/lib:/opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/lib
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $GEM_HOME
/opt/ros/cturtle/stacks/orocos_toolchain_ros/.gems
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $RUBY
$RUBYLIB $RUBYOPT
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $RUBY
$RUBYLIB $RUBYOPT
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $RUBYOPT
-rubygems
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $PATH
/opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain-orogen/bin:/opt/ros/cturtle/stacks/orocos_toolchain_ros/.gems/bin:/opt/ros/cturtle/ros/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games
gajan@nekobasu:~/ros/stacks/kul-ros-pkg/lwr_fri$ echo $TYPELIB_USE_GCCXML
1
-----

I would appreciate any help.

best,
Gajan

typegen: `do_import': plugin not found (RuntimeError)

On Thursday 24 February 2011 19:52:23 Gajamohan Mohanarajah wrote:
> Hi Ruben and all,
>
> I am having trouble type-generating the friComm.h header file that is
> needed to run the lwr_fri package.
>
> When I add [orocos_typegen_headers(include/friComm.h)] to my
> CMakeList.txt I get
> -------
> Generating typekit for lwr_fri...
> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchain
> -typelib/bindings/ruby/lib/typelib.rb:1023:in `do_import': plugin not found
> (RuntimeError)
> from
> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchai
> n-typelib/bindings/ruby/lib/typelib.rb:1023:in `import'
> from
> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
> -orogen/lib/orogen/typekit.rb:608:in `initialize'
> from
> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
> -orogen/bin/typegen:11:in `new'
> from
> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
> -orogen/bin/typegen:11 CMake Error at
> /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-
> rtt/UseOROCOS-RTT.cmake:253 (add_subdirectory):
> add_subdirectory given source "typekit" which is not an existing
> directory. Call Stack (most recent call first):
> CMakeLists.txt:42 (orocos_typegen_headers)
> -------
>
> Please note:
> 1. I have properly sourced the env.sh is orocos_toolchain_ros
> 2. I was able to reproduce the same error in two different machines.
> 3. My friComm.h resides in include dir of the lwr_fri package.

Has orogen been built with autoproj or 'bootstrap.sh' ? A proper ruby
environment must be setup in order to run typegen/orogen. These two tools do
that. I recon that typegen support in the orocos_toolchain_ros stack is
experimental ?

Peter

typegen: `do_import': plugin not found (RuntimeError)

2011/2/24 Peter Soetens <peter [..] ...>:
> On Thursday 24 February 2011 19:52:23 Gajamohan Mohanarajah wrote:
>> Hi Ruben and all,
>>
>> I am having trouble type-generating the friComm.h header file that is
>> needed to run the lwr_fri package.
>>
>> When I add [orocos_typegen_headers(include/friComm.h)] to my
>> CMakeList.txt I  get
>> -------
>> Generating typekit for lwr_fri...
>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchain
>> -typelib/bindings/ruby/lib/typelib.rb:1023:in `do_import': plugin not found
>> (RuntimeError)
>>        from
>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchai
>> n-typelib/bindings/ruby/lib/typelib.rb:1023:in `import'
>>        from
>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
>> -orogen/lib/orogen/typekit.rb:608:in `initialize'
>>        from
>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
>> -orogen/bin/typegen:11:in `new'
>>        from
>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
>> -orogen/bin/typegen:11 CMake Error at
>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-
>> rtt/UseOROCOS-RTT.cmake:253 (add_subdirectory):
>>  add_subdirectory given source "typekit" which is not an existing
>> directory. Call Stack (most recent call first):
>>  CMakeLists.txt:42 (orocos_typegen_headers)
>> -------
>>
>> Please note:
>> 1. I have properly sourced the env.sh is orocos_toolchain_ros
>> 2. I was able to reproduce the same error in two different machines.
>> 3. My friComm.h resides in include dir of the lwr_fri package.
>
> Has orogen been built with autoproj or 'bootstrap.sh' ? A proper ruby
> environment must be setup in order to run typegen/orogen. These two tools do
> that. I recon that typegen support in the orocos_toolchain_ros stack is
> experimental ?

No. We're not using it ourselves here intensively, but it's tested and
should be working. It's locked into an old version at the moment
though, maybe that's the cause of the problems? Is this error message
referring to a ruby or a CMake error? I'm sending some patches to
update the typegen support.

Steven

>
> Peter
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

gajan's picture

typegen: `do_import': plugin not found (RuntimeError)

Thank you for all your response.
CC: kuka-lwr [..] ...

