Hello Ruben.

Attached the modified Makefile I used to compile against Xenomai target.

PS: I added the extra .txt extension, otherwise I get an attachment error.

Hello Ruben.

Attached the modified Makefile I used to compile against Xenomai target.

PS: I added the extra .txt extension, otherwise I get an attachment error.

You can check Xenomai related installation instructions at:
http://www.orocos.org/stable/documentation/rtt/v1.10.x/doc-xml/orocos-in...

Ruben

On Mon, Mar 8, 2010 at 4:01 PM, Wilm Decré <Wilm [dot] Decre [..] ...> wrote:
> In a discussion on the LWR mailing list, an issue related to the fosi.h file
> using Xenomai came up, see the messages below. Does anyone have an idea what
> might be going wrong?
>
>
>
> Wilm
>
>
>
> From: Juan Pablo Zometa [mailto:jpmzometa [..] ...]
> Sent: Tuesday, March 02, 2010 7:05 PM
> To: Wilm Decré
> Cc: Kuka-LWR [..] ...
> Subject: Re: [Kuka-LWR] RSI - README & INSTALL files
>
>
>
> Hi Wilm.
>
> I installed eigen ($ rosmake eigen), and still could not compile the kdl-1.0
> package. The error was in the kdl Makefile, I changed the line:
> EIGEN2_INCLUDE_DIR=`rospack find eigen`/build/eigen2/
> to this (removed a '2')
> EIGEN2_INCLUDE_DIR=`rospack find eigen`/build/eigen/
>
> Then the kdl-1.0 installation went ok, but a few steps later I got yet
> another error!
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:191:
> error: ‘rtos_sem_wait’ declared as an ‘inline’ variable
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:191:
> error: ‘rt_sem_t’ was not declared in this scope
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:191:
> error: ‘m’ was not declared in this scope
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:192:
> error: expected ‘,’ or ‘;’ before ‘{’ token
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:197:
> error: ‘rtos_sem_trywait’ declared as an ‘inline’ variable
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:197:
> error: ‘rt_sem_t’ was not declared in this scope
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:197:
> error: ‘m’ was not declared in this scope
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:198:
> error: expected ‘,’ or ‘;’ before ‘{’ token
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:203:
> error: ‘rtos_sem_value’ declared as an ‘inline’ variable
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:203:
> error: ‘rt_sem_t’ was not declared in this scope
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:203:
> error: ‘m’ was not declared in this scope
>
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/os/xenomai/fosi.h:204:
> error: expected ‘,’ or ‘;’ before ‘{’ token
>   In file included from /usr/include/boost/detail/sp_typeinfo.hpp:57,
>                    from
> /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:27,
>                    from
> /usr/include/boost/smart_ptr/detail/sp_counted_base.hpp:36,
>                    from
> /usr/include/boost/smart_ptr/detail/shared_count.hpp:29,
>                    from /usr/include/boost/smart_ptr/shared_ptr.hpp:32,
>                    from /usr/include/boost/shared_ptr.hpp:17,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/ActionInterface.hpp:42,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/CommandInterface.hpp:41,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/DataSourceBase.hpp:48,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/DataSource.hpp:47,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/Attribute.hpp:42,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/AttributeRepository.hpp:44,
>                    from
> /export/home/localadm/ros/pkgs/orocos-pkgs/rtt/rtt-1.10/rtt/include/rtt/TaskContext.hpp:42,
>                    from
> /export/home/localadm/ros/pkgs/Kuka_RSI/src/RSIInterface.hpp:25,
>                    from
> /export/home/localadm/ros/pkgs/Kuka_RSI/src/RSIInterface.cpp:33:
>   /usr/include/c++/4.4/typeinfo:36: error: expected ‘}’ before end of line
>   /usr/include/c++/4.4/typeinfo:36: error: expected declaration before end
> of line
>   make[3]: *** [CMakeFiles/RSIInterface.dir/src/RSIInterface.o] Fehler 1
>
> I previously had problems with the fosi.h for xenomai while installing it
> using cmake (even posted it in the forum). I tried to back trace this error
> but did not find any probable fix. Any ideas?
>
> Thanks for your help.
>
> 2010/3/2 Wilm Decré <Wilm [dot] Decre [..] ...>
>
> Hello Juan Pablo,
>
>
>
> Can you try the following:
>
>
>
> 1.       Remove the libreadline5-dev rosdep dependency in the ocl
> manifest.xml file (we are not sure yet why there is a warning because of
> this)
>
> 2.       Also build kdl-1.0 (like ocl and rtt as a package from our server).
> Although the RSI component does not depend on kdl directly, ocl does depend
> on kdl, so we will need it too… sorry for the confusion.
>
> 3.       Install eigen (a linear algebra library that kdl uses). You can
> find this as a ROS package in the ROS geometry stack.
>
>
>
> Wilm
>
>
>
> From: Juan Pablo Zometa [mailto:jpmzometa [..] ...]
> Sent: Tuesday, March 02, 2010 2:24 PM
> To: Wilm Decré
> Cc: Kuka-LWR [..] ...
>
> Subject: Re: [Kuka-LWR] RSI - README & INSTALL files
