how can I use the Xenomai functions in ROS?

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Hi there,

I trying to use Xenomai functions in a C++ file in a ROS(1) package.

The hardware plataform used is a Raspberry Pi 3

The goal is to create a Xenomai task with ROS functions inside.

As a entry point, I download the example from Xenomai website.

The makefile for a simple task program, outside catkin workspace, is:

SKIN=alchemy
MAIN_SRC=ex01
TARGET=ex01

LM=-lm

CFLAGS := $(shell xeno-config --skin=alchemy --cflags)
LDFLAGS := $(LM) $(shell xeno-config --skin=alchemy --ldflags)
CC := $(shell xeno-config --cc)

$(TARGET): $(MAIN_SRC).c
    $(CC) -o $@ $< $(CFLAGS) $(LDFLAGS)

The xeno-config --skin=alchemy --cflags returns arm-linux-gnueabihf-gcc.

In the catkin workspace I create a simple package named beginner_tutorials based in the example from:

http://wiki.ros.org/ROS/Tutorials/Wri... .

The program files are located in "src" subdirectory from package: talker.cpp and listener.cpp. In this sources was added the Xenomai include files to use its functions.

In "CMakeLists.txt" located in "beginner_tutorials", was added this commands to make possible compile and link the Xenomai lib to my executable:

execute_process(COMMAND xeno-config --skin=alchemy --cflags OUTPUT_VARIABLE XENO_CFLAGS)
execute_process(COMMAND xeno-config --skin=alchemy --ldflags OUTPUT_VARIABLE XENO_LDFLAGS)

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${XENO_CFLAGS}")
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${XENO_LDFLAGS}")

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})

message(STATUS "C COMPILER") # too see compiler and used and flags
message(STATUS ${CMAKE_CXX_COMPILER})
message(STATUS "XENOMAI CFLAGS")
message(STATUS ${XENO_CFLAGS})
message(STATUS "XENOMAI LDFLAGS")
message(STATUS ${XENO_LDFLAGS})

When I go to "~/catkin_ws" and tip catkin_make, the results are as folow:

Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/root/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /root/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /root/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - beginner_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- C COMPILER
-- /usr/bin/c++

-- XENOMAI CFLAGS
-- -I/usr/xenomai/include/cobalt -I/usr/xenomai/include -march=armv7-a -mfloat-abi=hard -mfpu=neon -ffast-math -D_GNU_SOURCE -D_REENTRANT -D__COBALT__ -I/usr/xenomai/include/alchemy

-- XENOMAI LDFLAGS
-- -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/modechk.wrappers -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt  

-- Configuring done
-- Generating done
-- Build files have been written to: /root/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/root/catkin_ws/build"
####
[ 50%] Linking CXX executable /root/catkin_ws/devel/lib/beginner_tutorials/listener
[ 50%] Linking CXX executable /root/catkin_ws/devel/lib/beginner_tutorials/talker
c++: fatal error: no input files
compilation terminated.
c++: fatal error: no input files
compilation ...