Plugin loading problem / typekit (friComm.h)

Hi,

I am trying to make the [lwr_fri] work with rtt 2.x

I generated the typekit using
typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h -t
mqueue,typelib
[thank you Peter for the patch this morning]
cd kuka_typekit
make

rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
----
0.033 [ ERROR ][Logger] could not load library
'/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_typekit-transport-typelib-gnulinux.so':
/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_typekit-transport-typelib-gnulinux.so:
undefined symbol: _ZTVN7Typelib11TypeVisitorE
0.033 [ Warning][Logger] Some found plugins could not be loaded !
0.033 [ Warning][Logger] Corrupted files found in
'/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/orocos'.
Fix or remove these plugins.
0.034 [ ERROR ][DeploymentComponent::configure] could not load
library '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_typekit-transport-typelib-gnulinux.so':
/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_typekit-transport-typelib-gnulinux.so:
undefined symbol: _ZTVN7Typelib11TypeVisitorE
0.034 [ ERROR ][DeploymentComponent::configure] Some found plugins
could not be loaded !
0.101 [ ERROR ][DeploymentComponent::import] could not load library
'/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_typekit-transport-typelib-gnulinux.so':
/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_typekit-transport-typelib-gnulinux.so:
undefined symbol: _ZTVN7Typelib11TypeVisitorE
0.101 [ ERROR ][DeploymentComponent::import] Some found plugins could
not be loaded !
0.133 [ ERROR ][Logger] Failed to load a component: aborting kick-start.
Switched to : Deployer
----

~/.bashrc
source `rosstack find orocos_toolchain_ros`/env.sh
export RTT_COMPONENT_PATH=`rospack find
rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos

FRIComponentOnly.xml
----
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE properties SYSTEM "cpf.dtd">
<properties>
<simple name="Import" type="string"><value>kdl_typekit</value></simple>
<simple name="Import" type="string"><value>kuka_typekit</value></simple>
<simple name="Import"
type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/lib/orocos/liblwr_fri-gnulinux.so</value></simple>

<struct name="FRIServer" type="lwr_fri::FRIComponent">
<struct name="Activity" type="NonPeriodicActivity">
<simple name="Priority" type="short"><value>1</value></simple>
<simple name="Scheduler"
type="string"><value>ORO_SCHED_RT</value></simple>
</struct>
<simple name="AutoConf" type="boolean"><value>1</value></simple>
<simple name="AutoStart" type="boolean"><value>1</value></simple>
<simple name="LoadProperties"
type="string"><value>cpf/FRIServer.cpf</value></simple>
</struct>
</properties>
----

Gajan

Plugin loading problem / typekit (friComm.h)

On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
> Hi,
>
> I am trying to make the [lwr_fri] work with rtt 2.x
>
> I generated the typekit using
> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h -t
> mqueue,typelib
> [thank you Peter for the patch this morning]
> cd kuka_typekit
> make

Thanks for sticking with us :-) There are two more patches that might be
needed for orogen, although it appears it didn't harm your setup (see
attachment).

You could also try to compile with mqueue only and omit the typelib transport.
The latter is used for the ruby bindings only.

>
> rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
> ----
> 0.033 [ ERROR ][Logger] could not load library
> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
> ypekit-transport-typelib-gnulinux.so':
> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
> ypekit-transport-typelib-gnulinux.so: undefined symbol:
> _ZTVN7Typelib11TypeVisitorE
> 0.033 [ Warning][Logger] Some found plugins could not be loaded !
> 0.033 [ Warning][Logger] Corrupted files found in
> '/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/home/g
> ajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/ros/stacks/
> orocos_toolchain_ros/rtt/install/lib/orocos'. Fix or remove these plugins.
> 0.034 [ ERROR ][DeploymentComponent::configure] could not load
> library
> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_
> typekit-transport-typelib-gnulinux.so':
> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
> ypekit-transport-typelib-gnulinux.so: undefined symbol:
> _ZTVN7Typelib11TypeVisitorE
> 0.034 [ ERROR ][DeploymentComponent::configure] Some found plugins
> could not be loaded !
> 0.101 [ ERROR ][DeploymentComponent::import] could not load library
> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
> ypekit-transport-typelib-gnulinux.so':
> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
> ypekit-transport-typelib-gnulinux.so: undefined symbol:
> _ZTVN7Typelib11TypeVisitorE

I could not reproduce this. could you:

roscd kuka_typekit
rm -rf lib
cd build ; make clean
make VERBOSE=1

and post the output of the last command ?

