RTT-ROS integration - non std_msgs messages

Hey,

I am trying to send customized message types from rtt to ros and vice versa (with the std_msgs it works fine). My customized message is MsgTiming.msg and I put it in a seperate pkg called OrocosMsgPkg:

duration start_time_Daq
duration stop_time_Daq
After I compile this pkg I have both the librtt-ros-MsgTiming-transport.so and librtt-ros-MsgTiming-typekit.so in the OrocosMsgPkg/lib/orocos/types folder. I can also compile the pkg that contains my two Orocos Components ('Daq' and 'Control'). In manifest file of this pkg I added the dependency on OrocosMsgPkg. However at runtime I get the following erros:
0.429 [ Warning][DeploymentComponent::configureComponents] The protocol with id 3 did not register a fall-back handler for unknown types!
0.429 [ Warning][DeploymentComponent::configureComponents]   triggered by: unknown_t which does not have a transport.
0.429 [ ERROR  ][DeploymentComponent::configureComponents] Could not create transport stream for port Daq_Time_blacky with transport id 3
0.429 [ ERROR  ][DeploymentComponent::configureComponents] No such transport registered. Check your policy.transport settings or add the transport for type MsgTiming
0.429 [ Warning][DeploymentComponent::configureComponents] Creating stream with name BlackyTime with Port Daq_Time_blacky from Daq failed.
   Switched to : Deployer

Note that 'blacky' is the name of my robot :). Part of my application.xml contains:

  <simple name="Import" type="string"><value>./lib/orocos</value></simple>
 <simple name="Import" type="string"><value>\$(find OrocosMsgPkg)/lib/orocos</value></simple>
 <simple name="Import" type="string"><value>\$(find rtt_ros_integration)/lib/orocos</value></simple>
 <simple name="Import" type="string"><value>\$(find rtt_ros_integration_std_msgs)/lib/orocos</value></simple>
 
 
    <struct name="BlackyTime" type="ConnPolicy">
      <simple name="type" type="short"><value>0</value></simple><!-- type of connection: 0 means Data -->
      <simple name="size" type="short"><value>1</value></simple><!-- buffer size -->
      <simple name="transport" type="short"><value>3</value></simple><!--3 means ROS-->
      <simple name="name_id" type="string"><value>time_blacky</value></simple><!-- topic name -->
    </struct>
 
 
 
  <!-- ************************************************************************ -->
  <struct name="Daq" type="Example::Daq">
 
    <struct name="Activity" type="PeriodicActivity">
      <simple name="Period" type="double"><value>0.0002</value></simple>
      <simple name="Priority" type="short"><value>70</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="AutoConnect" type="boolean"><value>1</value></simple>
 
    <struct name="Ports" type="PropertyBag">
      <simple name="Daq_Torque_port" type="string"><value>Comm_Torque</value></simple>
      <simple name="Daq_Enc_port" type="string"><value>Comm_Enc</value></simple>
      <simple name="Daq_Time_port_O" type="string"><value>Comm_Time_O</value></simple>
      <simple name="Daq_Time_port_R" type="string"><value>Comm_Time_R</value></simple>
      <simple name="Daq_Time_blacky" type="string"><value>BlackyTime</value></simple>
    </struct>

Any idea what I am doing wrong?

Two smaller questions are:
1) when starting the deployer I always have to choose:

[rosrun] You have chosen a non-unique executable, please pick one of the following:
1) /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/bin/deployer-gnulinux
2) /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/bin/deployer-gnulinux
I guess there is no difference between these two?

