amigo@amigo1:~/tue-ros-pkg/dev/Tim/orocos_playground$ rosrun ocl deployer-gnulinux -linfo [rosrun] You have chosen a non-unique executable, please pick one of the following: 1) /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/bin/deployer-gnulinux 2) /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/bin/deployer-gnulinux #? 1 0.000 [ Info ][Logger] Real-time memory: 17232 bytes free of 20480 allocated. 0.000 [ Info ][Logger] Setting OCL factory for real-time logging 0.000 [ Info ][Logger] RTT_COMPONENT_PATH was set to: /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos . Searching in: /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos:/tmp/buildd/ros-diamondback-orocos-toolchain-ros-0.2.1/debian/ros-diamondback-orocos-toolchain-ros/opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos 0.000 [ Info ][Logger] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins ... 0.001 [ Info ][Logger] Loaded RTT Service 'scripting' from 'rtt-scripting-gnulinux' 0.001 [ Info ][Logger] Loaded RTT Service 'marshalling' from 'rtt-marshalling-gnulinux' 0.001 [ Info ][Logger] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/plugins ... 0.002 [ Info ][Logger] Loaded RTT Service 'Lua' from 'rttlua-plugin-gnulinux' 0.003 [ Info ][Logger] Loaded RTT Service 'os' from 'os-gnulinux' 0.004 [ Info ][Logger] Loaded RTT Service 'print' from 'print-gnulinux' 0.004 [ Info ][Logger] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types ... 0.005 [ Info ][TypekitRepository::Import] Loading Transport mqueue://rtt-types. 0.005 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-mqueue-transport' from 'rtt-transport-mqueue-gnulinux' 0.021 [ Info ][TypekitRepository::Import] Loading Typekit rtt-types. 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for int 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for uint 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for double 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for float 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for char 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for bool 0.021 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for array 0.021 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-types' from 'rtt-typekit-gnulinux' 0.021 [ Info ][Logger] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/types ... 0.025 [ Info ][TypekitRepository::Import] Loading Typekit OCLTypekit. 0.025 [ Info ][Logger] Loaded RTT TypeKit/Transport 'OCLTypekit' from 'ocl-gnulinux' 0.025 [ Info ][Thread] Creating Thread for scheduler: 0 0.025 [ Info ][Deployer] Thread created with scheduler type '0', priority 0 and period 0. 0.026 [ Info ][Thread] Creating Thread for scheduler: 0 0.026 [ Info ][GlobalEngine] Thread created with scheduler type '0', priority 0 and period 0. 0.026 [ Info ][DeploymentComponent::configure] RTT_COMPONENT_PATH was set to /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos 0.026 [ Info ][DeploymentComponent::configure] Re-scanning for plugins and components... 0.026 [ Info ][DeploymentComponent::configure] Importing component libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos ... 0.026 [ Info ][DeploymentComponent::configure] Importing plugins and typekits from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos ... 0.026 [ Info ][DeploymentComponent::configure] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types ... 0.026 [ Info ][DeploymentComponent::configure] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins ... 0.026 [ Info ][DeploymentComponent::configure] Importing component libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos ... 0.028 [ Info ][DeploymentComponent::configure] Loaded multi component library '/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/liborocos-ocl-common-gnulinux.so' 0.029 [ Info ][DeploymentComponent::configure] Loaded component type 'OCL::LuaComponent' 0.031 [ Info ][DeploymentComponent::configure] Loaded multi component library '/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/liborocos-timer-gnulinux.so' 0.033 [ Info ][DeploymentComponent::configure] Loaded multi component library '/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/liborocos-reporting-gnulinux.so' 0.034 [ Info ][DeploymentComponent::configure] Loaded component type 'OCL::HelloWorld' 0.035 [ Info ][DeploymentComponent::configure] Loaded multi component library '/opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/liborocos-logging-gnulinux.so' 0.036 [ Info ][DeploymentComponent::configure] Importing plugins and typekits from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos ... 