Getting started with orocos on linux preempt-RT

Hello,

I succesfully installed orocos-toolchain 2.1 and played with the hello-exercises, having a linux 2.6.32.-generic kernel. I just installed now (via synaptic package manager) linux 2.6.31-rt and that seems also to be succesful. When I boot now, I can choose for the 2.6.31-rt kernel and I did the following checks:

root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# dmesg | grep "Preemption"
[    0.000000] Real-Time Preemption Support (C) 2004-2007 Ingo Molnar
root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# uname -a
Linux ins 2.6.31-10-rt #153-Ubuntu SMP PREEMPT RT Tue Jan 12 11:01:03 UTC 2010 x86_64 GNU/Linux
root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen#

I have been told, there is no need to reinstall orocos. Now I try to do the same exercises again and I get the following erros when trying to use the deployer:

As root:

root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# deployer-gnulinux -s application.xml
deployer-gnulinux: error while loading shared libraries: liborocos-taskbrowser-gnulinux.so.1.12: cannot open shared object file: No such file or directory
(Remark: I had a 1.12 version of ocl and rtt installed but that should be removed completely)

As normal user:

bwillaert@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen$ deployer-gnulinux -s application.xml
0.037 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so: not a valid component library:
0.037 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so.2.1: undefined symbol: createComponent
0.037 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so.2.1: undefined symbol: getComponentType
0.038 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so: not a valid component library:
0.038 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: createComponent
0.038 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: getComponentType
0.039 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so: not a valid component library:
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so.2.1: undefined symbol: createComponent
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so.2.1: undefined symbol: getComponentType
0.039 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so: not a valid component library:
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: createComponent
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: getComponentType
0.046 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/libutilmm.so: not a valid component library:
0.046 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libutilmm.so: undefined symbol: createComponent
0.047 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libutilmm.so: undefined symbol: getComponentType
0.047 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so: not a valid component library:
0.047 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: createComponent
0.047 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: getComponentType
0.058 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/libtypeLib.so: not a valid component library:
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libtypeLib.so: undefined symbol: createComponent
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libtypeLib.so: undefined symbol: getComponentType
0.058 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so: not a valid component library:
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: createComponent
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: getComponentType
0.091 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.091 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.097 [ ERROR  ][TinyDemarshaller] Could not load world_properties.xml Error: Error document empty.
0.097 [ ERROR  ][PropertyLoader:configure] Some error occured while parsing world_properties.xml
   Switched to : 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]> 

Any idea what's going on? Thanks a lot.

Bert

Getting started with orocos on linux preempt-RT

On Saturday 20 November 2010 02:36:08 bert [dot] willaert [..] ... wrote:
> Hello,
>
> I succesfully installed orocos-toolchain 2.1 and played with the
> hello-exercises, having a linux 2.6.32.-generic kernel. I just installed
> now (via synaptic package manager) linux 2.6.31-rt and that seems also to
> be succesful. When I boot now, I can choose for the 2.6.31-rt kernel and I
> did the following checks:
>
>
> root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# dmesg
> | grep "Preemption" [    0.000000] Real-Time Preemption Support (C)
> 2004-2007 Ingo Molnar
> root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# uname -a
> Linux ins 2.6.31-10-rt #153-Ubuntu SMP PREEMPT RT Tue Jan 12 11:01:03 UTC
> 2010 x86_64 GNU/Linux
> root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen#
>
> I have been told, there is no need to reinstall orocos. Now I try to do the
> same exercises again and I get the following erros when trying to use the
> deployer:
>
> As root:
> root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen#
> deployer-gnulinux -s application.xml deployer-gnulinux: error while
> loading shared libraries: liborocos-taskbrowser-gnulinux.so.1.12: cannot
> open shared object file: No such file or directory (Remark: I had a
> 1.12 version of ocl and rtt installed but that should be removed
> completely)

Then you need to clear the CMakeCache.txt files of rtt/ocl and rebuild rtt and
ocl. It is possible that the wrong libraries were picked up, and are still
linked to the executables. I don't think 'root' nor preempt_rt has something
to do with it.