> 0.101 [ ERROR ][DeploymentComponent::import] Some found plugins could
> not be loaded !
> 0.133 [ ERROR ][Logger] Failed to load a component: aborting kick-start.
> Switched to : Deployer
> ----
>
>
> ~/.bashrc
> source `rosstack find orocos_toolchain_ros`/env.sh
> export RTT_COMPONENT_PATH=`rospack find
> rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos

Setting the RTT_COMPONENT_PATH is not necessary in ROS environments. We find
everything using rospack / manifest.xml

>
> FRIComponentOnly.xml
> ----
> <?xml version="1.0" encoding="UTF-8"?>
> <!DOCTYPE properties SYSTEM "cpf.dtd">
> <properties>
> <simple name="Import" type="string"><value>kdl_typekit</value></simple>
> <simple name="Import" type="string"><value>kuka_typekit</value></simple>
> <simple name="Import"
> type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/lib/orocos/
> liblwr_fri-gnulinux.so</value></simple>
>
> <struct name="FRIServer" type="lwr_fri::FRIComponent">
> <struct name="Activity" type="NonPeriodicActivity">
> <simple name="Priority" type="short"><value>1</value></simple>
> <simple name="Scheduler"
> type="string"><value>ORO_SCHED_RT</value></simple>
> </struct>
> <simple name="AutoConf" type="boolean"><value>1</value></simple>
> <simple name="AutoStart" type="boolean"><value>1</value></simple>
> <simple name="LoadProperties"
> type="string"><value>cpf/FRIServer.cpf</value></simple>
> </struct>
> </properties>
> ----
>
>
> Gajan

Peter

gajan's picture

Plugin loading problem / typekit (friComm.h)

Hi,

1. I tried with mqueue only as transport. There were no component
loading errors. But when I do an [ls] in the talk browser I still see
unknown_ts. See attached files [mqueueOnly_verboseMake] and
[mqueueOnle_unknownts].
2 I am also attaching the verbose make and the taskbrowser output
when mqueue and typelib transports both enabled.

Gajan

On Thu, Mar 31, 2011 at 4:30 PM, Peter Soetens <peter [..] ...> wrote:
> On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
>> Hi,
>>
>> I am trying to make the [lwr_fri] work with rtt 2.x
>>
>> I generated the typekit using
>> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h  -t
>> mqueue,typelib
>> [thank you Peter for the patch this morning]
>> cd kuka_typekit
>> make
>
> Thanks for sticking with us :-) There are two more patches that might be
> needed for orogen, although it appears it didn't harm your setup (see
> attachment).
>
> You could also try to compile with mqueue only and omit the typelib transport.
> The latter is used for the ruby bindings only.
>
>>
>> rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
>> ----
>> 0.033 [ ERROR  ][Logger] could not load library
>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>> ypekit-transport-typelib-gnulinux.so':
>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>> _ZTVN7Typelib11TypeVisitorE
>> 0.033 [ Warning][Logger] Some found plugins could not be loaded !
>> 0.033 [ Warning][Logger] Corrupted files found in
>> '/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/home/g
>> ajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/ros/stacks/
>> orocos_toolchain_ros/rtt/install/lib/orocos'. Fix or remove these plugins.
>> 0.034 [ ERROR  ][DeploymentComponent::configure] could not load
>> library
>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_
>> typekit-transport-typelib-gnulinux.so':
>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>> _ZTVN7Typelib11TypeVisitorE
>> 0.034 [ ERROR  ][DeploymentComponent::configure] Some found plugins
>> could not be loaded !
>> 0.101 [ ERROR  ][DeploymentComponent::import] could not load library
>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>> ypekit-transport-typelib-gnulinux.so':
>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>> _ZTVN7Typelib11TypeVisitorE
>
> I could not reproduce this. could you:
>
> roscd kuka_typekit
> rm -rf lib
> cd build ; make clean
> make  VERBOSE=1
>
> and post the output of the last command ?
>
>> 0.101 [ ERROR  ][DeploymentComponent::import] Some found plugins could
>> not be loaded !
>> 0.133 [ ERROR  ][Logger] Failed to load a component: aborting kick-start.
>>    Switched to : Deployer
>> ----
>>
>>
>> ~/.bashrc
>> source `rosstack find orocos_toolchain_ros`/env.sh
>> export RTT_COMPONENT_PATH=`rospack find
>> rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos
>
> Setting the RTT_COMPONENT_PATH is not necessary in ROS environments. We find
> everything using rospack / manifest.xml
>
>>
>> FRIComponentOnly.xml
>> ----
>> <?xml version="1.0" encoding="UTF-8"?>
>> <!DOCTYPE properties SYSTEM "cpf.dtd">
>> <properties>
>>   <simple name="Import" type="string"><value>kdl_typekit</value></simple>
>>   <simple name="Import" type="string"><value>kuka_typekit</value></simple>
>>   <simple name="Import"
>> type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/lib/orocos/
>> liblwr_fri-gnulinux.so</value></simple>
>>
>>   <struct name="FRIServer" type="lwr_fri::FRIComponent">
>>     <struct name="Activity" type="NonPeriodicActivity">
>>       <simple name="Priority" type="short"><value>1</value></simple>
>>       <simple name="Scheduler"
>> type="string"><value>ORO_SCHED_RT</value></simple>
>>     </struct>
>>     <simple name="AutoConf" type="boolean"><value>1</value></simple>
>>     <simple name="AutoStart" type="boolean"><value>1</value></simple>
>>     <simple name="LoadProperties"
>> type="string"><value>cpf/FRIServer.cpf</value></simple>
>>   </struct>
>> </properties>
>> ----
>>
>>
>> Gajan
>
> Peter
>

