On Wednesday 15 December 2010 11:41:31 Peter Soetens wrote:
> On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
> > I'm testing the rtt-ros integration against the 2.2.0 release. A patch in
> > attachment is required.
> >
> > Is there a git repository that we can use instead of svn ? I'm going to
> > submit some more patches and I'd prefer not to use svn...
>
> Here's a patch against git's 0.2 branch. It seems to work now, the bug
> Ruben saw was that an -${OROCOS_TARGET} suffix was missing... I noticed
> you can use ${OROCOS_TARGET} in the manifest file itself too (see patch).

Patch is applied.

Can we use the ${OROCOS_TARGET} in the rtt/ocl manifests too?

> I would also propose to build the typekit packages by default with
> 'MinSizeRel' in order to somewhat reduce the size of these libraries.
>
> Note that there's a patch in RTT's toolchain-2.2 branch that you need for
> supporting the [] suffix in scripting/taskbrowser of the 'vector<T>'
> versions of ros messages.

The orocos_toolchain_ros-0.2 branch should now be in sync with these commits.

> I also noted that the ros primitives types don't provide the default
> conversions/constructors for doing int32->uint32 etc. These were included
> in the RTT typekit, so you might need to copy/paste the code from there.
>
> Tested with import("rtt_ros_integration_geometry_msgs")
>
> What doesn't work yet is the [] operator:
>
> var TransformStamped[] tsv(10)
> tsv
> = { [, , , , , , , , , ], size = 10, capacity = 10 }
> tsv[0]
> = {header = {seq = 0, stamp = (time), frame_id = }, child_frame_id = ,
> transform = {translation = {x = 0, y = 0, z = 0 }, rotation = {x = 0, y =
> 0, z = 0, w = 0 } } }
> tsv[0].header
> = {header = {seq = 0, stamp = (time), frame_id = }, child_frame_id = ,
> transform = {translation = {x = 0, y = 0, z = 0 }, rotation = {x = 0, y =
> 0, z = 0, w = 0 } } }
>
> but that is probably an RTT/scripting issue.
>
> Peter

On Wednesday 15 December 2010 11:41:31 Peter Soetens wrote:
> On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
> > I'm testing the rtt-ros integration against the 2.2.0 release. A patch in
> > attachment is required.
> >
> > Is there a git repository that we can use instead of svn ? I'm going to
> > submit some more patches and I'd prefer not to use svn...
>
> Here's a patch against git's 0.2 branch. It seems to work now, the bug
> Ruben saw was that an -${OROCOS_TARGET} suffix was missing... I noticed
> you can use ${OROCOS_TARGET} in the manifest file itself too (see patch).
>
> I would also propose to build the typekit packages by default with
> 'MinSizeRel' in order to somewhat reduce the size of these libraries.
>
> Note that there's a patch in RTT's toolchain-2.2 branch that you need for
> supporting the [] suffix in scripting/taskbrowser of the 'vector<T>'
> versions of ros messages.
>
> I also noted that the ros primitives types don't provide the default
> conversions/constructors for doing int32->uint32 etc. These were included
> in the RTT typekit, so you might need to copy/paste the code from there.
>
> Tested with import("rtt_ros_integration_geometry_msgs")
>
> What doesn't work yet is the [] operator:
>
> var TransformStamped[] tsv(10)
> tsv
> = { [, , , , , , , , , ], size = 10, capacity = 10 }
> tsv[0]
> = {header = {seq = 0, stamp = (time), frame_id = }, child_frame_id = ,
> transform = {translation = {x = 0, y = 0, z = 0 }, rotation = {x = 0, y =
> 0, z = 0, w = 0 } } }
> tsv[0].header
> = {header = {seq = 0, stamp = (time), frame_id = }, child_frame_id = ,
> transform = {translation = {x = 0, y = 0, z = 0 }, rotation = {x = 0, y =
> 0, z = 0, w = 0 } } }
>
> but that is probably an RTT/scripting issue.

I have pushed a fix+test to the toolchain-2.2 branch. The not showing of the
contents of 'tsv' is probably a bug in the TaskBrowser. But you should now at
least be able to read and write all fields of struct/sequence and any
combination thereof.