>
> As normal user:
> bwillaert@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen$
> deployer-gnulinux -s application.xml 0.037 [ ERROR 
> ][DeploymentComponent::configure] Unloading
> /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so: not a
> valid component library: 0.037 [ ERROR  ][DeploymentComponent::configure] 
>   /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so.2.1:
> undefined symbol: createComponent 0.037 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so.2.1:
> undefined symbol: getComponentType 0.038 [ ERROR 
> ][DeploymentComponent::configure] Unloading
> /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so:
> not a valid component library: 0.038 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so:
> undefined symbol: createComponent 0.038 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so:
> undefined symbol: getComponentType 0.039 [ ERROR 
> ][DeploymentComponent::configure] Unloading
> /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so: not a
> valid component library: 0.039 [ ERROR  ][DeploymentComponent::configure] 
>   /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so.2.1:
> undefined symbol: createComponent 0.039 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so.2.1:
> undefined symbol: getComponentType 0.039 [ ERROR 
> ][DeploymentComponent::configure] Unloading
> /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so: not a
> valid component library: 0.039 [ ERROR  ][DeploymentComponent::configure] 
>   /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so.2.1:
> undefined symbol: createComponent 0.039 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so.2.1:
> undefined symbol: getComponentType 0.046 [ ERROR 
> ][DeploymentComponent::configure] Unloading
> /opt/orocos-toolchain/install/lib/libutilmm.so: not a valid component
> library: 0.046 [ ERROR  ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/libutilmm.so: undefined symbol:
> createComponent 0.047 [ ERROR  ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/libutilmm.so: undefined symbol:
> getComponentType 0.047 [ ERROR  ][DeploymentComponent::configure]
> Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so: not
> a valid component library: 0.047 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined
> symbol: createComponent 0.047 [ ERROR  ][DeploymentComponent::configure]  
>  /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so.2.1:
> undefined symbol: getComponentType 0.058 [ ERROR 
> ][DeploymentComponent::configure] Unloading
> /opt/orocos-toolchain/install/lib/libtypeLib.so: not a valid component
> library: 0.058 [ ERROR  ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/libtypeLib.so: undefined symbol:
> createComponent 0.058 [ ERROR  ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/libtypeLib.so: undefined symbol:
> getComponentType 0.058 [ ERROR  ][DeploymentComponent::configure]
> Unloading
> /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so: not a
> valid component library: 0.058 [ ERROR  ][DeploymentComponent::configure] 
>   /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1:
> undefined symbol: createComponent 0.058 [ ERROR 
> ][DeploymentComponent::configure]   
> /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1:
> undefined symbol: getComponentType 0.091 [
> Warning][DeploymentComponent::loadComponents] Lowering scheduler type to
> SCHED_OTHER for non-privileged users.. 0.091 [
> Warning][DeploymentComponent::loadComponents] Lowering scheduler type to
> SCHED_OTHER for non-privileged users.. 0.097 [ ERROR  ][TinyDemarshaller]
> Could not load world_properties.xml Error: Error document empty. 0.097 [
> ERROR  ][PropertyLoader:configure] Some error occured while parsing
> world_properties.xml Switched to : 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]>
>
> Any idea what's going on? Thanks a lot.

You need to set the RTT_COMPONENT_PATH to:
/opt/orocos-toolchain/install/lib/orocos

and not to /opt/orocos-toolchain/install/lib/ . You need to point the path to
Orocos component libraries, not to 'normal' Linux libraries.

Hope this helps,
Peter

Getting started with orocos on linux preempt-RT

Hello,

I succesfully installed orocos-toolchain 2.1 and played with the hello-exercises, having a linux 2.6.32.-generic kernel. I just installed now (via synaptic package manager) linux 2.6.31-rt and that seems also to be succesful. When I boot now, I can choose for the 2.6.31-rt kernel and I did the following checks:

root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# dmesg | grep "Preemption"
[    0.000000] Real-Time Preemption Support (C) 2004-2007 Ingo Molnar
root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# uname -a
Linux ins 2.6.31-10-rt #153-Ubuntu SMP PREEMPT RT Tue Jan 12 11:01:03 UTC 2010 x86_64 GNU/Linux
root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen#

I have been told, there is no need to reinstall orocos. Now I try to do the same exercises again and I get the following erros when trying to use the deployer:

As root:
root@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen# deployer-gnulinux -s application.xml
deployer-gnulinux: error while loading shared libraries: liborocos-taskbrowser-gnulinux.so.1.12: cannot open shared object file: No such file or directory
(Remark: I had a 1.12 version of ocl and rtt installed but that should be removed completely)

As normal user:
bwillaert@ins:/wg/stor2a/bwillaert/workspace1/Comedi_Orocos_testen$ deployer-gnulinux -s application.xml
0.037 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so: not a valid component library:
0.037 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so.2.1: undefined symbol: createComponent
0.037 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-taskbrowser-gnulinux.so.2.1: undefined symbol: getComponentType
0.038 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so: not a valid component library:
0.038 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: createComponent
0.038 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: getComponentType
0.039 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so: not a valid component library:
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so.2.1: undefined symbol: createComponent
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-deployment-gnulinux.so.2.1: undefined symbol: getComponentType
0.039 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so: not a valid component library:
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: createComponent
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: getComponentType
0.046 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/libutilmm.so: not a valid component library:
0.046 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libutilmm.so: undefined symbol: createComponent
0.047 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libutilmm.so: undefined symbol: getComponentType
0.047 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so: not a valid component library:
0.047 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: createComponent
0.047 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: getComponentType
0.058 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/libtypeLib.so: not a valid component library:
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libtypeLib.so: undefined symbol: createComponent
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/libtypeLib.so: undefined symbol: getComponentType
0.058 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so: not a valid component library:
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: createComponent
0.058 [ ERROR  ][DeploymentComponent::configure]    /opt/orocos-toolchain/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: getComponentType
0.091 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.091 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.097 [ ERROR  ][TinyDemarshaller] Could not load world_properties.xml Error: Error document empty.
0.097 [ ERROR  ][PropertyLoader:configure] Some error occured while parsing world_properties.xml
   Switched to : 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]>

Any idea what's going on? Thanks a lot.

Bert