Plugin loading problem / typekit (friComm.h)

On Thu, Mar 31, 2011 at 5:56 PM, Gajamohan Mohanarajah
<gajamohan [dot] m [..] ...> wrote:
> Hi,
>
> 1. I tried with mqueue only as transport. There were no component
> loading errors. But when I do an [ls] in the talk browser I still see
> unknown_ts. See attached files [mqueueOnly_verboseMake] and
> [mqueueOnle_unknownts].
> 2  I am also attaching the verbose make and the taskbrowser output
> when mqueue and typelib transports both enabled.

For these unknown_t's I need to see the fricomm.h file and we have to
find out why these types are not there.

For the typelib linking error, there is an issue with the generated
CMakeLists.txt file by typegen, where it fails to link with typelib
itself. This can be seen from the verbose make output. It's probably a
variable name mismatch in transports/typelib/CMakeLists.txt

Since you are on the cturtle branch of orocos_toolchain_ros, you're
having a fixed version of orogen that we can't upgrade easily (it uses
a tar ball that Steven prepared). I'll have to let Ruben answer what
the best solution for you is. I think that you'll have to upgrade to a
branch that contains the latest toolchain-2.2 or latest toolchain-2.3
for a definitive solution. You still could leave the typelib transport
disabled, and try again once you upgraded.