2) Even when my whole program is working fine I first get this 'big' list of (up to now NON problematic) warning and errors:

.037 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-transport-mqueue-gnulinux.so' already loaded. Not reloading it.
0.037 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-transport-corba-gnulinux.so' already loaded. Not reloading it.
0.037 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-typekit-gnulinux.so' already loaded. Not reloading it.
0.038 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins/librtt-marshalling-gnulinux.so' already loaded. Not reloading it.
0.038 [ Warning][DeploymentComponent::configure] plugin '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins/librtt-scripting-gnulinux.so' already loaded. Not reloading it.
0.039 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: not a valid component library:
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: undefined symbol: createComponent
0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: undefined symbol: getComponentType
0.040 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: not a valid component library:
0.040 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: createComponent
0.040 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: getComponentType
0.042 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: not a valid component library:
0.042 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: undefined symbol: createComponent
0.042 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: undefined symbol: getComponentType
0.043 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so: not a valid component library:
0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: createComponent
0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: getComponentType
0.043 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so: not a valid component library:
0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: createComponent
0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: getComponentType
0.043 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so: not a valid component library:
0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: createComponent
0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: getComponentType
0.125 [ ERROR  ][DeploymentComponent::import] could not load library '/u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-ros-MsgTiming-transport.so': /u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-ros-MsgTiming-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE
0.126 [ ERROR  ][DeploymentComponent::import] could not load library '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Log-transport.so': /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Log-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE
0.135 [ ERROR  ][DeploymentComponent::import] could not load library '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Clock-transport.so': /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Clock-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE
0.144 [ ERROR  ][DeploymentComponent::import] could not load library '/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Header-transport.so': /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Header-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE
0.423 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.423 [ Warning][DeploymentComponent::loadComponents] Forcing priority (70) of thread with SCHED_OTHER policy to 0.
0.424 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.424 [ Debug  ][Activity] 
0.424 [ Warning][Activity] Lowering scheduler type to SCHED_OTHER for non-privileged users..

Is there anything in there to worry about (or a way to avoid this)?