0.036 [ Info ][DeploymentComponent::configure] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/types ... 0.036 [ Info ][DeploymentComponent::configure] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/ocl/install/lib/orocos/plugins ... 0.036 [ Info ][Thread] Creating Thread for scheduler: 0 0.036 [ Info ][TaskBrowser] Thread created with scheduler type '0', priority 0 and period 0. Switched to : Deployer 0.036 [ Info ][Logger] Entering Task Deployer This console reader allows you to browse and manipulate TaskContexts. You can type in an operation, expression, create or change variables. (type 'help' for instructions and 'ls' for context info) TAB completion and HISTORY is available ('bash' like) Deployer [S]> import("soem_master") 23.641 [ Info ][DeploymentComponent::import] Importing component libraries from directory /home/amigo/ros/soem/soem_master/lib/orocos ... 23.642 [ Info ][DeploymentComponent::import] Loaded component type 'soem_master::SoemMasterComponent' 23.642 [ Info ][DeploymentComponent::import] Importing plugins and typekits from directory /home/amigo/ros/soem/soem_master/lib/orocos ... = true Deployer [S]> import("soem_beckhoff_drivers") 32.837 [ Info ][DeploymentComponent::import] Importing component libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos ... 32.837 [ Info ][DeploymentComponent::import] Importing plugins and typekits from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos ... 32.837 [ Info ][DeploymentComponent::import] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types ... 32.885 [ Info ][TypekitRepository::Import] Loading Typekit ros-primitives. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'int' with 'int32'. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'ints' with 'int32[]'. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'uint' with 'uint32'. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'float' with 'float32'. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'double' with 'float64'. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'array' with 'float64[]'. 32.885 [ Warning][TypekitRepository::Import] Overriding TypeInfo for 'string' with 'string'. 32.885 [ Warning][TypekitRepository::Import] Registering Type name 'string' twice to the Orocos Type System: replacing. 32.885 [ Info ][DeploymentComponent::import] Loaded RTT TypeKit/Transport 'ros-primitives' from 'rtt-ros-primitives-typekit-gnulinux' 32.885 [ Info ][DeploymentComponent::import] Loading plugin libraries from directory /opt/ros/diamondback/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/plugins ... 32.886 [ Info ][DeploymentComponent::import] Initializing ROS node 32.892 [ Info ][DeploymentComponent::import] ROS node spinner started 32.892 [ Info ][DeploymentComponent::import] Loaded RTT Plugin 'ros_integration' from 'rtt_ros_integration-gnulinux' 32.892 [ Info ][DeploymentComponent::import] Importing component libraries from directory /home/amigo/ros/soem/soem_beckhoff_drivers/lib/orocos ... 32.892 [ Info ][DeploymentComponent::import] Importing plugins and typekits from directory /home/amigo/ros/soem/soem_beckhoff_drivers/lib/orocos ... 32.892 [ Info ][DeploymentComponent::import] Loading plugin libraries from directory /home/amigo/ros/soem/soem_beckhoff_drivers/lib/orocos/types ... 32.896 [ Info ][TypekitRepository::Import] Loading Transport ros://ros-soem_beckhoff_drivers. 32.896 [ Info ][DeploymentComponent::import] Loaded RTT TypeKit/Transport 'rtt-ros-soem_beckhoff_drivers-transport' from 'rtt-ros-soem_beckhoff_drivers-transport-gnulinux' 32.921 [ Info ][TypekitRepository::Import] Loading Typekit ros-soem_beckhoff_drivers. 