Peter

>
> Gajan
>
>
> On Thu, Mar 31, 2011 at 4:30 PM, Peter Soetens <peter [..] ...> wrote:
>> On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
>>> Hi,
>>>
>>> I am trying to make the [lwr_fri] work with rtt 2.x
>>>
>>> I generated the typekit using
>>> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h  -t
>>> mqueue,typelib
>>> [thank you Peter for the patch this morning]
>>> cd kuka_typekit
>>> make
>>
>> Thanks for sticking with us :-) There are two more patches that might be
>> needed for orogen, although it appears it didn't harm your setup (see
>> attachment).
>>
>> You could also try to compile with mqueue only and omit the typelib transport.
>> The latter is used for the ruby bindings only.
>>
>>>
>>> rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
>>> ----
>>> 0.033 [ ERROR  ][Logger] could not load library
>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>> ypekit-transport-typelib-gnulinux.so':
>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>>> _ZTVN7Typelib11TypeVisitorE
>>> 0.033 [ Warning][Logger] Some found plugins could not be loaded !
>>> 0.033 [ Warning][Logger] Corrupted files found in
>>> '/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/home/g
>>> ajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/ros/stacks/
>>> orocos_toolchain_ros/rtt/install/lib/orocos'. Fix or remove these plugins.
>>> 0.034 [ ERROR  ][DeploymentComponent::configure] could not load
>>> library
>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_
>>> typekit-transport-typelib-gnulinux.so':
>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>>> _ZTVN7Typelib11TypeVisitorE
>>> 0.034 [ ERROR  ][DeploymentComponent::configure] Some found plugins
>>> could not be loaded !
>>> 0.101 [ ERROR  ][DeploymentComponent::import] could not load library
>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>> ypekit-transport-typelib-gnulinux.so':
>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>>> _ZTVN7Typelib11TypeVisitorE
>>
>> I could not reproduce this. could you:
>>
>> roscd kuka_typekit
>> rm -rf lib
>> cd build ; make clean
>> make  VERBOSE=1
>>
>> and post the output of the last command ?
>>
>>> 0.101 [ ERROR  ][DeploymentComponent::import] Some found plugins could
>>> not be loaded !
>>> 0.133 [ ERROR  ][Logger] Failed to load a component: aborting kick-start.
>>>    Switched to : Deployer
>>> ----
>>>
>>>
>>> ~/.bashrc
>>> source `rosstack find orocos_toolchain_ros`/env.sh
>>> export RTT_COMPONENT_PATH=`rospack find
>>> rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos
>>
>> Setting the RTT_COMPONENT_PATH is not necessary in ROS environments. We find
>> everything using rospack / manifest.xml
>>
>>>
>>> FRIComponentOnly.xml
>>> ----
>>> <?xml version="1.0" encoding="UTF-8"?>
>>> <!DOCTYPE properties SYSTEM "cpf.dtd">
>>> <properties>
>>>   <simple name="Import" type="string"><value>kdl_typekit</value></simple>
>>>   <simple name="Import" type="string"><value>kuka_typekit</value></simple>
>>>   <simple name="Import"
>>> type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/lib/orocos/
>>> liblwr_fri-gnulinux.so</value></simple>
>>>
>>>   <struct name="FRIServer" type="lwr_fri::FRIComponent">
>>>     <struct name="Activity" type="NonPeriodicActivity">
>>>       <simple name="Priority" type="short"><value>1</value></simple>
>>>       <simple name="Scheduler"
>>> type="string"><value>ORO_SCHED_RT</value></simple>
>>>     </struct>
>>>     <simple name="AutoConf" type="boolean"><value>1</value></simple>
>>>     <simple name="AutoStart" type="boolean"><value>1</value></simple>
>>>     <simple name="LoadProperties"
>>> type="string"><value>cpf/FRIServer.cpf</value></simple>
>>>   </struct>
>>> </properties>
>>> ----
>>>
>>>
>>> Gajan
>>
>> Peter
>>
>
--
Orocos-Users mailing list
Orocos-Users [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

gajan's picture

Plugin loading problem / typekit (friComm.h)

Hi Peter,
>> Hi,
>>
>> 1. I tried with mqueue only as transport. There were no component
>> loading errors. But when I do an [ls] in the talk browser I still see
>> unknown_ts. See attached files [mqueueOnly_verboseMake] and
>> [mqueueOnle_unknownts].
>> 2  I am also attaching the verbose make and the taskbrowser output
>> when mqueue and typelib transports both enabled.
>
> For these unknown_t's I need to see the fricomm.h file and we have to
> find out why these types are not there.
>
> For the typelib linking error, there is an issue with the generated
> CMakeLists.txt file by typegen, where it fails to link with typelib
> itself. This can be seen from the verbose make output. It's probably a
> variable name mismatch in transports/typelib/CMakeLists.txt
>
> Since you are on the cturtle branch of orocos_toolchain_ros, you're
> having a fixed version of orogen that we can't upgrade easily (it uses
> a tar ball that Steven prepared). I'll have to let Ruben answer what
> the best solution for you is. I think that you'll have to upgrade to a
> branch that contains the latest toolchain-2.2 or latest toolchain-2.3
> for a definitive solution. You still could leave the typelib transport
> disabled, and try again once you upgraded.
Thanks ! Let's wait for Ruben's opinion on this.

In the meantime, In one of the previous mails [Willy Lambert] mentioned,
-----
I don't know what is the supposed manner to do it, but personnaly I
always switch the default orocos_toolchain_ros modules to the last
toolchain (currently toolchain-2.3)
-----
Can this also be a solution ? Can anyone elaborate on how to do this switch ?