Thanks a lot,

Bert

Ruben Smits's picture

RTT-ROS integration - non std_msgs messages

On Wednesday 08 December 2010 23:34:57 bert [dot] willaert [..] ... wrote:
> Hey,
>
> I am trying to send customized message types from rtt to ros and vice versa
> (with the std_msgs it works fine). My customized message is MsgTiming.msg
> and I put it in a seperate pkg called OrocosMsgPkg: &#10;&gt; duration start_time_Daq&#10;&gt; duration stop_time_Daq&#10;&gt;
> After I compile this pkg I have both the librtt-ros-MsgTiming-transport.so
> and librtt-ros-MsgTiming-typekit.so in the OrocosMsgPkg/lib/orocos/types
> folder. I can also compile the pkg that contains my two Orocos Components
> ('Daq' and 'Control'). In manifest file of this pkg I added the dependency
> on OrocosMsgPkg. However at runtime I get the following erros:
> &#10;&gt; 0.429 [ Warning][DeploymentComponent::configureComponents] The protocol&#10;&gt; with id 3 did not register a fall-back handler for unknown types! 0.429 [&#10;&gt; Warning][DeploymentComponent::configureComponents]   triggered by:&#10;&gt; unknown_t which does not have a transport. 0.429 [ ERROR &#10;&gt; ][DeploymentComponent::configureComponents] Could not create transport&#10;&gt; stream for port Daq_Time_blacky with transport id 3 0.429 [ ERROR &#10;&gt; ][DeploymentComponent::configureComponents] No such transport registered.&#10;&gt; Check your policy.transport settings or add the transport for type&#10;&gt; MsgTiming 0.429 [ Warning][DeploymentComponent::configureComponents]&#10;&gt; Creating stream with name BlackyTime with Port Daq_Time_blacky from Daq&#10;&gt; failed. Switched to : Deployer&#10;&gt;
>
> Note that 'blacky' is the name of my robot :). Part of my application.xml
> contains: &#10;&gt;   &lt;simple name=&quot;Import&quot; type=&quot;string&quot;&gt;&lt;value&gt;./lib/orocos&lt;/value&gt;&lt;/simple&gt;&#10;&gt;  &lt;simple name=&quot;Import&quot; type=&quot;string&quot;&gt;&lt;value&gt;\$(find&#10;&gt; OrocosMsgPkg)/lib/orocos&lt;/value&gt;&lt;/simple&gt; &lt;simple name=&quot;Import&quot;&#10;&gt; type=&quot;string&quot;&gt;&lt;value&gt;\$(find&#10;&gt; rtt_ros_integration)/lib/orocos&lt;/value&gt;&lt;/simple&gt; &lt;simple name=&quot;Import&quot;&#10;&gt; type=&quot;string&quot;&gt;&lt;value&gt;\$(find&#10;&gt; rtt_ros_integration_std_msgs)/lib/orocos&lt;/value&gt;&lt;/simple&gt;&#10;&gt; &#10;&gt; &#10;&gt;         &lt;struct name=&quot;BlackyTime&quot; type=&quot;ConnPolicy&quot;&gt;&#10;&gt;           &lt;simple name=&quot;type&quot; type=&quot;short&quot;&gt;&lt;value&gt;0&lt;/value&gt;&lt;/simple&gt;&lt;!--&#10;&gt; type of connection: 0 means Data --&gt; &lt;simple name=&quot;size&quot;&#10;&gt; type=&quot;short&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&lt;!-- buffer size --&gt; &lt;simple&#10;&gt; name=&quot;transport&quot; type=&quot;short&quot;&gt;&lt;value&gt;3&lt;/value&gt;&lt;/simple&gt;&lt;!--3 means ROS--&gt;&#10;&gt; &lt;simple name=&quot;name_id&quot;&#10;&gt; type=&quot;string&quot;&gt;&lt;value&gt;time_blacky&lt;/value&gt;&lt;/simple&gt;&lt;!-- topic name --&gt;&#10;&gt; &lt;/struct&gt;&#10;&gt; &#10;&gt; &#10;&gt; &#10;&gt;   &lt;!--&#10;&gt; ************************************************************************&#10;&gt; --&gt; &lt;struct name=&quot;Daq&quot; type=&quot;Example::Daq&quot;&gt;&#10;&gt; &#10;&gt;     &lt;struct name=&quot;Activity&quot; type=&quot;PeriodicActivity&quot;&gt;&#10;&gt;       &lt;simple name=&quot;Period&quot; type=&quot;double&quot;&gt;&lt;value&gt;0.0002&lt;/value&gt;&lt;/simple&gt;&#10;&gt;       &lt;simple name=&quot;Priority&quot; type=&quot;short&quot;&gt;&lt;value&gt;70&lt;/value&gt;&lt;/simple&gt;&#10;&gt;       &lt;simple name=&quot;Scheduler&quot;&#10;&gt; type=&quot;string&quot;&gt;&lt;value&gt;ORO_SCHED_RT&lt;/value&gt;&lt;/simple&gt; &lt;/struct&gt;&#10;&gt; &#10;&gt;     &lt;simple name=&quot;AutoConf&quot; type=&quot;boolean&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&#10;&gt;     &lt;simple name=&quot;AutoStart&quot; type=&quot;boolean&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&#10;&gt;     &lt;simple name=&quot;AutoConnect&quot; type=&quot;boolean&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&#10;&gt; &#10;&gt;     &lt;struct name=&quot;Ports&quot; type=&quot;PropertyBag&quot;&gt;&#10;&gt;       &lt;simple name=&quot;Daq_Torque_port&quot;&#10;&gt; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Torque&lt;/value&gt;&lt;/simple&gt; &lt;simple&#10;&gt; name=&quot;Daq_Enc_port&quot; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Enc&lt;/value&gt;&lt;/simple&gt; &lt;simple&#10;&gt; name=&quot;Daq_Time_port_O&quot; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Time_O&lt;/value&gt;&lt;/simple&gt;&#10;&gt; &lt;simple name=&quot;Daq_Time_port_R&quot;&#10;&gt; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Time_R&lt;/value&gt;&lt;/simple&gt; &lt;simple&#10;&gt; name=&quot;Daq_Time_blacky&quot; type=&quot;string&quot;&gt;&lt;value&gt;BlackyTime&lt;/value&gt;&lt;/simple&gt;&#10;&gt; &lt;/struct&gt;&#10;&gt; &#10;&gt;
>
> Any idea what I am doing wrong?

