ROS orocos tutorial

ROS orocos tutorial

asked 2015-08-17 15:57:33 -0600

955 ●67 ●83 ●98

updated 2015-08-18 00:29:27 -0600

Hi all,

I am currently reviewing Orocos and would like to use it as my control framework. I would like to use ROS as my transport layer so I have found rtt_ros_integration to be to the point.

I have read all the orocos doc I could find, and would like to pratise on the examples, so I have now installed rtt-ros-integration in indigo (under ubuntu 14.04). But it seems that the orocos component manual is no longer up-to-date as it states to use the following command line in order to create an orocos component package rosrun ocl orocreate-pkg HelloWorld. But this command line outputs an error saying orocreate-pkg does not exist in package ocl, which is true (I have checked in the said package). The same happens when trying to start the deployer with rosrun ocl deployer-gnulinux.

I guess the instructions of the orocos component manual correspond to an old version of the ROS / orocos integration. Hence my question: anyone knows more than I do on the new ways to start orocreate-pkg, the deployer, or the task browser with rtt-ros-integration?

I have run the rtt_ros_examples (the ops version, not the LUA version which looks bugged), but I could not figure out the answer so far...

Thanks,

Antoine.

answered 2015-08-18 04:05:09 -0600

arennuit

955 ●67 ●83 ●98

updated 2015-08-18 05:17:22 -0600

ok, I think I have some elements for the answer.

Basically:

Do not follow the steps given in the orocos doc, they are deprecated and should be updated (as for the integration into ROS - the other parts of the doc are still relevant)

-> the last doc corresponds to version 2.6 of orocos and we are now at version 2.8
Follow the steps given in the rtt_ros_integration doc

In addition to this:

create a folder in your workspace (as if you were doing a normal ROS package) and put all your code in there (CMakeLists.txt, package.xml, HelloWorld.cpp, helloworld.ops...)
for the content of these files (CMakeLists.txt, package.xml, HelloWorld.cpp, helloworld.ops...), you can get inspiration from the examples in rtt_ros_integration_examples
all instructions in helloworld.ops should end with a ";", no idea why...
no longer use OCL_CREATE_COMPONENT in your .cpp, but ORO_CREATE_COMPONENT

-> this is the new way of doing things
compile your component the normal ROS way (catkin_make in your workspace)
dynamically load your component: rosrun rtt_ros deployer -s helloworld.ops -linfo

Cheers,

Antoine.

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When i run this code, rosrun rtt_ros deployer -s helloworld.ops -linfo

I am getting this error, /home/coe/ws/underlay/src/rtt_ros_integration/rtt_ros/scripts/deployer: line 5: deployer: command not found

Balaji ( 2016-05-09 02:03:22 -0600 )edit

I cannot see the Helloworld.ops and helloworld.cpp file. I am getting error as failed to open ocl when i run catkin_make_isolated --install and im getting error as cmake failed when i run catkin_make

Balaji ( 2016-05-09 02:08:04 -0600 )edit

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