rtt_ros_integration with catkin

[marrasp]

Hi,

I have installed the orocos _toolchain and the rtt_ros_integration with catkin following the instructions in readme.md file at https://github.com/jhu-lcsr-forks/rtt_ros_integration. It seems that everything works but when I try to do rosrun ocl deployer-gnulinux I get an error: [rospack] Error: stack/package ocl not found. Do you know what can be happened?

[konradb3]

It might be related to #44. You definitely should use RTT from https://github.com/jhu-lcsr-forks/orocos_toolchain .

[marrasp]

I have installed that also and it works if you try deployer-gnulinux. I suppose that the problem is that ros does nor find the orocos packages but I don't know how to solve it

[jbohren]

@amine-abm You just need to add the CORBA flags when you call catkin_make:

catkin_make --cmake-args -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB

[amine-abm]

Sorry i deleted comment by fault

I am trying to compile Orocos and rrt in ROS hydro to run LWR packages, but i get errors about librtt-transport-corba-gnulinux.so library when trying to launch rttlua node of rrt_ros package. Below is the error message and the installation procedure.

Thanks for your help Regards

Error message: 0.017 [ ERROR ][Logger] could not load library '/opt/ros/hydro/lib/orocos/gnulinux/./types/librtt-transport-corba-gnulinux.so': /opt/ros/hydro/lib/liborocos-rtt-corba-gnulinux.so.2.7: undefined symbol: _ZN3RTT4base18InputPortInterface12channelReadyEN5boost13intrusive_ptrINS0_18ChannelElementBaseEEERKNS_10ConnPolicyE 0.017 [ Warning][Logger] Some found plugins could not be loaded ! 0.017 [ Warning][Logger] Corrupted files found in '/home/vision/ws/underlay/devel/lib/orocos:/home/vision/ws/underlay_isolated/install_isolated/lib/orocos:/opt/ros/hydro/lib/orocos:/home/vision/catkin_ws/underlay_isolated/devel_isolated/log4cpp/lib/orocos'. Fix or remove these plugins. /home/vision/ws/underlay_isolated/install_isolated/bin/rttlua-gnulinux: cannot open __name:=lwr_controller: No such file or directory

Installation procedure:

source /opt/ros/hydro/setup.bash
export OROCOS_TARGET=gnulinux
mkdir -p ~/ws/underlay_isolated/src/orocos
cd ~/ws/underlay_isolated
git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git -b toolchain-2.7 src/orocos/orocos_toolchain
catkin_make_isolated --install
git clone --recursive https://github.com/jhu-lcsr-forks/rtt_geometry.git src/orocos/rtt_geometry
git clone --recursive https://github.com/jhu-lcsr-forks/orocos_kinematics_dynamics.git src/orocos/orocos_kinematics_dynamics
catkin_make_isolated --install
source install_isolated/setup.sh
mkdir -p ~/ws/underlay/src
cd ~/ws/underlay
git clone --recursive https://github.com/jhu-lcsr-forks/rtt_ros_integration.git src/lwr_packages/rtt_ros_integration
git clone --recursive https://github.com/RCPRG-ros-pkg/lwr_robot.git src/lwr_packages/lwr_robot
git clone --recursive https://github.com/RCPRG-ros-pkg/lwr_hardware.git src/lwr_packages/lwr_hardware
git clone --recursive https://github.com/RCPRG-ros-pkg/orocos_controllers.git src/lwr_packages/orocos_controllers
git clone --recursive https://github.com/RCPRG-ros-pkg/orocos_tools.git src/lwr_packages/orocos_tools
touch ~/ws/underlay_isolated/install_isolated/lib/ruby/1.8/x86_64-linux/orogen/templates/typekit/CATKIN_IGNORE
catkin_make
source devel/setup.sh

[jbohren]

@amine-abm

Did you fix your problem?

[amine-abm]

Yes but when compiling i get error :

CMake Error at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:159 (message): catkin_package() DEPENDS on 'rtt' which must be find_package()-ed before. If it is a catkin package it can be declared as CATKIN_DEPENDS instead without find_package()-ing it. Call Stack (most recent call first): /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package) lwr_packages/lwr_hardware/lwr_fri/CMakeLists.txt:9 (catkin_package)

So I modified src/lwr_packages/lwr_hardware/lwr_fri/CMakeLists.txt and remove the rtt dependancy from line 10

Then I get the following error: /home/vision/ws/underlay/src/lwr_packages/lwr_hardware/lwr_fri/src/FRIComponent.cpp: In member function ‘void FRIComponent::doComm()’: /home/vision/ws/underlay/src/lwr_packages/lwr_hardware/lwr_fri/src/FRIComponent.cpp:164:11: warning: ‘void tf::PoseKDLToMsg(const KDL::Frame&, geometry_msgs::Pose&)’ is deprecated (declared at /opt/ros/hydro/include/kdl_conversions/kdl_msg.h:96) [-Wdeprecated-declarations]

/home/vision/ws/underlay/src/lwr_packages/lwr_hardware/lwr_fri/src/FRIComponent.cpp:43:23: fatal error: rtdm/rtdm.h: No such file or directory compilation terminated. make[2]: * [lwr_packages/lwr_hardware/lwr_fri/CMakeFiles/fricomponent.dir/src/FRIComponent.cpp.o] Error 1 make[1]: * [lwr_packages/lwr_hardware/lwr_fri/CMakeFiles/fricomponent.dir/all] Error 2

So I commented the #ifndef HAVE_RTNET in FRIComponent.cpp file (line 33)

After these modifications it compiles and i can run : rosrun rtt_ros rttlua

Is it ok to do that or I am missing other libraries or packages?

[jbohren]

@amine-abm It looks like you're trying to build the kuka stuff without RTDM, I'd suggest following up over at https://github.com/RCPRG-ros-pkg/lwr_hardware

[konradb3]

I looks like i unconditionally enable RTnet. I will try to fix that.

[amine-abm]

Ok Thanks. This issue will be discussed here https://github.com/RCPRG-ros-pkg/lwr_hardware/issues/2

[amine-abm]

@jbohren When I run: rosrun ocl rttlua I get this error : [rosrun] Couldn't find executable named rttlua below /home/vision/ws/underlay_isolated/install_isolated/share/ocl

Where is the problem please?

[jbohren]

I get this error : [rosrun] Couldn't find executable named rttlua below /home/vision/ws/underlay_isolated/install_isolated/share/ocl

Where is the problem please?

I actually added that wrapper (it had been missing) a day ago. If you update you should get it: https://github.com/jhu-lcsr-forks/rtt_ros_integration/commit/e504a7f7b1156beacd405d345bf78956aa94003a

[amine-abm]

@jbohren Not working yet. I have the same error.