Dear Dominick

On 12/09/2013 03:54 PM, Dominick Vanthienen wrote:
>
>
> On 12/09/2013 03:47 PM, Qiang Li wrote:
>> On 12/09/2013 03:25 PM, Dominick Vanthienen wrote:
>>> hi
>>>
>>> On 12/09/2013 02:52 PM, Qiang Li wrote:
>>>> On 12/09/2013 02:36 PM, Dominick Vanthienen wrote:
>>>>>
>>>>>
>>>>> On 12/09/2013 02:33 PM, Qiang Li wrote:
>>>>>> On 12/09/2013 02:26 PM, Dominick Vanthienen wrote:
>>>>>>>
>>>>>>> On 12/09/2013 02:17 PM, Qiang Li wrote:
>>>>>>>> Thanks, it is clear that
>>>>>>>> I should use
>>>>>>>>
>>>>>>>> import ("rtt_dot_service")
>>>>>>>> loadService("Deployer","dot")
>>>>>>>>
>>>>>>>> Now it works. I also can use dot.dot_file to generate the
>>>>>>>> orograph.dot file.
>>>>>>>>
>>>>>>>> following the command from instruction, I can use rosrun xdot
>>>>>>>> xdot.py orograph.dot
>>>>>>>> to visualize this connection.
>>>>>>>> When I run it, I get the error that "No such file or directory:
>>>>>>>> 'orograph.dot'"
>>>>>>> make sure the file exists and you are executing the command from
>>>>>>> within the directory where orograph.dot is located (or put the
>>>>>>> correct path in the command)
>>>>>> I am not quite sure where this file--orograph.dot. what I do is
>>>>>> in the started deployer taskbrowser
>>>>>> give the command
>>>>>>
>>>>>> import ("rtt_dot_service")
>>>>>> loadService("Deployer","dot")
>>>>>>
>>>>>> then
>>>>>>
>>>>>> Deployer [S]> dot.dot_file
>>>>>> = orograph.dot
>>>>> I think this is the property that contains the name of the file
>>>>> that will be generated
>>>>> try dot.generate
>>>>
>>>> Sorry, Dominick, I did not get your point. What I want to do is
>>>> visualize the connection. (like matlab/simulink).
>>>> when I try dot.generate, it produce a text to show the connection
>>>> case.
>>> no problem:
>>> The dot service generates a 'dot' file:
>>> *when you load the dot service loadService("Deployer","dot")
>>> *when you do dot.generate in the taskbrowser (after the dot service
>>> is loaded)
>>>
>>> this 'dot file orograph.dot is a file in the dot language:
>>> http://en.wikipedia.org/wiki/DOT_%28graph_description_language%29 ,
>>> that can be interpreted by the xdot tool,
>>> which visualises the data of the 'dot' file
>>>
>>> the generated orograph.dot file is located at the point where you
>>> executed orocos: normally this is just the place where you did
>>> rosrun ocl deployer-gnulinux ... or similar
>>> if you run orocos from a launch file, then it is probably in the
>>> ~/.ros directory
>>>
>>> try to locate orograph.dot after you loaded the dot service, by for
>>> example (in a terminal):
>>> $locate orograph.dot
>>
>> Thank you very much for your help, this problem is solved. When I try
>> change my deployer xml, there still is the problem.
>> Because I need visualize the relation of all components, I load the
>> service like you write
>>
>> <simple name="Import"
>> type="string"><value>rtt_dot_service<value><simple>
> <struct name="..." type="...">
>> <simple name="dot" type="string"><value>dot<value><simple>
> <struct>
> the last line should be within a component struct: see reference
> manual on deployment
Yes, this is the first I try, my xml structure like
<struct name="JointStatePublisher" type="JointStatePublisher">
<struct name="Activity" type="PeriodicActivity">
<simple name="Period" type="double"><value>0.01<value><simple>
<simple name="Priority" type="short"><value>2<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>0<value><simple>