What version of RTT, OCL and orocos_toolchain_ros are you using?

Ruben

> Two smaller questions are:<br>
> 1) when starting the deployer I always have to choose:
> &#10;&gt; [rosrun] You have chosen a non-unique executable, please pick one of the&#10;&gt; following: 1)&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/bin/deployer-gnulinux 2)&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/bin/deployer-gnul&#10;&gt; inux
> I guess there is no difference between these two?<br>
>
> 2) Even when my whole program is working fine I first get this 'big' list
> of (up to now NON problematic) warning and errors: &#10;&gt; .037 [ Warning][DeploymentComponent::configure] plugin&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types&#10;&gt; /librtt-transport-mqueue-gnulinux.so&#039; already loaded. Not reloading it.&#10;&gt; 0.037 [ Warning][DeploymentComponent::configure] plugin&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types&#10;&gt; /librtt-transport-corba-gnulinux.so&#039; already loaded. Not reloading it.&#10;&gt; 0.037 [ Warning][DeploymentComponent::configure] plugin&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types&#10;&gt; /librtt-typekit-gnulinux.so&#039; already loaded. Not reloading it. 0.038 [&#10;&gt; Warning][DeploymentComponent::configure] plugin&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugi&#10;&gt; ns/librtt-marshalling-gnulinux.so&#039; already loaded. Not reloading it. 0.038&#10;&gt; [ Warning][DeploymentComponent::configure] plugin&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugi&#10;&gt; ns/librtt-scripting-gnulinux.so&#039; already loaded. Not reloading it. 0.039 [&#10;&gt; ERROR  ][DeploymentComponent::configure] Unloading&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-tas&#10;&gt; kbrowser-gnulinux.so: not a valid component library: 0.039 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-tas&#10;&gt; kbrowser-gnulinux.so: undefined symbol: createComponent 0.039 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-tas&#10;&gt; kbrowser-gnulinux.so: undefined symbol: getComponentType 0.040 [ ERROR &#10;&gt; ][DeploymentComponent::configure] Unloading&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-dep&#10;&gt; loyment-corba-gnulinux.so: not a valid component library: 0.040 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-dep&#10;&gt; loyment-corba-gnulinux.so: undefined symbol: createComponent 0.040 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-dep&#10;&gt; loyment-corba-gnulinux.so: undefined symbol: getComponentType 0.042 [ ERROR&#10;&gt;  ][DeploymentComponent::configure] Unloading&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-dep&#10;&gt; loyment-gnulinux.so: not a valid component library: 0.042 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-dep&#10;&gt; loyment-gnulinux.so: undefined symbol: createComponent 0.042 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-dep&#10;&gt; loyment-gnulinux.so: undefined symbol: getComponentType 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure] Unloading&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -corba-gnulinux.so: not a valid component library: 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -corba-gnulinux.so.2.1: undefined symbol: createComponent 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -corba-gnulinux.so.2.1: undefined symbol: getComponentType 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure] Unloading&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -gnulinux.so: not a valid component library: 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -gnulinux.so.2.1: undefined symbol: createComponent 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -gnulinux.so.2.1: undefined symbol: getComponentType 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure] Unloading&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -mqueue-gnulinux.so: not a valid component library: 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -mqueue-gnulinux.so.2.1: undefined symbol: createComponent 0.043 [ ERROR &#10;&gt; ][DeploymentComponent::configure]   &#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt&#10;&gt; -mqueue-gnulinux.so.2.1: undefined symbol: getComponentType 0.125 [ ERROR &#10;&gt; ][DeploymentComponent::import] could not load library&#10;&gt; &#039;/u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt&#10;&gt; -ros-MsgTiming-transport.so&#039;:&#10;&gt; /u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-&#10;&gt; ros-MsgTiming-transport.so: undefined symbol:&#10;&gt; _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.126 [ ERROR &#10;&gt; ][DeploymentComponent::import] could not load library&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/oroc&#10;&gt; os/types/librtt-ros-Log-transport.so&#039;:&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/oroco&#10;&gt; s/types/librtt-ros-Log-transport.so: undefined symbol:&#10;&gt; _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.135 [ ERROR &#10;&gt; ][DeploymentComponent::import] could not load library&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/oroc&#10;&gt; os/types/librtt-ros-Clock-transport.so&#039;:&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/oroco&#10;&gt; s/types/librtt-ros-Clock-transport.so: undefined symbol:&#10;&gt; _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.144 [ ERROR &#10;&gt; ][DeploymentComponent::import] could not load library&#10;&gt; &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/oroc&#10;&gt; os/types/librtt-ros-Header-transport.so&#039;:&#10;&gt; /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/oroco&#10;&gt; s/types/librtt-ros-Header-transport.so: undefined symbol:&#10;&gt; _ZN15ros_integration18RosPublishActivity11ros_pub_actE 0.423 [&#10;&gt; Warning][DeploymentComponent::loadComponents] Lowering scheduler type to&#10;&gt; SCHED_OTHER for non-privileged users.. 0.423 [&#10;&gt; Warning][DeploymentComponent::loadComponents] Forcing priority (70) of&#10;&gt; thread with SCHED_OTHER policy to 0. 0.424 [ Warning][Thread] Lowering&#10;&gt; scheduler type to SCHED_OTHER for non-privileged users.. 0.424 [ Debug &#10;&gt; ][Activity]&#10;&gt; 0.424 [ Warning][Activity] Lowering scheduler type to SCHED_OTHER for&#10;&gt; non-privileged users..
>
> Is there anything in there to worry about (or a way to avoid this)? <br>
>
> Thanks a lot,
>
> Bert
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