Peter

On Tuesday 14 December 2010 20:01:11 Ruben Smits wrote:
> On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
> > I'm testing the rtt-ros integration against the 2.2.0 release. A patch in
> > attachment is required.
> >
> > Is there a git repository that we can use instead of svn ? I'm going to
> > submit some more patches and I'd prefer not to use svn...
>
> I already had a fix for that, but it looks somewhat different. I do not
> know whether the code behavior is different too? Maybe you can elaborate
> on this?
>
>
> commit 1b4bbe5bc5281e676b092a55bf29435b00829c5a
> Author: Ruben Smits <ruben [dot] smits [..] ...>
> Date: Tue Nov 23 15:39:13 2010 +0100
>
> updated transport to use ChannelElement::getInput
>
> Signed-off-by: Ruben Smits <ruben [dot] smits [..] ...>
>
> diff --git a/rtt_ros_integration/src/ros_msg_transporter.hpp
> b/rtt_ros_integration/src/ros_msg_transporter.hpp
> index 653401e..5abd27a 100644
> --- a/rtt_ros_integration/src/ros_msg_transporter.hpp
> +++ b/rtt_ros_integration/src/ros_msg_transporter.hpp
> @@ -144,9 +144,9 @@ namespace ros_integration {
> void publish(){
> typename base::ChannelElement<T>::value_t sample; // XXX: real-time
> ! // this read should always succeed since signal() means 'data available
> in a data element'.
> - base::ChannelElement<T>* input = dynamic_cast<
> base::ChannelElement<T>*
>
> >(this->input);
>
> - if( input->read(sample) == NewData )
> - ros_pub.publish(sample);
> + typename base::ChannelElement<T>::shared_ptr input =
> this->getInput(); + if( input && (input->read(sample) == NewData) )
> + ros_pub.publish(sample);
> }
>
> };

Your patch is better. I had missed the getInput() function in the
ChannelElement class itself.

Peter

On Tuesday 14 December 2010 17:19:06 Peter Soetens wrote:
> On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
> > I'm testing the rtt-ros integration against the 2.2.0 release. A patch in
> > attachment is required.
> >
> > Is there a git repository that we can use instead of svn ? I'm going to
> > submit some more patches and I'd prefer not to use svn...
>
> Here's another patch in order to produce only two libraries per package:
> a -typekit and a -transport library. Instead of two libs per message type.

I had to apply the patch by hand so I might have broken something but for me
it is not working yet:

Linking CXX shared library ../lib/orocos/types/librtt-ros-std_msgs-typekit-
gnulinux.so
/usr/bin/ld: cannot find -lrtt_ros_integration

does this line automatically resolve the target?:
from rtt_ros_integration/cmake/GenerateRTTtypekit.cmake:

orocos_typekit( rtt-ros-${package}-transport
${CMAKE_CURRENT_SOURCE_DIR}/src/orocos/types/ros_${package}_transport.cpp )
target_link_libraries(rtt-ros-${package}-transport rtt_ros_integration)

I think we can leave it out and let it be handled by the manifest of the
rtt_ros_integration package?

Ruben

> Only tested on an unmodified stdmsg integration package. As expected,
> testing can be done by just typing 'import("rtt_ros_integration_std_msg")'
> which imports *both* the roslib types (in the rtt_ros_integration package)
> and the std msg types of ROS.
>
> Previous patch is included as well. Also has the addition of the
> SequenceTypeInfo Steven wrote about before. It's still all against
> svn/trunk.
>
> Also needs two patches I just pushed to the toolchain-2.2 branch.
>
> Could someone explain to me how today's users add the 'float32',... types
> (the primitive ros types used in messages) ? Is there a typekit for that ?
> Shouldn't this typekit belong in the rtt_ros_integration package ?
>
> Peter

