Hi,
I have an application with both Orocos and ROS working together. As my
code is growing I now have the need to infor the ROS coordination
stuff that my "Orocos nodes" finished their deployment. For now the
only quick way I found is to create a "LastComponent" that have
deployed(Bool) port which is streamed into a rostopic. So my Ros stuff
can wait on the topic to received the deployed=True message.
Is it a good way to do it ? Do we need any additionnal stuff into
deployers ? I remind having had the same problem also in pure Orocos :
"when is my deployment finished?". Is this all related to the "we need
a brand new deployer that can handle more complex stuff" statement ?
(and at which Hermann will say : "don't recode them, they exists ! It
should be outside Orocos." ;) )
Syncronizing ROS nodes and Orocos Deployment
On Fri, Apr 13, 2012 at 2:08 PM, Willy Lambert <lambert [dot] willy [..] ...> wrote:
> Hi,
>
> I have an application with both Orocos and ROS working together. As my
> code is growing I now have the need to infor the ROS coordination
> stuff that my "Orocos nodes" finished their deployment. For now the
> only quick way I found is to create a "LastComponent" that have
> deployed(Bool) port which is streamed into a rostopic. So my Ros stuff
> can wait on the topic to received the deployed=True message.
If you do your deployment using rttlua, you can just add the
deployed-port to the (rtt)LuaComponent and you would not need to
create an extra dummy component.
Ruben
> Is it a good way to do it ? Do we need any additionnal stuff into
> deployers ? I remind having had the same problem also in pure Orocos :
> "when is my deployment finished?". Is this all related to the "we need
> a brand new deployer that can handle more complex stuff" statement ?
> (and at which Hermann will say : "don't recode them, they exists ! It
> should be outside Orocos." ;) )
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
Syncronizing ROS nodes and Orocos Deployment
2012/4/13 Ruben Smits <ruben [dot] smits [..] ...>:
> On Fri, Apr 13, 2012 at 2:08 PM, Willy Lambert <lambert [dot] willy [..] ...> wrote:
>> Hi,
>>
>> I have an application with both Orocos and ROS working together. As my
>> code is growing I now have the need to infor the ROS coordination
>> stuff that my "Orocos nodes" finished their deployment. For now the
>> only quick way I found is to create a "LastComponent" that have
>> deployed(Bool) port which is streamed into a rostopic. So my Ros stuff
>> can wait on the topic to received the deployed=True message.
>
> If you do your deployment using rttlua, you can just add the
> deployed-port to the (rtt)LuaComponent and you would not need to
> create an extra dummy component.
>
> Ruben
>
>> Is it a good way to do it ? Do we need any additionnal stuff into
>> deployers ? I remind having had the same problem also in pure Orocos :
>> "when is my deployment finished?". Is this all related to the "we need
>> a brand new deployer that can handle more complex stuff" statement ?
>> (and at which Hermann will say : "don't recode them, they exists ! It
>> should be outside Orocos." ;) )
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
Thanks, for answers !
Syncronizing ROS nodes and Orocos Deployment
On Fri, Apr 13, 2012 at 02:08:52PM +0200, Willy Lambert wrote:
> Hi,
>
> I have an application with both Orocos and ROS working together. As my
> code is growing I now have the need to infor the ROS coordination
> stuff that my "Orocos nodes" finished their deployment. For now the
> only quick way I found is to create a "LastComponent" that have
> deployed(Bool) port which is streamed into a rostopic. So my Ros stuff
> can wait on the topic to received the deployed=True message.
I think it's fine, you are raising an event when your deployment has
finished.
> Is it a good way to do it ? Do we need any additionnal stuff into
> deployers ? I remind having had the same problem also in pure Orocos :
> "when is my deployment finished?". Is this all related to the "we need
> a brand new deployer that can handle more complex stuff" statement ?
> (and at which Hermann will say : "don't recode them, they exists ! It
> should be outside Orocos." ;) )
Markus