RTT-ROS integration - non std_msgs messages

Hey,

I am trying to send customized message types from rtt to ros and vice versa (with the std_msgs it works fine). My customized message is MsgTiming.msg and I put it in a seperate pkg called OrocosMsgPkg:
&#10;duration start_time_Daq&#10;duration stop_time_Daq&#10;
After I compile this pkg I have both the librtt-ros-MsgTiming-transport.so and librtt-ros-MsgTiming-typekit.so in the OrocosMsgPkg/lib/orocos/types folder.
I can also compile the pkg that contains my two Orocos Components ('Daq' and 'Control'). In manifest file of this pkg I added the dependency on OrocosMsgPkg.
However at runtime I get the following erros:
&#10;0.429 [ Warning][DeploymentComponent::configureComponents] The protocol with id 3 did not register a fall-back handler for unknown types!&#10;0.429 [ Warning][DeploymentComponent::configureComponents]   triggered by: unknown_t which does not have a transport.&#10;0.429 [ ERROR  ][DeploymentComponent::configureComponents] Could not create transport stream for port Daq_Time_blacky with transport id 3&#10;0.429 [ ERROR  ][DeploymentComponent::configureComponents] No such transport registered. Check your policy.transport settings or add the transport for type MsgTiming&#10;0.429 [ Warning][DeploymentComponent::configureComponents] Creating stream with name BlackyTime with Port Daq_Time_blacky from Daq failed.&#10;   Switched to : Deployer&#10;

