R: [Rock-dev] Error - corrupted files and librtt-transport-mqueue-xenomai.so not loaded on Ubuntu 10.01 with xenomai

Dear Sir,

thank for your kind support.

I modified debian/rules adding

--enable-dlopen-skins

and rebuild xenomai.

After this change the problem about corrupted file disappeared. Thanks.

Is this the only change that has to be done to the standard xenomai installation procedure?

I tried to run the deployment generated by orogen using "xeno-load" command with the .runinfo file
containing the following instructions

Rosetta:native:./Rosetta;popall:control_c

I get the following error:

Xenomai: POSIX skin or CONFIG_XENO_OPT_PERVASIVE disabled.
(modprobe xeno_posix?)

I verified that the linux kernel was compiled with CONFIG_XENO_OPT_PREVASIVE enabled,
so I enabled the posix skin. I regenerate the kernel.

Then reinstalled orocos-toolchain 2.3.0 using boostrap.sh
and I regenerate the deployment with the commands:

orogen --target=xenomai -v -V rosetta.orogen
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/lib/orocos
make install

I tried to run my deployment with xeno-load and the following .runinfo file

Rosetta:native+posix:./Rosetta;popall:control_c

With this configuration the deployment start.

Looking at the documentation available at

http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-insta...

I saw that:

Only the
following kernel modules need to be loaded:

xeno_hal.ko
xeno_nucleus.ko
xeno_native.ko
instead I had to load posix skin too.

This difference can be due to errors I made configuring xenomai?

The deployment crash after a while with segfault.
The same deployment generated under gnulinux works fine instead.
I am now investigating the reason of this crash.

Best regards.

G. Rizzi

----Messaggio originale----
Da: peter [..] ...
Data: 28-mar-2011 0.18
A: "gprizzi [..] ..."<gprizzi [..] ...>
Cc: <orocos-dev [..] ...>, <orocos-users [..] ...>, <rock-dev [..] ...>
Ogg: Re: Re: [Rock-dev] Error - corrupted files and librtt-transport-mqueue-xenomai.so not loaded on Ubuntu 10.01 with xenomai

On Sun, Mar 27, 2011 at 7:13 PM, gprizzi [..] ... <gprizzi [..] ...> wrote:
> Dear Sirs,
>
> I tried the following:
>
> from the directory in which i buil xenomai I run the command
>
> ./configure --enable-dlopen-skins
>
> then I run the command
>
> debuild -uc -us
>
> and then in the build directory I run the command
>
> dpkg -i *.deb
>
> I did something wrong or I missed anything in the process of xenomai
> reconfiguration and reintallation?
> It is enough to rebuild xenomai without rebuilding linux with xenomai
> patches?

This configure step above is ignored by debuild. You need to modify
the configure command in the debian/rules file to have it in effect.

> I build linux with xenomai integrated in it (no modules).
>
> Then I reinstalled orocos-toollchain using boostrap.sh.

No need to rebuild RTT unless you would see segfaults, which I doubt.

