Hello!

We are working with the KUKA LWR4 robot and we want to control it in realtime using OROCOS on Xenomai.

We managed to install ROS and Orocos and after a lot of tinkering we also managed to drive the robot using LWR-component (http://www.orocos.org/wiki/orocos/kuka-lbr-user-group). Th eir example uses the nAxesGenerator.

Our target now is to write a component that controls the robot on its own. That means we want to read robot measurements and command the robot from inside a c++ callback function.

In order to do so, we first tried to create a HelloWorld component as described in the component builders manual. However, there is not much documentation where we got stuck:

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$ rosrun ocl orocreate-pkg HelloWorld # ... for ROS users

In a properly configured installation, you'll be able to enter this directory and build your package right away:

$ cd HelloWorld $ make

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Well, maybe our installation isn't configured properly, but it doesn't build:

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lab@lab-lwr-control:~/ros_workspace/orocos$ rosrun ocl orocreate-pkg HelloSaturn Using templates at /home/lab/ros_workspace/orocos/orocos_toolchain/ocl/scripts/pkg/templates... Package HelloSaturn created in directory /home/lab/ros_workspace/orocos/HelloSaturn

lab@lab-lwr-control:~/ros_workspace/orocos$ cd HelloSaturn

lab@lab-lwr-control:~/ros_workspace/orocos/HelloSaturn$ make mkdir -p bin cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake .. -- The C compiler identification is GNU -- The CXX compiler identification is GNU -- Check for working C compiler: /usr/bin/gcc -- Check for working C compiler: /usr/bin/gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Found PythonInterp: /usr/bin/python2.7 [rosbuild] Building package HelloSaturn [rosbuild] Cached build flags older than manifests; calling rospack to get flags [rosbuild] Including /opt/ros/electric/stacks/ros_comm/clients/roslisp/cmake/roslisp.cmake [rosbuild] Including /opt/ros/electric/stacks/ros_comm/clients/rospy/cmake/rospy.cmake [rosbuild] Including /opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake CMake Error at /home/lab/ros_workspace/orocos/orocos_toolchain/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-config.cmake:95 (include):

  include could not find load file:

    /home/lab/ros_workspace/orocos/orocos_toolchain/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-config-gnulinux.cmake

Call Stack (most recent call first):

  CMakeLists.txt:27 (find_package)

CMake Error at /home/lab/ros_workspace/orocos/orocos_toolchain/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-config.cmake:111 (message):

  Could not find an OROCOS-RTT installation for the gnulinux target.  Missing
  file:
  /home/lab/ros_workspace/orocos/orocos_toolchain/rtt/install/lib/cmake/orocos-rtt/orocos-rtt-gnulinux-libraries.cmake

Call Stack (most recent call first):

  CMakeLists.txt:27 (find_package)

-- Configuring incomplete, errors occurred! make: *** [all] Error 1 lab@lab-lwr-control:~/ros_workspace/orocos/HelloSaturn$

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The problem is that we do not use gnulinux but xenomai. So what do we have to change to make it work? Or maybe is there a better way to start than this HelloWorld?

We also found that the OROCOS_TARGET in the cmake is correctly set to xenomai...

Thanks in advance!

Best regards,

Mirko