Note that 'blacky' is the name of my robot :). Part of my application.xml contains:
&#10;  &lt;simple name=&quot;Import&quot; type=&quot;string&quot;&gt;&lt;value&gt;./lib/orocos&lt;/value&gt;&lt;/simple&gt;&#10; &lt;simple name=&quot;Import&quot; type=&quot;string&quot;&gt;&lt;value&gt;\$(find OrocosMsgPkg)/lib/orocos&lt;/value&gt;&lt;/simple&gt;&#10; &lt;simple name=&quot;Import&quot; type=&quot;string&quot;&gt;&lt;value&gt;\$(find rtt_ros_integration)/lib/orocos&lt;/value&gt;&lt;/simple&gt;&#10; &lt;simple name=&quot;Import&quot; type=&quot;string&quot;&gt;&lt;value&gt;\$(find rtt_ros_integration_std_msgs)/lib/orocos&lt;/value&gt;&lt;/simple&gt;&#10;&#10;&#10;     &lt;struct name=&quot;BlackyTime&quot; type=&quot;ConnPolicy&quot;&gt;&#10;       &lt;simple name=&quot;type&quot; type=&quot;short&quot;&gt;&lt;value&gt;0&lt;/value&gt;&lt;/simple&gt;&lt;!-- type of connection: 0 means Data --&gt;&#10;      &lt;simple name=&quot;size&quot; type=&quot;short&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&lt;!-- buffer size --&gt;&#10;   &lt;simple name=&quot;transport&quot; type=&quot;short&quot;&gt;&lt;value&gt;3&lt;/value&gt;&lt;/simple&gt;&lt;!--3 means ROS--&gt;&#10;        &lt;simple name=&quot;name_id&quot; type=&quot;string&quot;&gt;&lt;value&gt;time_blacky&lt;/value&gt;&lt;/simple&gt;&lt;!-- topic name --&gt;&#10;    &lt;/struct&gt;&#10;&#10; &#10; &#10;  &lt;!-- ************************************************************************ --&gt;&#10;  &lt;struct name=&quot;Daq&quot; type=&quot;Example::Daq&quot;&gt;&#10;&#10;    &lt;struct name=&quot;Activity&quot; type=&quot;PeriodicActivity&quot;&gt;&#10;      &lt;simple name=&quot;Period&quot; type=&quot;double&quot;&gt;&lt;value&gt;0.0002&lt;/value&gt;&lt;/simple&gt;&#10;      &lt;simple name=&quot;Priority&quot; type=&quot;short&quot;&gt;&lt;value&gt;70&lt;/value&gt;&lt;/simple&gt;&#10;      &lt;simple name=&quot;Scheduler&quot; type=&quot;string&quot;&gt;&lt;value&gt;ORO_SCHED_RT&lt;/value&gt;&lt;/simple&gt;&#10;    &lt;/struct&gt;&#10;&#10;    &lt;simple name=&quot;AutoConf&quot; type=&quot;boolean&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&#10;    &lt;simple name=&quot;AutoStart&quot; type=&quot;boolean&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&#10;    &lt;simple name=&quot;AutoConnect&quot; type=&quot;boolean&quot;&gt;&lt;value&gt;1&lt;/value&gt;&lt;/simple&gt;&#10;&#10;    &lt;struct name=&quot;Ports&quot; type=&quot;PropertyBag&quot;&gt;&#10;      &lt;simple name=&quot;Daq_Torque_port&quot; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Torque&lt;/value&gt;&lt;/simple&gt;&#10;      &lt;simple name=&quot;Daq_Enc_port&quot; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Enc&lt;/value&gt;&lt;/simple&gt;&#10;      &lt;simple name=&quot;Daq_Time_port_O&quot; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Time_O&lt;/value&gt;&lt;/simple&gt;&#10;      &lt;simple name=&quot;Daq_Time_port_R&quot; type=&quot;string&quot;&gt;&lt;value&gt;Comm_Time_R&lt;/value&gt;&lt;/simple&gt;&#10;      &lt;simple name=&quot;Daq_Time_blacky&quot; type=&quot;string&quot;&gt;&lt;value&gt;BlackyTime&lt;/value&gt;&lt;/simple&gt;&#10;    &lt;/struct&gt;&#10;&#10;

Any idea what I am doing wrong?