*<simple name="dot" type="string"><value>dot<value><simple> *

<struct name="Properties" type="PropertyBag">
<simple name="number_of_joints" type="long"><value>7<value><simple>
<simple name="joint0_name"
type="string"><value>lwr_arm_0_joint<value><simple>
<simple name="joint1_name"
type="string"><value>lwr_arm_1_joint<value><simple>
<simple name="joint2_name"
type="string"><value>lwr_arm_2_joint<value><simple>
<simple name="joint3_name"
type="string"><value>lwr_arm_3_joint<value><simple>
<simple name="joint4_name"
type="string"><value>lwr_arm_4_joint<value><simple>
<simple name="joint5_name"
type="string"><value>lwr_arm_5_joint<value><simple>
<simple name="joint6_name"
type="string"><value>lwr_arm_6_joint<value><simple>
<struct>

<struct name="Ports" type="PropertyBag">
<simple name="msrJntPos"
type="string"><value>JointPosition<value><simple>
<simple name="joints_state"
type="string"><value>joints_state<value><simple>

<struct>
<struct>

Deployer complains that
2.271 [ ERROR ][DeploymentComponent::loadComponents] Unknown type
syntax: 'dot' in component struct JointStatePublisher

Best, Qiang

>
>>
>> the error complain is:
>> 2.258 [ ERROR ][DeploymentComponent::loadComponents] Can not
>> initialize Property from dot: incompatible type ( destination type:
>> PropertyBag, source type: string).
>> 2.258 [ ERROR ][DeploymentComponent::loadComponents] RTT::Property
>> 'dot' should be a struct, Include, Path or Import statement.
>> 2.271 [ ERROR ][Logger] Failed to load a component: aborting
>> kick-start.
>> Switched to : Deploye
>>
>> do you have the suggestion?
>>
>> Best, Qiang
>>>
>>>> I found in the rtt_dot_service instruciton description like
>>>>
>>>> To use it, load the service in your Deployer component, e.g. in
>>>> your .ops script, add:
>>>>
>>>> {{{
>>>> import ("rtt_dot")
>>>> loadService("Deployer","dot")
>>>> }}}
>>>>
>>>> The service has a property, dot_file, which you can adjust to
>>>> the file you like to be generated.
>>> in other words: with this property you change the name of the
>>> generated file, for example you can generate "f.dot" instead of
>>> "orograph.dot" by
>>> dot.dot_file="f.dot"
>>> dot.generate
>>>> The way components, connections and channels can be plotted can be
>>>> tuned using the comp_args, conn_args and chan_args properties.
>>>> Visualisation of the dot file is possible, e.g. with the ROS xdot
>>>> tool:
>>>>
>>>> {{{
>>>> rosrun xdot xdot.py orograph.dot
>>>> }}}
>>>>
>>>> Colors are used to display the component's current state:
>>>>