2010/12/14 Ruben Smits <ruben [dot] smits [..] ...>:
> On Tuesday 14 December 2010 19:56:53 Steven Bellens wrote:
>> 2010/12/14 Ruben Smits <ruben [dot] smits [..] ...>:
>> > On Tuesday 14 December 2010 17:43:02 Steven Bellens wrote:
>> >> 2010/12/14 Peter Soetens <peter [..] ...>:
>> >> > On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
>> >> >> I'm testing the rtt-ros integration against the 2.2.0 release. A
>> >> >> patch in attachment is required.
>> >> >>
>> >> >> Is there a git repository that we can use instead of svn ? I'm going
>> >> >> to submit some more patches and I'd prefer not to use svn...
>> >> >
>> >> > Here's another patch in order to produce only two libraries per
>> >> > package: a -typekit and a -transport library. Instead of two libs per
>> >> > message type.
>> >> >
>> >> > Only tested on an unmodified stdmsg integration package. As expected,
>> >> > testing can be done by just typing
>> >> > 'import("rtt_ros_integration_std_msg")' which imports *both* the
>> >> > roslib types (in the rtt_ros_integration package) and the std msg
>> >> > types of ROS.
>> >> >
>> >> > Previous patch is included as well. Also has the addition of the
>> >> > SequenceTypeInfo Steven wrote about before. It's still all against
>> >> > svn/trunk.
>> >> >
>> >> > Also needs two patches I just pushed to the toolchain-2.2 branch.
>> >> >
>> >> > Could someone explain to me how today's users add the 'float32',...
>> >> > types (the primitive ros types used in messages) ? Is there a typekit
>> >> > for that ? Shouldn't this typekit belong in the rtt_ros_integration
>> >> > package ?
>> >>
>> >> I think it should. I already made something like that, but never
>> >> tested it thorougly. It's currently in our private-kul-ros-pkg folder.
>> >> Ruben, shall I move it to the orocos_toolchain_ros stack?
>> >
>> > Yep, maybe we should also add it in the rtt_ros_integration package?
>>
>> I've added all basic ros message types as listed on
>> http://www.ros.org/wiki/msg , except for Time and Duration. I'll take
>> a look at those tomorrow to see if I can add those as well. Nothing is
>> tested,but it's compiling :)
>
> AFAIK both Time and Duration are defined in std_msgs and therefore taken care
> off by the rtt_ros_integration_std_msgs package.

The std_msgs contains a time message which has a 'time' field, but
this doesn't declare the primitive 'time' type to RTT, does it?

Steven

>
> Ruben
>

2010/12/14 Peter Soetens <peter [..] ...>:
> On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
>> I'm testing the rtt-ros integration against the 2.2.0 release. A patch in
>> attachment is required.
>>
>> Is there a git repository that we can use instead of svn ? I'm going to
>> submit some more patches and I'd prefer not to use svn...
>
> Here's another patch in order to produce only two libraries per package:
> a -typekit and a -transport library. Instead of two libs per message type.
>
> Only tested on an unmodified stdmsg integration package. As expected, testing
> can be done by just typing 'import("rtt_ros_integration_std_msg")' which
> imports *both* the roslib types (in the rtt_ros_integration package) and the
> std msg types of ROS.
>
> Previous patch is included as well. Also has the addition of the
> SequenceTypeInfo Steven wrote about before. It's still all against svn/trunk.
>
> Also needs two patches I just pushed to the toolchain-2.2 branch.
>
> Could someone explain to me how today's users add the 'float32',... types (the
> primitive ros types used in messages) ? Is there a typekit for that ?
> Shouldn't this typekit belong in the rtt_ros_integration package ?

I think it should. I already made something like that, but never
tested it thorougly. It's currently in our private-kul-ros-pkg folder.
Ruben, shall I move it to the orocos_toolchain_ros stack?

Steven

>
> Peter
>

On Tuesday 14 December 2010 17:19:06 Peter Soetens wrote:
> On Tuesday 14 December 2010 15:32:25 Peter Soetens wrote:
> > I'm testing the rtt-ros integration against the 2.2.0 release. A patch in
> > attachment is required.
> >
> > Is there a git repository that we can use instead of svn ? I'm going to
> > submit some more patches and I'd prefer not to use svn...
>
> Here's another patch in order to produce only two libraries per package:
> a -typekit and a -transport library. Instead of two libs per message type.
>
> Only tested on an unmodified stdmsg integration package. As expected,
> testing can be done by just typing 'import("rtt_ros_integration_std_msg")'
> which imports *both* the roslib types (in the rtt_ros_integration package)
> and the std msg types of ROS.
>
> Previous patch is included as well. Also has the addition of the
> SequenceTypeInfo Steven wrote about before. It's still all against
> svn/trunk.

You should be able to clone from the
git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git repos using the http
protocol. We are currently developing in the orocos_toolchain_0.2 branch.
(Which has rtt, ocl and log4cpp as submodules)

> Also needs two patches I just pushed to the toolchain-2.2 branch.
>
> Could someone explain to me how today's users add the 'float32',... types
> (the primitive ros types used in messages) ? Is there a typekit for that ?
> Shouldn't this typekit belong in the rtt_ros_integration package ?

Steven made a typekit for this, but it is still located in some obscure svn
location ;), I'll ask him to put it in the orocos_toolchain_ros stack/repos.

Ruben