Two smaller questions are:<br>
1) when starting the deployer I always have to choose:
&#10;[rosrun] You have chosen a non-unique executable, please pick one of the following:&#10;1) /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/bin/deployer-gnulinux&#10;2) /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/bin/deployer-gnulinux&#10;
I guess there is no difference between these two?<br>

2) Even when my whole program is working fine I first get this 'big' list of (up to now NON problematic) warning and errors:
&#10;.037 [ Warning][DeploymentComponent::configure] plugin &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-transport-mqueue-gnulinux.so&#039; already loaded. Not reloading it.&#10;0.037 [ Warning][DeploymentComponent::configure] plugin &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-transport-corba-gnulinux.so&#039; already loaded. Not reloading it.&#10;0.037 [ Warning][DeploymentComponent::configure] plugin &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/types/librtt-typekit-gnulinux.so&#039; already loaded. Not reloading it.&#10;0.038 [ Warning][DeploymentComponent::configure] plugin &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins/librtt-marshalling-gnulinux.so&#039; already loaded. Not reloading it.&#10;0.038 [ Warning][DeploymentComponent::configure] plugin &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/orocos/plugins/librtt-scripting-gnulinux.so&#039; already loaded. Not reloading it.&#10;0.039 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: not a valid component library:&#10;0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: undefined symbol: createComponent&#10;0.039 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-taskbrowser-gnulinux.so: undefined symbol: getComponentType&#10;0.040 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: not a valid component library:&#10;0.040 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: createComponent&#10;0.040 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-corba-gnulinux.so: undefined symbol: getComponentType&#10;0.042 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: not a valid component library:&#10;0.042 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: undefined symbol: createComponent&#10;0.042 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/ocl/install/lib/liborocos-deployment-gnulinux.so: undefined symbol: getComponentType&#10;0.043 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so: not a valid component library:&#10;0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: createComponent&#10;0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-corba-gnulinux.so.2.1: undefined symbol: getComponentType&#10;0.043 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so: not a valid component library:&#10;0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: createComponent&#10;0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-gnulinux.so.2.1: undefined symbol: getComponentType&#10;0.043 [ ERROR  ][DeploymentComponent::configure] Unloading /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so: not a valid component library:&#10;0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: createComponent&#10;0.043 [ ERROR  ][DeploymentComponent::configure]    /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt/install/lib/liborocos-rtt-mqueue-gnulinux.so.2.1: undefined symbol: getComponentType&#10;0.125 [ ERROR  ][DeploymentComponent::import] could not load library &#039;/u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-ros-MsgTiming-transport.so&#039;: /u/bwillaert/workspace1/Ros_Pkg_Bert/OrocosMsgPkg/lib/orocos/types/librtt-ros-MsgTiming-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE&#10;0.126 [ ERROR  ][DeploymentComponent::import] could not load library &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Log-transport.so&#039;: /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Log-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE&#10;0.135 [ ERROR  ][DeploymentComponent::import] could not load library &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Clock-transport.so&#039;: /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Clock-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE&#10;0.144 [ ERROR  ][DeploymentComponent::import] could not load library &#039;/opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Header-transport.so&#039;: /opt/ros/cturtle/stacks/orocos_toolchain_ros/rtt_ros_integration/lib/orocos/types/librtt-ros-Header-transport.so: undefined symbol: _ZN15ros_integration18RosPublishActivity11ros_pub_actE&#10;0.423 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler type to SCHED_OTHER for non-privileged users..&#10;0.423 [ Warning][DeploymentComponent::loadComponents] Forcing priority (70) of thread with SCHED_OTHER policy to 0.&#10;0.424 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for non-privileged users..&#10;0.424 [ Debug  ][Activity] &#10;0.424 [ Warning][Activity] Lowering scheduler type to SCHED_OTHER for non-privileged users..&#10;

Is there anything in there to worry about (or a way to avoid this)? <br>

Thanks a lot,

Bert