>>>>
• Init - white

>>>>

• PreOperational - orange

>>>>

• FatalError, Exception, RunTimeError - red

>>>>

• Stopped - lightblue

>>>>

• Running - green

>>>>

>>>>
>>>> So that is why I am using dot.dot_file to generate orograph.dot, I
>>>> had thought it is possible to use rosrun xdot xdot.py orograph.dot
>>>> to visualize the connection. Maybe something I am missing, please
>>>> let me know.
>>>>
>>>> Best, Qiang
>>>>
>>>>>>
>>>>>> I can not start rosrun in this browser because the error is:
>>>>>> Deployer [S]> rosrun xdot xdot.py orograph.dot
>>>>>> No method "rosrun" registered for the object or task "Deployer".
>>>>> no, the rosrun ... command should be executed in a terminal
>>>>> window, not in your taskbrowser: it is an external tool
>>>>>>
>>>>>> so I start rosrun xdot xdot.py orograph.dot in another terminal,
>>>>>> I am not sure where is the orograph.dot
>>>>> probably not generated, so non-existing
>>>>>>
>>>>>> Best, Qiang
>>>>>>
>>>>>>>> Best, Qiang
>>>>>>>>
>>>>>>>>
>>>>>>>> On 12/09/2013 01:55 PM, Dominick Vanthienen wrote:
>>>>>>>>> On 12/09/2013 12:10 PM, Qiang Li wrote:
>>>>>>>>>> Thanks, Gianni.
>>>>>>>>>>
>>>>>>>>>> It seems that this is the tool that I need. I check the
>>>>>>>>>> rtt_dot_service
>>>>>>>>>> out and build it successfully.
>>>>>>>>>> But I do not know how to use it in my deployer file. I found the
>>>>>>>>>> instruction like following
>>>>>>>>>>
>>>>>>>>>> To use it, load the service in your Deployer component, e.g.
>>>>>>>>>> in your
>>>>>>>>>> .ops script, add:
>>>>>>>>>>
>>>>>>>>>> {{{
>>>>>>>>>> import ("rtt_dot")
>>>>>>>>>> loadService("Deployer","dot")
>>>>>>>>>> }}}
>>>>>>>>>>
>>>>>>>>>> But I am using deployer form like
>>>>>>>>>>
>>>>>>>>>> <simple name="Import"
>>>>>>>>>> type="string"><value>lwr_fri<value><simple>
>>>>>>>>>> <simple name="Import"
>>>>>>>>>> type="string"><value>lwr_impedance_controller<value><simple>
>>>>>>>>>>
>>>>>>>>>> <struct name="diagnostic" type="ConnPolicy">
>>>>>>>>>> <simple name="type" type="short"><value>0<value><simple>
>>>>>>>>>> <simple name="size" type="short"><value>1<value><simple>
>>>>>>>>>> <simple name="transport"
>>>>>>>>>> type="short"><value>3<value><simple>
>>>>>>>>>> <simple name="name_id"
>>>>>>>>>> type="string"><value>/diagnostic<value><simple>
>>>>>>>>>> <struct>
>>>>>>>>>>
>>>>>>>>>> Apparently, it does not match, can you show me how I can
>>>>>>>>>> adapt import
>>>>>>>>>> and loadService in my deployer form?
>>>>>>>>> see:
>>>>>>>>> http://www.orocos.org/stable/documentation/ocl/v2.x/doc-xml/orocos-deplo...
>>>>>>>>>
>>>>>>>>> <simple name="Import"
>>>>>>>>> type="string"><value>rtt_dot_service<value><simple>
>>>>>>>>> and in the component you want to load it:
>>>>>>>>> <simple name="dot" type="string"><value>dot<value><simple>
>>>>>>>>>
>>>>>>>>> (btw, the package is called rtt_dot_service iso. rtt_dot)
>>>>>>>>>
>>>>>>>>> but, you can do this in the taskbrowser (=when you are running
>>>>>>>>> the application) by just typing there the import and
>>>>>>>>> loadService statement
>>>>>>>>> (don't forget that in a ROS environment the rtt_dot package
>>>>>>>>> should be in your ROS_PACKAGE_PATH env var)
>>>>>>>>> and then calling the service:
>>>>>>>>> dot.generate
>>>>>>>>>
>>>>>>>>> the service has following operations:
>>>>>>>>> dot.chan_args dot.comp_args dot.conn_args
>>>>>>>>> dot.dot_file dot.generate dot.getOwnerName
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>> Best, Qiang
>>>>>>>>>>
>>>>>>>>>> On 12/09/2013 11:08 AM, Gianni Borghesan wrote:
>>>>>>>>>>> maybe the rtt_dot_service is what you are looking for.
>>>>>>>>>>>
>>>>>>>>>>> https://gitorious.org/rtt_dot_service
>>>>>>>>>>>
>>>>>>>>>>>
>>>>>>>>>>> Cheers, Gianni.
>>>>>>>>>>>
>>>>>>>>>>> On 12/09/2013 10:57 AM, Qiang Li wrote:
>>>>>>>>>>>> Dear Orocos users
>>>>>>>>>>>>
>>>>>>>>>>>> I am reading and adapt a robot control and control programe
>>>>>>>>>>>> which is
>>>>>>>>>>>> depends on the orocos and ros. All components are developed
>>>>>>>>>>>> in the
>>>>>>>>>>>> orocos components form. I want to ask whether it is
>>>>>>>>>>>> possible to
>>>>>>>>>>>> visualize the port connection like matlab doing, or we have
>>>>>>>>>>>> to check
>>>>>>>>>>>> this port connection manually.
>>>>>>>>>>>>
>>>>>>>>>>>> Best, Qiang
>>>>>>>>>>>>
>>>>>>>>
>>>>>>
>>>>>>
>>>>
>>>>
>>
>>