Peter

>
> After having rebuild my orogen generated deployment I tried to run it
> but I get again a segmentation fault.
>
> In orocos.log I find again complains about
> librtt-transport-mqueue-xenomai.so
> that in my installation is located in
> /usr/src/orocos/install/lib/orocos/xenomai/types/
>
> Here below you can find orocos.log
> Can you help me in find where am I making mistake in configuring my
> environment?
>
> Tank you a lot for your kind support.
>
> G. Rizzi
>
> 0.000 [ Info ][Logger] No ORO_LOGLEVEL environment variable set.
> 0.000 [ Info ][Logger] OROCOS version '2.3.0' compiled with GCC 4.4.5.
> Running in Xenomai.
> 0.000 [ Info ][Logger] Orocos Logging Activated at level : [ Warning] ( 4
> )
> 0.000 [ Info ][Logger] Reference System Time is : 6572611895688 ticks (
> 2732.89 seconds ).
> 0.000 [ Info ][Logger] Logging is relative to this time.
> 0.000 [ Info ][Logger] Xenomai Periodic Timer runs in preemptive
> 'one-shot' mode.
> 0.000 [ Info ][Logger] Installing SIGXCPU handler.
> 0.000 [ Info ][Logger] RTT_COMPONENT_PATH was set to:
> /usr/local/lib/orocos/lib/orocos/:/usr/src/orocos/install/lib/: . Searching
> in:
> /usr/local/lib/orocos/lib/orocos/:/usr/src/orocos/install/lib/::/usr/src/orocos/install/lib/orocos
> 0.000 [ Info ][Logger] plugin 'rtt' not loaded before.
> 0.001 [ Info ][Logger] Loading plugin libraries from directory
> /usr/src/orocos/install/lib/orocos/xenomai/./plugins ...
> 0.012 [ Info ][Logger] Loaded RTT Service 'scripting' from
> 'rtt-scripting-xenomai'
> 0.013 [ Info ][Logger] Loaded RTT Service 'marshalling' from
> 'rtt-marshalling-xenomai'
> 0.013 [ Info ][Logger] typekit 'rtt' not loaded before.
> 0.013 [ Info ][Logger] Loading typekit libraries from directory
> /usr/local/lib/orocos/lib/orocos/./types ...
> 0.030 [ Info ][TypekitRepository::Import] Loading Transport
> Typelib:///orogen/rosetta.
> 0.030 [ Info ][Logger] Loaded RTT TypeKit/Transport
> '/orogen/rosetta/TYPELIB' from 'rosetta-transport-typelib-xenomai'
> 0.037 [ Info ][TypekitRepository::Import] Loading Transport
> CORBA:///orogen/rosetta.
> 0.037 [ Info ][Logger] Loaded RTT TypeKit/Transport
> '/orogen/rosetta/CORBA' from 'rosetta-transport-corba-xenomai'
> 0.139 [ Info ][TypekitRepository::Import] Loading Typekit /orogen/rosetta.
> 0.139 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/INTERACTION_MODE_ENUM
> 0.139 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/INTERACTION_MODE_ENUM
> 0.139 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/SAFETY_BEHAVIOR_ENUM
> 0.139 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/SAFETY_BEHAVIOR_ENUM
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/areaProbability
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/areaProbability
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/areaProbabilityRequest
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/areaProbabilityRequest
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/areaShape
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/areaShape
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/armDataRosetta
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/armDataRosetta
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/armVector
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/armVector
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/closestImpactPoint
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/closestImpactPoint
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/dHParam
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/dHParam
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/doubleVector
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/doubleVector
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/injuriesInformation
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/injuriesInformation
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/intVector
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/intVector
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/interactionAreas
> 0.140 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/interactionAreas
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/interactionMode
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/interactionMode
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/obstacleP
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/obstacleP
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/obstaclesPositions
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/obstaclesPositions
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/omatrix
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/omatrix
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/pInformation
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/pInformation
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/particlesSet
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/particlesSet
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/personInfo
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/personInfo
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/presenceProbability
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/presenceProbability
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/rPoint
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/rPoint
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/robotDHParams
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/robotDHParams
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /rosetta/taskStateR
> 0.141 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /rosetta/taskStateR
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/string
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/string
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</double>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</double>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</int32_t>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</int32_t>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</rosetta/areaShape>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</rosetta/areaShape>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</rosetta/dHParam>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</rosetta/dHParam>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</rosetta/obstacleP>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</rosetta/obstacleP>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</rosetta/pInformation>
> 0.142 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</rosetta/pInformation>
> 0.143 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</rosetta/presenceProbability>
> 0.143 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</rosetta/presenceProbability>
> 0.143 [ Info ][TypekitRepository::Import] Registered new 'Typelib'
> transport for /std/vector</rosetta/rPoint>
> 0.143 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for /std/vector</rosetta/rPoint>
> 0.143 [ Info ][Logger] Loaded RTT TypeKit/Transport '/orogen/rosetta' from
> 'rosetta-typekit-xenomai'
> 0.143 [ Info ][Logger] Loading typekit libraries from directory
> /usr/src/orocos/install/lib/orocos/xenomai/./types ...
> 0.143 [ Info ][TypekitRepository::Import] Loading Typekit rtt-types.
> 0.143 [ Info ][TypekitRepository::Import] TypeInfo for type 'string'
> already exists as '/std/string': I'll alias the original and install the new
> instance.
> 0.143 [ Info ][TypekitRepository::Import] TypeInfo for type 'array'
> already exists as '/std/vector</double>': I'll alias the original and
> install the new instance.
> 0.143 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-types' from
> 'rtt-typekit-xenomai'
> 0.144 [ Info ][TypekitRepository::Import] Loading Transport
> CORBA://rtt-types.
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for ConnPolicy
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for TaskContext
> 0.144 [ ERROR ][TypekitRepository::Import] A protocol with id 1 was already
> added for type array
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for bool
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for char
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for double
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for float
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for int
> 0.144 [ ERROR ][TypekitRepository::Import] A protocol with id 1 was already
> added for type string
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for uint
> 0.144 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport
> for void
> 0.144 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-corba-types' from
> 'rtt-transport-corba-xenomai'
> 0.145 [ ERROR ][Logger] could not load library
> '/usr/src/orocos/install/lib/orocos/xenomai/./types/librtt-transport-mqueue-xenomai.so':
> libpthread_rt.so.1: shared object cannot be dlopen()ed
> 0.145 [ Warning][Logger] Some found plugins could not be loaded !
> 0.145 [ Warning][Logger] Corrupted files found in
> '/usr/local/lib/orocos/lib/orocos/:/usr/src/orocos/install/lib/::/usr/src/orocos/install/lib/orocos'.
> Fix or remove these plugins.
> 0.155 [ Info ][Thread] Creating Thread for scheduler: 1
> 0.155 [ Info ][TCPJoiA1] Thread created with scheduler type '1', priority
> 0 and period 0.
> 0.156 [ Info ][Thread] Creating Thread for scheduler: 1
>
> ----Messaggio originale----
> Da: peter [..] ...
> Data: 26-mar-2011 22.22
> A: "gprizzi [..] ..."<gprizzi [..] ...>
> Cc: <orocos-dev [..] ...>,
> <orocos-users [..] ...>, <rock-dev [..] ...>
> Ogg: Re: [Rock-dev] Error - corrupted files and
> librtt-transport-mqueue-xenomai.so not loaded on Ubuntu 10.01 with xenomai
>
> On Sat, Mar 26, 2011 at 1:11 PM, gprizzi [..] ... <gprizzi [..] ...> wrote:
>> Dear Sirs,
>>
>> I have a fresh install of Orocos toolchain-2.3.0 on Unbunti 10.01 with
>> xenomai 2.5.5.2.
>>
>> I created my modules and my deployment using orogen.
>>
>> When I run my executable with the command
>>
>> xeno-load
>>
>> using the.runinfo file with the following content:
>>
>> Rosetta:native:./Rosetta;popall:control_c
>>
>> I get a run time error.
>>
>> Looking at the orocos.log file I saw the following errors about loading
>> librtt-transport-mqueue-xenomai.so and corrupted files:
>
> ...
>
> The problem is with your Xenomai configuration. Try to configure your
> Xenomai build with:
>
> ./configure --enable-dlopen-skins
>
> then rebuild/reinstall xenomai. No rebuilding of RTT is required afaik...
>
> Peter
>
>
>