Orocos/ROS integration for Xenomai, and Corba/TAO

I installed the Orocos/ROS integration from this page <http://www.ros.org/wiki/orocos_toolchain_ros>. It worked absolutely perfectly, that's a great tutorial (though you should try to get more pointers towards this page and less towards deprecated ones like <http://www.ros.org/wiki/orocos_toolchain> which stated that "orocos_toolchain_ros" was for previous ros versions).

By adding "export OROCOS_TARGET=xenomai" I was able to make it work for xenomai (the command "rosrun ocl deployer-xenomai" is available). However I was not able to specify that I wanted to use the Corba/TAO implementation (which allows for hard real-time communication between Orocos components if I'm not mistaken?) instead of the Omniorb one. I think this comes up when running the command "rosdep install orogen" but I am not aware of any option I can add or variable I can set to force it.

What should I do?

Thank you

FH

Orocos/ROS integration for

>I installed the Orocos/ROS integration from this page <http://www.ros.org/wiki/orocos_toolchain_ros>. It worked absolutely perfectly, that's a great tutorial (though you should try to get more pointers towards this page and less towards deprecated ones like <http://www.ros.org/wiki/orocos_toolchain> which stated that "orocos_toolchain_ros" was for previous ros versions).

>By adding "export OROCOS_TARGET=xenomai" I was able to make it work for xenomai (the command "rosrun ocl deployer-xenomai" is available). However I was not able to specify that I wanted to use the Corba/TAO implementation (which allows for hard real-time communication between Orocos components if I'm not mistaken?) instead of the Omniorb one. I think this comes up when running the command "rosdep install orogen" but I am not aware of any option I can add or variable I can set to force it.

>What should I do?

>Thank you

>FH

Just pointing out that this post got 500+ views, I'd be glad if it could not be overlooked(I guess I wouldn't be the only one).

Many thanks in advance

Flavian