Gajan

> Peter
>
>>
>> Gajan
>>
>>
>> On Thu, Mar 31, 2011 at 4:30 PM, Peter Soetens <peter [..] ...> wrote:
>>> On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
>>>> Hi,
>>>>
>>>> I am trying to make the [lwr_fri] work with rtt 2.x
>>>>
>>>> I generated the typekit using
>>>> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h  -t
>>>> mqueue,typelib
>>>> [thank you Peter for the patch this morning]
>>>> cd kuka_typekit
>>>> make
>>>
>>> Thanks for sticking with us :-) There are two more patches that might be
>>> needed for orogen, although it appears it didn't harm your setup (see
>>> attachment).
>>>
>>> You could also try to compile with mqueue only and omit the typelib transport.
>>> The latter is used for the ruby bindings only.
>>>
>>>>
>>>> rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
>>>> ----
>>>> 0.033 [ ERROR  ][Logger] could not load library
>>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>>> ypekit-transport-typelib-gnulinux.so':
>>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>>>> _ZTVN7Typelib11TypeVisitorE
>>>> 0.033 [ Warning][Logger] Some found plugins could not be loaded !
>>>> 0.033 [ Warning][Logger] Corrupted files found in
>>>> '/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/orocos:/home/g
>>>> ajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/ros/stacks/
>>>> orocos_toolchain_ros/rtt/install/lib/orocos'. Fix or remove these plugins.
>>>> 0.034 [ ERROR  ][DeploymentComponent::configure] could not load
>>>> library
>>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_
>>>> typekit-transport-typelib-gnulinux.so':
>>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>>>> _ZTVN7Typelib11TypeVisitorE
>>>> 0.034 [ ERROR  ][DeploymentComponent::configure] Some found plugins
>>>> could not be loaded !
>>>> 0.101 [ ERROR  ][DeploymentComponent::import] could not load library
>>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>>> ypekit-transport-typelib-gnulinux.so':
>>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/libkuka_t
>>>> ypekit-transport-typelib-gnulinux.so: undefined symbol:
>>>> _ZTVN7Typelib11TypeVisitorE
>>>
>>> I could not reproduce this. could you:
>>>
>>> roscd kuka_typekit
>>> rm -rf lib
>>> cd build ; make clean
>>> make  VERBOSE=1
>>>
>>> and post the output of the last command ?
>>>
>>>> 0.101 [ ERROR  ][DeploymentComponent::import] Some found plugins could
>>>> not be loaded !
>>>> 0.133 [ ERROR  ][Logger] Failed to load a component: aborting kick-start.
>>>>    Switched to : Deployer
>>>> ----
>>>>
>>>>
>>>> ~/.bashrc
>>>> source `rosstack find orocos_toolchain_ros`/env.sh
>>>> export RTT_COMPONENT_PATH=`rospack find
>>>> rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos
>>>
>>> Setting the RTT_COMPONENT_PATH is not necessary in ROS environments. We find
>>> everything using rospack / manifest.xml
>>>
>>>>
>>>> FRIComponentOnly.xml
>>>> ----
>>>> <?xml version="1.0" encoding="UTF-8"?>
>>>> <!DOCTYPE properties SYSTEM "cpf.dtd">
>>>> <properties>
>>>>   <simple name="Import" type="string"><value>kdl_typekit</value></simple>
>>>>   <simple name="Import" type="string"><value>kuka_typekit</value></simple>
>>>>   <simple name="Import"
>>>> type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/lib/orocos/
>>>> liblwr_fri-gnulinux.so</value></simple>
>>>>
>>>>   <struct name="FRIServer" type="lwr_fri::FRIComponent">
>>>>     <struct name="Activity" type="NonPeriodicActivity">
>>>>       <simple name="Priority" type="short"><value>1</value></simple>
>>>>       <simple name="Scheduler"
>>>> type="string"><value>ORO_SCHED_RT</value></simple>
>>>>     </struct>
>>>>     <simple name="AutoConf" type="boolean"><value>1</value></simple>
>>>>     <simple name="AutoStart" type="boolean"><value>1</value></simple>
>>>>     <simple name="LoadProperties"
>>>> type="string"><value>cpf/FRIServer.cpf</value></simple>
>>>>   </struct>
>>>> </properties>
>>>> ----
>>>>
>>>>
>>>> Gajan
>>>
>>> Peter
>>>
>>
>

