Corba KDL Plugin

Submitted by luca.gherardi on Fri, 2011-07-29 16:36

Hi All,

is there a Corba plugin for the KDL types?

I'm trying to define a plugin for the types KDL::frame and KDL::JntArray.

This is my header (I'm not sure this is this is completely correct):

#include "kdl/frames.hpp"
#include "kdl/jntarray.hpp"
 
namespace KDL{
 
    typedef KDL::Frame Frame;
    typedef KDL::JntArray JntArray;
 
}

When I try to create the plugin by means of the command:

typegen --output . iros_typekit /home/luca/workspace/IrosTypes/IrosTypes.hpp --transport corba

it returns me the following errors:

In file included from /tmp/orogen_pending_loads20110729-3855-gv3bxr-0:1:
/home/luca/workspace/IrosTypes/IrosTypes.hpp:1:26: error: kdl/frames.hpp: No such file or directory
/home/luca/workspace/IrosTypes/IrosTypes.hpp:2:28: error: kdl/jntarray.hpp: No such file or directory
In file included from /tmp/orogen_pending_loads20110729-3855-gv3bxr-0:1:
/home/luca/workspace/IrosTypes/IrosTypes.hpp:6: error: 'Frame' in namespace 'KDL' does not name a type
/home/luca/workspace/IrosTypes/IrosTypes.hpp:7: error: 'JntArray' in namespace 'KDL' does not name a type
/opt/ros/diamondback/stacks/orocos_toolchain_ros/typelib/install/lib/ruby/1.8/typelib-gccxml.rb:534:in `gccxml': cannot load one of the header files /home/luca/workspace/IrosTypes/IrosTypes.hpp: gccxml returned an error while parsing /tmp/orogen_pending_loads20110729-3855-gv3bxr-0 (ArgumentError)
    from /usr/lib/ruby/1.8/tempfile.rb:188:in `open'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/typelib/install/lib/ruby/1.8/typelib-gccxml.rb:531:in `gccxml'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/typelib/install/lib/ruby/1.8/typelib-gccxml.rb:558:in `load_from_gccxml'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/typelib/install/lib/ruby/1.8/typelib.rb:1808:in `call'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/typelib/install/lib/ruby/1.8/typelib.rb:1808:in `import'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/orogen/lib/orogen/gen/typekit.rb:1385:in `do_import'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/orogen/lib/orogen/gen/typekit.rb:1136:in `perform_pending_loads'
    from /usr/lib/ruby/1.8/tempfile.rb:188:in `open'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/orogen/lib/orogen/gen/typekit.rb:1129:in `perform_pending_loads'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/orogen/lib/orogen/gen/typekit.rb:1552:in `generate'
    from /opt/ros/diamondback/stacks/orocos_toolchain_ros/orogen/bin/typegen:109
luca@luca-laptop:~/workspace/iros_typekit$

It seems that it can't find the KDL sources. I tried to use the option "--import" but it doesn't work form me.

How does can I fix the problem?

Thanks, Luca

‹ Connection between components doesn't work Orocos Toolchain ROS 0.4.0.3 Release ›
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Hi,I tried to

Submitted by luca.gherardi on Wed, 2011-08-03 08:16.

Hi,

I tried to replace

#include "kdl/frames.hpp"
#include "kdl/jntarray.hpp"

with the absolute path of frames and jntarray. In this way typegen can find these headers but then it cannot find Eigen/Core.

I also tried to insert the path

~/ros-stacks/orocos_kinematics_dynamics/orocos_kdl

int the PKG_CONFIG_PATH and use the option

--import=orocos_kdl

but it doesn't work.

How can we solve the problem?

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Corba KDL Plugin

Submitted by luca.gherardi on Fri, 2011-07-29 17:41.

Just for completeness: I'm using the last version of the debian packages of ROS and Orocos-toolchain. I downlaode the orocos_kdl from git bu I also have the kdl version conintained in the ros geometry stack.

Luca

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