32.922 [ Info ][TypekitRepository::Import] Registered new 'ros' transport for AnalogMsg 32.922 [ Info ][TypekitRepository::Import] Registered new 'ros' transport for EncoderInMsg 32.922 [ Info ][TypekitRepository::Import] Registered new 'ros' transport for EncoderOutMsg 32.922 [ Info ][TypekitRepository::Import] Registered new 'ros' transport for EncoderMsg 32.922 [ Info ][TypekitRepository::Import] Registered new 'ros' transport for DigitalMsg 32.922 [ Info ][TypekitRepository::Import] Registered new 'ros' transport for PSUMsg 32.922 [ Info ][DeploymentComponent::import] Loaded RTT TypeKit/Transport 'ros-soem_beckhoff_drivers' from 'rtt-ros-soem_beckhoff_drivers-typekit-gnulinux' 32.922 [ Info ][DeploymentComponent::import] Loading plugin libraries from directory /home/amigo/ros/soem/soem_beckhoff_drivers/lib/orocos/plugins ... 32.925 [ Info ][SoemDriverFactor] Registering driver for EL2002 32.925 [ Info ][SoemDriverFactor] Registering driver for EL2004 32.925 [ Info ][SoemDriverFactor] Registering driver for EL2008 32.925 [ Info ][SoemDriverFactor] Registering driver for EL2124 32.925 [ Info ][DeploymentComponent::import] Loaded RTT Plugin 'libsoem_el2xxx-gnulinux.so' from 'soem_el2xxx-gnulinux' 32.928 [ Info ][SoemDriverFactor] Registering driver for EL1124 32.928 [ Info ][SoemDriverFactor] Registering driver for EL1144 32.928 [ Info ][SoemDriverFactor] Registering driver for EL1004 32.928 [ Info ][SoemDriverFactor] Registering driver for EL1008 32.928 [ Info ][DeploymentComponent::import] Loaded RTT Plugin 'libsoem_el1xxx-gnulinux.so' from 'soem_el1xxx-gnulinux' 32.933 [ Info ][SoemDriverFactor] Registering driver for EL3062 32.933 [ Info ][DeploymentComponent::import] Loaded RTT Plugin 'libsoem_el3062-gnulinux.so' from 'soem_el3062-gnulinux' 32.939 [ Info ][SoemDriverFactor] Registering driver for EL4002 32.939 [ Info ][SoemDriverFactor] Registering driver for EL4004 32.939 [ Info ][SoemDriverFactor] Registering driver for EL4008 32.939 [ Info ][SoemDriverFactor] Registering driver for EL4032 32.939 [ Info ][SoemDriverFactor] Registering driver for EL4034 32.939 [ Info ][SoemDriverFactor] Registering driver for EL4038 32.939 [ Info ][DeploymentComponent::import] Loaded RTT Plugin 'libsoem_el4xxx-gnulinux.so' from 'soem_el4xxx-gnulinux' = true Deployer [S]> loadComponent("Soem","soem_master::SoemMasterComponent") 58.561 [ Info ][Thread] Creating Thread for scheduler: 0 58.562 [ Info ][Soem] Thread created with scheduler type '0', priority 0 and period 0. 58.562 [ Info ][DeploymentComponent::loadComponent] Adding Soem as new peer: OK. = true Deployer [S]> Soem.configure 61.769 [ Info ][Soem] ec_init on eth0 succeeded. 62.066 [ Info ][Soem] 14 slaves found and configured. 62.068 [ Info ][Soem] Safe operational state reached for all slaves. 62.068 [ Info ][Soem] Request operational state for all slaves 62.074 [ Info ][Soem] Operational state reached for all slaves. 62.074 [ Warning][Soem] Could not create driver for EK1100 62.074 [ Warning][Soem] Could not create driver for EL5101 62.074 [ Warning][Soem] Could not create driver for EL5101 62.074 [ Warning][Soem] Could not create driver for EL5101 62.074 [ Warning][Soem] Could not create driver for EL5101 62.074 [ Warning][Soem] Could not create driver for EL5101 62.074 [ Warning][Soem] Could not create driver for EL5101 62.074 [ Warning][Soem] Could not create driver for EK1100 62.074 [ Info ][Soem] Created driver for EL1008, with address 4105 62.074 [ Info ][Soem] Put configured parameters in the slaves. 62.074 [ Info ][Soem] Created driver for EL1008, with address 4106 62.075 [ Info ][Soem] Put configured parameters in the slaves. 62.075 [ Info ][Soem] Created driver for EL2008, with address 4107 62.075 [ Info ][Soem] Put configured parameters in the slaves. 62.075 [ Info ][Soem] Created driver for EL2008, with address 4108 62.075 [ Info ][Soem] Put configured parameters in the slaves. 62.075 [ Info ][Soem] Created driver for EL4038, with address 4109 62.075 [ Info ][Soem] Put configured parameters in the slaves. 62.075 [ Warning][Soem] Could not create driver for EL3102 = true Deployer [S]> Soem.start = true Deployer [S]> 67.881 [ ERROR ][Soem] Time:1297947293.211 SDO slave:13 index:1c13.01 error:06090011 Subindex does not exist 67.881 [ ERROR ][Soem] quit 69.978 [ Info ][Logger] Orocos Logging Deactivated. TLSF bytes allocated=20480 overhead=3248 max-used=3248 currently-used=3248 still-allocated=0