>
>
>
> Hi Wilm.
>
> I got 1 warning and 1 error:
> The warning:
> [ rosmake ] Checking rosdeps compliance for packages Kuka_RSI.  This may
> take a few seconds.
> Failed to find rosdep libreadline5-dev for package Kuka_RSI
> WARNING: Rosdeps [u'libreadline5-dev'] could not be resolved
>
> however, the libreadline5-dev _is_ installed in my system (ubuntu-9.10), a $
> sudo apt-get install libreadline5-dev returns "libreadline5-dev is already
> the latest version".
>
> The error:
> The installer keeps asking me for a KDL installation. I modified the
> makefiles and manifest.xml to try to avoid this error commented out the
> lines containing KDL and BFL. That did not work, though. One of many
> messages I get:
> ros/pkgs/orocos-pkgs/kdl/kdl-1.0/kdl-svn/src/jntarray.hpp:72: error: ‘Eigen’
> has not been declared
>
> My orocos_target is Xenomai, so I also changed that.
>
> It also noticed that the ENABLE_CORBA flag was set. I just installed
> Omnicorb4 to avoid the installer to fail. I guess I just have to also
> install the KDL and BFL.
>
> So, some questions arise from this:
> is Omnicorb necessary?
> Why ROS did not find the libreadline-5-dev? what are the implications of
> this warning?
> Why include the KRL and the BFL in the compilation process when they are not
> necessary?
>
> Thanks a lot,
>
> JPZ
>
>
> 2010/3/2 Wilm Decré <Wilm [dot] Decre [..] ...>
>
> Juan Pablo,
>
>
>
> For the RTT and OCL dependencies, I think it is best to also get the Orocos
> packages we created for them. (I will add this to the readme file, since
> this is indeed not clear…)
>
>
>
> You can find these at:
>
> http://svn.mech.kuleuven.be/repos/orocos/orocos-apps/public_release/oroc...
>
>
>
> The RSI component does not depend on kdl and bfl; only rtt and ocl are
> required.
>
>
>
> Wilm
>
>
>
>
>
> From: Juan Pablo Zometa [mailto:jpmzometa [..] ...]
>
> Sent: Tuesday, March 02, 2010 11:48 AM
> To: Wilm Decré
>
> Cc: kuka-lwr [..] ...
> Subject: Re: [Kuka-LWR] RSI - README & INSTALL files
>
>
>
> Hi Wilm.
> Thanks for the README file, things are a little bit clearer now. However the
> INSTALL process is still misterious for me.  What I've done so far:
>
> mv the Kuka_RSI directory to ~/ros/pkgs
> tried
> $ rosmake lwr
> but did not find the package "lwr".
> tried
> $ rosmake Kuka_RSI
> and did not find my rtt and ocl installation. They were installed using
> cmake. I tried to cheat and simply created all the dependencies using:
> $ roscreate-pkg rtt-1.10
> and so on for ocl-1.10, kdl-1.0  bfl-0.7.  Again issued a
> $ rosmake Kuka_RSI
> it started compiled but finally I got this message:
>
> [ rosmake ] Output from build of package Kuka_RSI written to:
> [ rosmake ]
> /export/home/localadm/.ros/rosmake/rosmake_output-20100302-112540/Kuka_RSI/build_output.log
> [rosmake-1] <<< Kuka_RSI <<< [FAIL] [ 0.43 seconds ]
> [ rosmake ] Halting due to failure in package Kuka_RSI.
> [ rosmake ] Waiting for other threads to complete.
> [rosmake-3] <<< roslib <<< [PASS] [ 0.83 seconds ]
> [ rosmake ] Summary output to directory
> [ rosmake ]
> /export/home/localadm/.ros/rosmake/rosmake_output-20100302-112540
>
> looking at the build_output.log file,
>
> cd build && make -j4 && make install
> make[1]: Betrete Verzeichnis '/export/home/localadm/ros/pkgs/Kuka_RSI/build'
> make[1]: *** Keine Targets angegeben und keine »make«-Steuerdatei gefunden.
> Schluss.
> make[1]: Verlasse Verzeichnis
> '/export/home/localadm/ros/pkgs/Kuka_RSI/build'
> make: *** [installed] Fehler 2
>
> my system is in german (sorry for that), but it just means there were no
> targets given and that it could not find a >make< file.
>
> This procedure is obviously wrong, but I did not find another way to
> compile.
>
> Regards,
>
>
>
> 2010/3/1 Wilm Decré <Wilm [dot] Decre [..] ...>
>
> Dear Juan Pablo,
>
>
>
> From: kuka-lwr-bounces [..] ...
> [mailto:kuka-lwr-bounces [..] ...] On Behalf Of Juan Pablo
> Zometa
> Sent: Saturday, February 27, 2010 12:35 PM
> To: kuka-lwr [..] ...
> Subject: [Kuka-LWR] RSI - README & INSTALL files
>
>
>
> Hi.
>
> I tried to compile the RSI Component using the ROS build system without
> success. It would be nice to have the typical README and INSTALL files
> included in the directory tree. I am already willing to test a few things
> with the LWR, so I'll be glad to have a guide on how to install and use the
> RSI component and the examples as soon as you can.
>
>
>
> I have just uploaded a readme.txt file that gives a brief overview of the
> different directories and files of the software.
>
>
>
> Installing the software -should- be
>
>
>
> - adding the path to your ROS structure
>
> - execute rosmake lwr
>
>
>
> If you can send us the build output you get (with all information you think
> is relevant), we can have a look at what might be going wrong.
>
>
>
> Wilm
>
> Thanks for your great work.
>
>
>
> _______________________________________________
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> Kuka-LWR [..] ...
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>
>
>
>
>
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>
>
>
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