Dear sir,

I am trying to use the interesting feature of rock, but I have some difficulties to understand
how to use them.

My example consists of three tasks, the first should ask data to user using a console, the second made
some changes to received data and sent them to the third that shows the position of a cube in 3D space
using irrlicht.

I wrote the following orogen file and I got generated without any problem three executables

name 'robtipo'
version '0.1'

import_types_from "posizione.h"

task_context "hmi" do
output_port("desiredP", "/posizione/pos").
doc("set point di posizione")
end

task_context "oneaxisfilter" do
input_port("inDesiredP", "/posizione/pos").
doc("set point da filtrare")
output_port("outDesiredP", "/posizione/pos").
doc("set point filtrati da inviare al robot")

port_driven "inDesiredP"
end

task_context "robot" do
input_port("inDesiredP", "/posizione/pos").
doc("set point contenete la posizione da raggiungere")
property("curPos" , "/posizione/pos").
doc("posizione attuale del robot")
end

deployment "interfaccia" do
hmi = task("mmi", "hmi")
end

deployment "filtro" do
filter = task("filter", "oneaxisfilter").
realtime.
periodic(0.5)
end

deployment "visualizzatore" do
robot = task("myRobot", "robot").
realtime.
periodic(0.5)
end

I issued for this the following commands:
orogen robotViewer.orogen
mkdir build
cd build

cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/lib/rock
make install

After having the three executable genererated I returned in the parent directory with command cd
and issued the following command

ruby rviewer.rb

I got the following errors:

ruby viewer.rb
IOR:010000001f00000049444c3a5254542f636f7262612f435461736b436f6e746578743a312e300000010000000000000064000000010102000d0000003139322e3136382e322e31310000e9d60e000000feaaf4044d00000f1a000000000000000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100
1.224 [ Warning][TypekitRepository::Import] Overriding TypeInfo for '/std/string'.
1.130 [ Warning][TypekitRepository::Import] Overriding TypeInfo for '/std/string'.
1.241 [ Warning][TypekitRepository::Import] Overriding TypeInfo for '/std/string'.
/usr/src/rock/tools/orocos.rb/lib/orocos/task_context.rb:279:in `do_get': task context 'interfaccia' does not exist (Orocos::NotFound)
from /usr/src/rock/tools/orocos.rb/lib/orocos/task_context.rb:279:in `get'
from /usr/src/rock/tools/orocos.rb/lib/orocos/corba.rb:175:in `refine_exceptions'
from /usr/src/rock/tools/orocos.rb/lib/orocos/task_context.rb:278:in `get'
from viewer.rb:9
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:237:in `spawn'
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:530:in `guard'
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:236:in `spawn'
from /usr/src/rock/tools/orocos.rb/lib/orocos/process.rb:29:in `run'
from viewer.rb:8

rviewer.rb is a script file with the following instructions:

require 'orocos'

include Orocos

Orocos.initialize

Orocos.run 'interfaccia' , 'filtro' , 'visualizzatore' do
inter = TaskContext.get 'interfaccia'
filt = TaskContext.get 'filtro'
visua = TaskContext.get 'visualizzaztore'

inter.desiredP.connect_to filt.inDesiredP
filt.outDesiredP.connect_to visua.inDesiredP

inter.start
filt.start
visua.start
end

I think I didn't understand what is necessary to do in order to set connections among tasks
and getting modules running using ruby.
Which are the correct step I have to do to?

On the page

http://rock-robotics.org/runtime/quickstart.html

the link to complete example script doesn't work.

Than you for your support.

Gianpaolo Rizzi