When I get from [ git clone
http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git]
branch: cturtle I don't get the [`do_import': plugin not found] error.
(Previously I was using the Debian packages for orocos_toolchain_ros)

Now I am getting this error:
--------------------------------------
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
rosbuild`/rostoolchain.cmake ..
[rosbuild] Building package lwr_fri
[rosbuild] Including /opt/ros/cturtle/ros/core/rospy/cmake/rospy.cmake
[rosbuild] Including /opt/ros/cturtle/ros/core/roslisp/cmake/roslisp.cmake
[rosbuild] Including /opt/ros/cturtle/ros/core/roscpp/cmake/roscpp.cmake
Orocos-RTT found in
/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake
-- Found orocos-rtt for the gnulinux target. Available transports: mqueue
Building component lwr_fri in library lwr_fri-gnulinux
Generating typekit for lwr_fri...
ROS_ROOT environment found
[rosbuild] Building package lwr_fri
CMake Error at /opt/ros/cturtle/ros/core/rosbuild/private.cmake:119 (message):
[rosbuild] rospack found package "lwr_fri" at
"/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri", but the current directory is
"/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/typekit". You should
double-check your ROS_PACKAGE_PATH to ensure that packages are found in the
correct precedence order.
Call Stack (most recent call first):
/opt/ros/cturtle/ros/core/rosbuild/public.cmake:152
(_rosbuild_check_package_location)
typekit/CMakeLists.txt:14 (rosbuild_init)

------------------------------

FYI:
$ echo $ROS_PACKAGE_PATH
/home/gajan/ros/pkgs/tum-ros-pkg/knowledge:/home/gajan/ros/stacks/articulation:/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri:/home/gajan/ros/stacks/orocos_kinematics_dynamics:/home/gajan/ros/stacks/orocos_toolchain_ros:/home/gajan/ros/stacks/ros_experimental:/home/gajan/ros/stacks/amigo:/home/gajan/ros/stacks/ias_nav:/home/gajan/ros/stacks/ias_common:/home/gajan/ros/stacks/knowrob:/home/gajan/ros/stacks/roboearth:/opt/ros/cturtle/stacks

lwr_fri/manifest

lwr_fri/CMakeList.txt
orocos_typegen_headers(include/friComm.h)

Since the kuka_lwr_fri only holds the proprietary header file from KUKA,
I commented out the dependency and added the header file directly into
the include folder.
Am I doing something wrong here ?

I am new to Typekit/Orocos. I would appreciate any help.

Best,
Gajan

On Thu, Feb 24, 2011 at 9:56 PM, Steven Bellens
<steven [dot] bellens [..] ...> wrote:
> 2011/2/24 Peter Soetens <peter [..] ...>:
>> On Thursday 24 February 2011 19:52:23 Gajamohan Mohanarajah wrote:
>>> Hi Ruben and all,
>>>
>>> I am having trouble type-generating the friComm.h header file that is
>>> needed to run the lwr_fri package.
>>>
>>> When I add [orocos_typegen_headers(include/friComm.h)] to my
>>> CMakeList.txt I  get
>>> -------
>>> Generating typekit for lwr_fri...
>>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchain
>>> -typelib/bindings/ruby/lib/typelib.rb:1023:in `do_import': plugin not found
>>> (RuntimeError)
>>>        from
>>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-toolchai
>>> n-typelib/bindings/ruby/lib/typelib.rb:1023:in `import'
>>>        from
>>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
>>> -orogen/lib/orogen/typekit.rb:608:in `initialize'
>>>        from
>>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
>>> -orogen/bin/typegen:11:in `new'
>>>        from
>>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-toolchain
>>> -orogen/bin/typegen:11 CMake Error at
>>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-
>>> rtt/UseOROCOS-RTT.cmake:253 (add_subdirectory):
>>>  add_subdirectory given source "typekit" which is not an existing
>>> directory. Call Stack (most recent call first):
>>>  CMakeLists.txt:42 (orocos_typegen_headers)
>>> -------
>>>
>>> Please note:
>>> 1. I have properly sourced the env.sh is orocos_toolchain_ros
>>> 2. I was able to reproduce the same error in two different machines.
>>> 3. My friComm.h resides in include dir of the lwr_fri package.
>>
>> Has orogen been built with autoproj or 'bootstrap.sh' ? A proper ruby
>> environment must be setup in order to run typegen/orogen. These two tools do
>> that. I recon that typegen support in the orocos_toolchain_ros stack is
>> experimental ?
>
> No. We're not using it ourselves here intensively, but it's tested and
> should be working. It's locked into an old version at the moment
> though, maybe that's the cause of the problems? Is this error message
> referring to a ruby or a CMake error? I'm sending some patches to
> update the typegen support.
>
> Steven
>
>>
>> Peter
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>

Ruben Smits's picture

[Kuka-LWR] typegen: `do_import': plugin not found (RuntimeError)

