KDL, loading into orocos

Hi all, I'm using orocos in ros fuerte.

I'm trying to use the Frame and Vector datatype, but I cannot import the module KDL in orocos.

This is what I get:

Deployer [S]> import("kdl")
18.712 [ ERROR  ][DeploymentComponent::import] No such package or directory found in search path: kdl. Search path is: 
18.713 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos:.
18.713 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/kdl
18.713 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/gnulinux/kdl
18.713 [ ERROR  ][DeploymentComponent::import] ./kdl
18.713 [ ERROR  ][DeploymentComponent::import] ./gnulinux/kdl
 = false               
 
Deployer [S]> import("KDL")
[rospack] Error: stack/package KDL not found
[librospack]: error while executing command
23.454 [ ERROR  ][DeploymentComponent::import] No such package or directory found in search path: KDL. Search path is: 
23.454 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos:.
23.454 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/KDL
23.454 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/gnulinux/KDL
23.454 [ ERROR  ][DeploymentComponent::import] ./KDL
23.454 [ ERROR  ][DeploymentComponent::import] ./gnulinux/KDL
 = false               
 
Deployer [S]> import("orocos_kdl")
31.316 [ ERROR  ][DeploymentComponent::import] No such package or directory found in search path: orocos_kdl. Search path is: 
31.316 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos:.
31.316 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/orocos_kdl
31.316 [ ERROR  ][DeploymentComponent::import] /home/user/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/gnulinux/orocos_kdl
31.317 [ ERROR  ][DeploymentComponent::import] ./orocos_kdl
31.317 [ ERROR  ][DeploymentComponent::import] ./gnulinux/orocos_kdl
 = false               
 
Deployer [S]> 
I checked and I have the library here
/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl
and this are the datatype available in the deployer
Available data types:  LwrExtendedKinematicsData std.string std.vector<double> ConnPolicy FlowStatus PropertyBag SendHandle SendStatus TaskContext array bool bools char double float int ints rt_string string strings uint void
This prevents me to use the Frame and Vector datatype and the methods provided.

Where am I wrong?

Thank you so much for your help.

Regards,

M

Missing stuff

In this description here there are some files in subdirectories of the src folder, the bindings folder, which I do not have. Could it be a problem? This directory is not present also in the git repo.

Best regards,

M

Missing stuff

On 07/27/2012 02:07 PM, mirko [dot] comparetti [..] ... wrote:
> In this description
> [http://people.mech.kuleuven.be/~rsmits/kdl/api/html/files.html here] there
> are some files in subdirectories of the src folder, the
> bindings folder, which I do not have. Could it be a problem?
> This directory is not present also in the git repo.
>
> Best regards,
>
> M
You can generate an up-to-date version by calling doxygen in the
orocos_kdl/doc subdirectory of the git repository version.

best regards,
Erwin.

Missing stuff

I did that but nothing has changed. Now I have a tex file for creating an uncomplete documentation, with no difference in the source and in the problems...

Thanks!

Ruben Smits's picture

Missing stuff

Hi Mirko,

On Fri, Jul 27, 2012 at 2:07 PM, <mirko [dot] comparetti [..] ...> wrote:
> In this description
> [http://people.mech.kuleuven.be/~rsmits/kdl/api/html/files.html here] there
> are some files in subdirectories of the src folder, the
> bindings folder, which I do not have. Could it be a problem?

I used to have an automatic script that build and published the
doxygen information after each repository change. Apparently this is
not working anymore. I will look it up and update the online
documentation.

> This directory is not present also in the git repo.

It has been extracted a while ago in a separate repository to keep
Orocos KDL itself as lean as possible wrt build dependencies and
bindings.

Ruben
> Best regards,
>
> M
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

SOLVED

Ok, thank you so much!!

Regards,

Mirko

Loading report

Hi All, I added an export to RTT_COMPONENT_PATH, adding the orocos KDL

RTT_COMPONENT_PATH=/home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/:/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/:$RTT_COMPONENT_PATH

and than I launched the deployer showing debug information and this is the output:

0.123 [ Info   ][DeploymentComponent::configure] RTT_COMPONENT_PATH was set to /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/:/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/:
0.124 [ Info   ][DeploymentComponent::configure] Re-scanning for plugins and components...
0.124 [ Info   ][DeploymentComponent::configure] Importing directory /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/ ...
0.127 [ Debug  ][DeploymentComponent::configure] Scanning file /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/gnulinux ...not a regular file: ignored.
0.127 [ Debug  ][DeploymentComponent::configure] Looking for plugins or typekits in directory /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/ ...
0.127 [ Debug  ][DeploymentComponent::configure] No such directory: "/home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/types"
0.128 [ Debug  ][DeploymentComponent::configure] No such directory: "/home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/plugins"
0.128 [ Info   ][DeploymentComponent::configure] Importing directory /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/ ...
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/doc ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/config ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/bin ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/manifest.xml ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/INSTALL ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/Makefile ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/KDLConfig.cmake ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/tests ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/ROS_NOBUILD ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/CMakeLists.txt ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/COPYING ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/cmake_uninstall.cmake.in ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/src ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/models ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/examples ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/README ...not a .so library: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/debian ...not a regular file: ignored.
0.128 [ Debug  ][DeploymentComponent::configure] Scanning file /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/KDLConfig.cmake.in ...not a .so library: ignored.
0.129 [ Debug  ][DeploymentComponent::configure] Looking for plugins or typekits in directory /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/ ...
0.129 [ Debug  ][DeploymentComponent::configure] No such directory: "/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/types"
0.129 [ Debug  ][DeploymentComponent::configure] No such directory: "/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/plugins"
0.129 [ Info   ][Logger] No site file was found. Importing 'ocl' by default.

and so I can't see the KDL datatypes in .types.

Isn't there anybody that is able to use it?

Thanks for your help,

Regards,

M

Ruben Smits's picture

Loading report

Hi Mirko,

On Fri, Jul 27, 2012 at 1:55 PM, <mirko [dot] comparetti [..] ...> wrote:
> Hi All,
> I added an export to RTT_COMPONENT_PATH, adding the orocos KDL
>

If you want to use the KDL types in RTT you do not need to add Orocos
KDL itself to the Component path but the kdl_typekit package which is
located in the rtt_geometry stack.

Ruben
> RTT_COMPONENT_PATH=/home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/:/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/:$RTT_COMPONENT_PATH
>
> and than I launched the deployer showing debug information and this is the
> output:
>
> &#10;&gt; 0.123 [ Info   ][DeploymentComponent::configure] RTT_COMPONENT_PATH was set&#10;&gt; to&#10;&gt; /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/:/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/:&#10;&gt; 0.124 [ Info   ][DeploymentComponent::configure] Re-scanning for plugins and&#10;&gt; components...&#10;&gt; 0.124 [ Info   ][DeploymentComponent::configure] Importing directory&#10;&gt; /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/&#10;&gt; ...&#10;&gt; 0.127 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/gnulinux&#10;&gt; ...not a regular file: ignored.&#10;&gt; 0.127 [ Debug  ][DeploymentComponent::configure] Looking for plugins or&#10;&gt; typekits in directory&#10;&gt; /home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/&#10;&gt; ...&#10;&gt; 0.127 [ Debug  ][DeploymentComponent::configure] No such directory:&#10;&gt; &quot;/home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/types&quot;&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] No such directory:&#10;&gt; &quot;/home/users/ros_workspace/orocos/orocos_toolchain/ocl/../install/lib/orocos/plugins&quot;&#10;&gt; 0.128 [ Info   ][DeploymentComponent::configure] Importing directory&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/ ...&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/doc ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/config ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/bin ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/manifest.xml&#10;&gt; ...not a .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/INSTALL ...not a&#10;&gt; .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/install_dir&#10;&gt; ...not a regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/Makefile ...not&#10;&gt; a .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/KDLConfig.cmake&#10;&gt; ...not a .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/tests ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/ROS_NOBUILD&#10;&gt; ...not a .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/CMakeLists.txt&#10;&gt; ...not a .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/COPYING ...not a&#10;&gt; .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/cmake_uninstall.cmake.in&#10;&gt; ...not a .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/src ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/models ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/examples ...not&#10;&gt; a regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/README ...not a&#10;&gt; .so library: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/debian ...not a&#10;&gt; regular file: ignored.&#10;&gt; 0.128 [ Debug  ][DeploymentComponent::configure] Scanning file&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/KDLConfig.cmake.in&#10;&gt; ...not a .so library: ignored.&#10;&gt; 0.129 [ Debug  ][DeploymentComponent::configure] Looking for plugins or&#10;&gt; typekits in directory&#10;&gt; /opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/ ...&#10;&gt; 0.129 [ Debug  ][DeploymentComponent::configure] No such directory:&#10;&gt; &quot;/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/types&quot;&#10;&gt; 0.129 [ Debug  ][DeploymentComponent::configure] No such directory:&#10;&gt; &quot;/opt/ros/fuerte/stacks/orocos_kinematics_dynamics/orocos_kdl/plugins&quot;&#10;&gt; 0.129 [ Info   ][Logger] No site file was found. Importing &#039;ocl&#039; by default.&#10;&gt;
>
> and so I can't see the KDL datatypes in .types.
>
> Isn't there anybody that is able to use it?
>
> Thanks for your help,
>
> Regards,
>
> M
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

SOLVED

Ok. In this way it works!

Thank you so much for your help!

Regards,

Mirko