Ruben Smits's picture

Plugin loading problem / typekit (friComm.h)

On Thursday 31 March 2011 22:39:55 Gajamohan Mohanarajah wrote:
> Hi Peter,
>
> >> Hi,
> >>
> >> 1. I tried with mqueue only as transport. There were no component
> >> loading errors. But when I do an [ls] in the talk browser I still see
> >> unknown_ts. See attached files [mqueueOnly_verboseMake] and
> >> [mqueueOnle_unknownts].
> >> 2 I am also attaching the verbose make and the taskbrowser output
> >> when mqueue and typelib transports both enabled.
> >
> > For these unknown_t's I need to see the fricomm.h file and we have to
> > find out why these types are not there.
> >
> > For the typelib linking error, there is an issue with the generated
> > CMakeLists.txt file by typegen, where it fails to link with typelib
> > itself. This can be seen from the verbose make output. It's probably a
> > variable name mismatch in transports/typelib/CMakeLists.txt
> >
> > Since you are on the cturtle branch of orocos_toolchain_ros, you're
> > having a fixed version of orogen that we can't upgrade easily (it uses
> > a tar ball that Steven prepared). I'll have to let Ruben answer what
> > the best solution for you is. I think that you'll have to upgrade to a
> > branch that contains the latest toolchain-2.2 or latest toolchain-2.3
> > for a definitive solution. You still could leave the typelib transport
> > disabled, and try again once you upgraded.
>
> Thanks ! Let's wait for Ruben's opinion on this.

I'm in the middle of releasing orocos_toolchain_ros 0.3.0 which uses
toolchain-2.3. The debian packages should be available soon. This is still for
diamondback. I have possibly found a way to get rid of the cturtle branch and
merge it back into master. Version 0.3.1 should incorporate this change.

> In the meantime, In one of the previous mails [Willy Lambert] mentioned,
> -----
> I don't know what is the supposed manner to do it, but personnaly I
> always switch the default orocos_toolchain_ros modules to the last
> toolchain (currently toolchain-2.3)
> -----
> Can this also be a solution ? Can anyone elaborate on how to do this switch
> ?

Go into the rtt/ocl/typelib/orogen/utilmm/utilrb/log4cpp (all the original
gitorious repositories) and do a 'git fetch', 'git checkout toolchain-2.3'