On Tuesday 01 March 2011 09:57:47 Gajamohan Mohanarajah wrote:
> Thank you for all your response.
> CC: kuka-lwr [..] ...
>
> When I get from [ git clone
> http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git]
> branch: cturtle I don't get the [`do_import': plugin not found] error.
> (Previously I was using the Debian packages for orocos_toolchain_ros)
>
> Now I am getting this error:
> --------------------------------------
> mkdir -p bin
> cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
> rosbuild`/rostoolchain.cmake ..
> [rosbuild] Building package lwr_fri
> [rosbuild] Including /opt/ros/cturtle/ros/core/rospy/cmake/rospy.cmake
> [rosbuild] Including /opt/ros/cturtle/ros/core/roslisp/cmake/roslisp.cmake
> [rosbuild] Including /opt/ros/cturtle/ros/core/roscpp/cmake/roscpp.cmake
> Orocos-RTT found in
> /home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/orocos-rtt
> /orocos-rtt-gnulinux-libraries.cmake -- Found orocos-rtt for the gnulinux
> target. Available transports: mqueue Building component lwr_fri in library
> lwr_fri-gnulinux
> Generating typekit for lwr_fri...
> ROS_ROOT environment found
> [rosbuild] Building package lwr_fri
> CMake Error at /opt/ros/cturtle/ros/core/rosbuild/private.cmake:119
> (message): [rosbuild] rospack found package "lwr_fri" at
> "/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri", but the current directory
> is "/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/typekit". You should
> double-check your ROS_PACKAGE_PATH to ensure that packages are found in the
> correct precedence order.
> Call Stack (most recent call first):
> /opt/ros/cturtle/ros/core/rosbuild/public.cmake:152
> (_rosbuild_check_package_location)
> typekit/CMakeLists.txt:14 (rosbuild_init)
>
> ------------------------------
>
> FYI:
> $ echo $ROS_PACKAGE_PATH
> /home/gajan/ros/pkgs/tum-ros-pkg/knowledge:/home/gajan/ros/stacks/articulati
> on:/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri:/home/gajan/ros/stacks/orocos_
> kinematics_dynamics:/home/gajan/ros/stacks/orocos_toolchain_ros:/home/gajan/
> ros/stacks/ros_experimental:/home/gajan/ros/stacks/amigo:/home/gajan/ros/sta
> cks/ias_nav:/home/gajan/ros/stacks/ias_common:/home/gajan/ros/stacks/knowrob
> :/home/gajan/ros/stacks/roboearth:/opt/ros/cturtle/stacks
>
> lwr_fri/manifest
>

>

>
> lwr_fri/CMakeList.txt
> orocos_typegen_headers(include/friComm.h)
>
> Since the kuka_lwr_fri only holds the proprietary header file from KUKA,
> I commented out the dependency and added the header file directly into
> the include folder.
> Am I doing something wrong here ?

No ;)

The issue you report comes from the fact that both the parent package and the
generated typekit contain a manifest. This issue is resolved in a recent
version of orogen which is not available in the release yet. Once orocos
toolchain 2.3 comes out a new orocos toolchain ROS release will be prepared.

If you update your orocos_toolchain_ros to the master branch the issue should
be resolved.

> I am new to Typekit/Orocos. I would appreciate any help.

-- Ruben

> Best,
> Gajan
>
>
>
> On Thu, Feb 24, 2011 at 9:56 PM, Steven Bellens
>
> <steven [dot] bellens [..] ...> wrote:
> > 2011/2/24 Peter Soetens <peter [..] ...>:
> >> On Thursday 24 February 2011 19:52:23 Gajamohan Mohanarajah wrote:
> >>> Hi Ruben and all,
> >>>
> >>> I am having trouble type-generating the friComm.h header file that
> >>> is
> >>> needed to run the lwr_fri package.
> >>>
> >>> When I add [orocos_typegen_headers(include/friComm.h)] to my
> >>> CMakeList.txt I get
> >>> -------
> >>> Generating typekit for lwr_fri...
> >>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-to
> >>> olchain -typelib/bindings/ruby/lib/typelib.rb:1023:in `do_import':
> >>> plugin not found (RuntimeError)
> >>> from
> >>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/typelib/build/orocos-to
> >>> olchai n-typelib/bindings/ruby/lib/typelib.rb:1023:in `import'
> >>> from
> >>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-too
> >>> lchain -orogen/lib/orogen/typekit.rb:608:in `initialize'
> >>> from
> >>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-too
> >>> lchain -orogen/bin/typegen:11:in `new'
> >>> from
> >>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/orogen/build/orocos-too
> >>> lchain -orogen/bin/typegen:11 CMake Error at
> >>> /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/cmake/o
> >>> rocos- rtt/UseOROCOS-RTT.cmake:253 (add_subdirectory):
> >>> add_subdirectory given source "typekit" which is not an existing
> >>> directory. Call Stack (most recent call first):
> >>> CMakeLists.txt:42 (orocos_typegen_headers)
> >>> -------
> >>>
> >>> Please note:
> >>> 1. I have properly sourced the env.sh is orocos_toolchain_ros
> >>> 2. I was able to reproduce the same error in two different machines.
> >>> 3. My friComm.h resides in include dir of the lwr_fri package.
> >>
> >> Has orogen been built with autoproj or 'bootstrap.sh' ? A proper ruby
> >> environment must be setup in order to run typegen/orogen. These two
> >> tools do that. I recon that typegen support in the
> >> orocos_toolchain_ros stack is experimental ?
> >
> > No. We're not using it ourselves here intensively, but it's tested and
> > should be working. It's locked into an old version at the moment
> > though, maybe that's the cause of the problems? Is this error message
> > referring to a ruby or a CMake error? I'm sending some patches to
> > update the typegen support.
> >
> > Steven
> >
> >> Peter
> >> --
> >> Orocos-Users mailing list
> >> Orocos-Users [..] ...
> >> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
> _______________________________________________
> Kuka-LWR mailing list
> Kuka-LWR [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/kuka-lwr