Dear Sirs,
I have a fresh install of Orocos toolchain-2.3.0 on Unbunti 10.01 with xenomai 2.5.5.2.
I created my modules and my deployment using orogen.
When I run my executable with the command
xeno-load
using the.runinfo file with the following content:
Rosetta:native:./Rosetta;popall:control_c
I get a run time error.
Looking at the orocos.log file I saw the following errors about loading librtt-transport-mqueue-xenomai.so and corrupted files:
0.000 [ Info ][Logger] No ORO_LOGLEVEL environment variable set.
0.000 [ Info ][Logger] OROCOS version '2.3.0' compiled with GCC 4.4.5. Running in Xenomai.
0.000 [ Info ][Logger] Orocos Logging Activated at level : [ Warning] ( 4 )
0.000 [ Info ][Logger] Reference System Time is : 232689635811 ticks ( 96.728 seconds ).
0.000 [ Info ][Logger] Logging is relative to this time.
0.000 [ Info ][Logger] Xenomai Periodic Timer runs in preemptive 'one-shot' mode.
0.000 [ Info ][Logger] Installing SIGXCPU handler.
0.000 [ Info ][Logger] RTT_COMPONENT_PATH was set to: /usr/src/orocos/orocos/install/lib/orocos/xenomai/:/usr/src/orocos/orocosComponents/ . Searching in: /usr/src/orocos/orocos/install/lib/orocos/xenomai/:/usr/src/orocos/orocosComponents/:/usr/src/orocos/install/lib/orocos
0.000 [ Info ][Logger] plugin 'rtt' not loaded before.
0.001 [ Info ][Logger] Loading plugin libraries from directory /usr/src/orocos/install/lib/orocos/xenomai/./plugins ...
0.096 [ Info ][Logger] Loaded RTT Service 'scripting' from 'rtt-scripting-xenomai'
0.097 [ Info ][Logger] Loaded RTT Service 'marshalling' from 'rtt-marshalling-xenomai'
0.097 [ Info ][Logger] typekit 'rtt' not loaded before.
0.097 [ Info ][Logger] Loading typekit libraries from directory /usr/src/orocos/install/lib/orocos/xenomai/./types ...
0.098 [ Info ][TypekitRepository::Import] Loading Typekit rtt-types.
0.098 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-types' from 'rtt-typekit-xenomai'
0.098 [ Info ][TypekitRepository::Import] Loading Transport CORBA://rtt-types.
0.098 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for ConnPolicy
0.098 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for TaskContext
0.098 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for array
0.098 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for bool
0.098 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for char
0.099 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for double
0.099 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for float
0.099 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for int
0.099 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for string
0.099 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for uint
0.099 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for void
0.099 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-corba-types' from 'rtt-transport-corba-xenomai'
0.125 [ ERROR ][Logger] could not load library '/usr/src/orocos/install/lib/orocos/xenomai/./types/librtt-transport-mqueue-xenomai.so': libpthread_rt.so.1: shared object cannot be dlopen()ed
0.125 [ Warning][Logger] Some found plugins could not be loaded !
0.125 [ Warning][Logger] Corrupted files found in '/usr/src/orocos/orocos/install/lib/orocos/xenomai/:/usr/src/orocos/orocosComponents/:/usr/src/orocos/install/lib/orocos'. Fix or remove these plugins.
Is the search path of the library corrected?
In my installation the librtt-transport-mqueue-xenomai.so is stored in the directory:
/usr/src/orocos/install/lib/orocos/xenomai/types/
In my .bashrc file I have set the following environment variables:
source /usr/src/orocos/env.sh
export TYPEKIT_LIB_INSTALL_DIR="/usr/src/orocos/orocos/install/lib/orocos/xenomai/types"
export PLUGINS_LIB_INSTALL_DIR="/usr/src/orocos/orocos/install/lib/orocos/xenomai/plugins"
RTT_PLUGIN_ROOT_DIR=/usr/src/orocos/orocos/install/lib/orocos/xenomai/plugins/; export RTT_PLUGIN_ROOT_DIR
RTT_COMPONENT_PATH=/usr/src/orocos/orocos/install/lib/orocos/xenomai/:/usr/src/orocos/orocosComponents/$RTT_COMPONENT_PATH; export RTT_COMPONENT_PATH
LD_LIBRARY_PATH=/usr/src/orocos/orocos/install/lib/orocos/xenomai/plugins:/usr/src/orocos/orocos/install/lib/orocos/xenomai:/usr/src/orocos/orocos/install/lib/$LD_LIBRARY_PATH$; export LD_LIBRARY_PATH
Can you help me to understand where am I wrong?
Thank you in advance.
G. Rizzi