-- Ruben

>
> Gajan
>
> > Peter
> >
> >> Gajan
> >>
> >> On Thu, Mar 31, 2011 at 4:30 PM, Peter Soetens <peter [..] ...>
wrote:
> >>> On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
> >>>> Hi,
> >>>>
> >>>> I am trying to make the [lwr_fri] work with rtt 2.x
> >>>>
> >>>> I generated the typekit using
> >>>> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h -t
> >>>> mqueue,typelib
> >>>> [thank you Peter for the patch this morning]
> >>>> cd kuka_typekit
> >>>> make
> >>>
> >>> Thanks for sticking with us :-) There are two more patches that
> >>> might be needed for orogen, although it appears it didn't harm your
> >>> setup (see attachment).
> >>>
> >>> You could also try to compile with mqueue only and omit the typelib
> >>> transport. The latter is used for the ruby bindings only.
> >>>
> >>>> rosrun ocl deployer-gnulinux --start FRIComponentOnly.xml
> >>>> ----
> >>>> 0.033 [ ERROR ][Logger] could not load library
> >>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/
> >>>> libkuka_t ypekit-transport-typelib-gnulinux.so':
> >>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/l
> >>>> ibkuka_t ypekit-transport-typelib-gnulinux.so: undefined symbol:
> >>>> _ZTVN7Typelib11TypeVisitorE
> >>>> 0.033 [ Warning][Logger] Some found plugins could not be loaded !
> >>>> 0.033 [ Warning][Logger] Corrupted files found in
> >>>> '/home/gajan/ros/stacks/orocos_toolchain_ros/rtt/install/lib/oroco
> >>>> s:/home/g
> >>>> ajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos:/home/gajan/r
> >>>> os/stacks/ orocos_toolchain_ros/rtt/install/lib/orocos'. Fix or
> >>>> remove these plugins. 0.034 [ ERROR
> >>>> ][DeploymentComponent::configure] could not load library
> >>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/
> >>>> libkuka_ typekit-transport-typelib-gnulinux.so':
> >>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/l
> >>>> ibkuka_t ypekit-transport-typelib-gnulinux.so: undefined symbol:
> >>>> _ZTVN7Typelib11TypeVisitorE
> >>>> 0.034 [ ERROR ][DeploymentComponent::configure] Some found
> >>>> plugins
> >>>> could not be loaded !
> >>>> 0.101 [ ERROR ][DeploymentComponent::import] could not load
> >>>> library
> >>>> '/home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/
> >>>> libkuka_t ypekit-transport-typelib-gnulinux.so':
> >>>> /home/gajan/ros/stacks/kul-ros-pkg/kuka_typekit/lib/orocos/types/l
> >>>> ibkuka_t ypekit-transport-typelib-gnulinux.so: undefined symbol:
> >>>> _ZTVN7Typelib11TypeVisitorE
> >>>
> >>> I could not reproduce this. could you:
> >>>
> >>> roscd kuka_typekit
> >>> rm -rf lib
> >>> cd build ; make clean
> >>> make VERBOSE=1
> >>>
> >>> and post the output of the last command ?
> >>>
> >>>> 0.101 [ ERROR ][DeploymentComponent::import] Some found plugins
> >>>> could
> >>>> not be loaded !
> >>>> 0.133 [ ERROR ][Logger] Failed to load a component: aborting
> >>>> kick-start. Switched to : Deployer
> >>>> ----
> >>>>
> >>>>
> >>>> ~/.bashrc
> >>>> source `rosstack find orocos_toolchain_ros`/env.sh
> >>>> export RTT_COMPONENT_PATH=`rospack find
> >>>> rtt`/install/lib/orocos:`rospack find kuka_typekit`/lib/orocos
> >>>
> >>> Setting the RTT_COMPONENT_PATH is not necessary in ROS environments.
> >>> We find everything using rospack / manifest.xml
> >>>
> >>>> FRIComponentOnly.xml
> >>>> ----
> >>>> <?xml version="1.0" encoding="UTF-8"?>
> >>>> <!DOCTYPE properties SYSTEM "cpf.dtd">
> >>>> <properties>
> >>>> <simple name="Import"
> >>>> type="string"><value>kdl_typekit</value></simple> <simple
> >>>> name="Import" type="string"><value>kuka_typekit</value></simple>
> >>>> <simple name="Import"
> >>>> type="string"><value>/home/gajan/ros/stacks/kul-ros-pkg/lwr_fri/li
> >>>> b/orocos/ liblwr_fri-gnulinux.so</value></simple>
> >>>>
> >>>> <struct name="FRIServer" type="lwr_fri::FRIComponent">
> >>>> <struct name="Activity" type="NonPeriodicActivity">
> >>>> <simple name="Priority"
> >>>> type="short"><value>1</value></simple>
> >>>> <simple name="Scheduler"
> >>>> type="string"><value>ORO_SCHED_RT</value></simple>
> >>>> </struct>
> >>>> <simple name="AutoConf"
> >>>> type="boolean"><value>1</value></simple>
> >>>> <simple name="AutoStart"
> >>>> type="boolean"><value>1</value></simple>
> >>>> <simple name="LoadProperties"
> >>>> type="string"><value>cpf/FRIServer.cpf</value></simple>
> >>>> </struct>
> >>>> </properties>
> >>>> ----
> >>>>
> >>>>
> >>>> Gajan
> >>>
> >>> Peter

Plugin loading problem / typekit (friComm.h)

On 03/31/2011 04:30 PM, Peter Soetens wrote:
> On Thursday 31 March 2011 15:41:35 Gajamohan Mohanarajah wrote:
>> Hi,
>>
>> I am trying to make the [lwr_fri] work with rtt 2.x
>>
>> I generated the typekit using
>> typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h -t
>> mqueue,typelib
>> [thank you Peter for the patch this morning]
>> cd kuka_typekit
>> make
>
> Thanks for sticking with us :-) There are two more patches that might be
> needed for orogen, although it appears it didn't harm your setup (see
> attachment).
>
> You could also try to compile with mqueue only and omit the typelib transport.
> The latter is used for the ruby bindings only.
I'd suggest to keep it around as, as soon as the changes from
rock-master are merged into rtt, I'll push a version of orogen that uses
it for mqueue as well.

Moreover, it can also be used for data logging, using the rock
orogen-logger component.