Using complex data types with Corba

Hi all,

I'm trying to using complex data types with Corba but till now it doesn't work.

I tried to use typegen. It seams work and it generates a typekit folder with some cpp files, the corba IDL, and so on. It is also present a CMakeFile.txt.

So now I have my root folder with my components files, the deployer.xml file and this typekit folder.

- root
 - typekit
  - transport
   - corba
    - ...
    - CMakeList.txt
    - CorbaCCTypes.idl
    - TransportPlugin.cpp
    - TransportPlugin.hpp
   + mquee
   + typelib
 - deployer.xml
 - components.cpp
 - CmakeList.txt
 - ...

I don't know how to continue. How I can say to the deployer that it has to use the generated plugin?

When I run the command make from the root of the project it seams that it doesn't compile the typekite files. Do I have to add some lines in the main CMakeList?

I tried to insert the command "orocos_typegen_headers" but it overrides the file generated with typegen and generate files that seams not correct. For example the corba Idl is empty.

Thanks, Luca

Using complex data types with Corba

On Friday 08 July 2011 16:36:27 luca [dot] gherardi [..] ... wrote:
> Hi all,
>
> I'm trying to using complex data types with Corba but till now it doesn't
> work.
>
> I tried to use typegen. It seams work and it generates a typekit folder
> with some cpp files, the corba IDL, and so on. It is also present a
> CMakeFile.txt.
>
> So now I have my root folder with my components files, the deployer.xml
> file and this typekit folder.
>
> 
> - root
>  - typekit
>   - transport
>    - corba
>     - ...
>     - CMakeList.txt
>     - CorbaCCTypes.idl
>     - TransportPlugin.cpp
>     - TransportPlugin.hpp
>    + mquee
>    + typelib
>  - deployer.xml
>  - components.cpp
>  - CmakeList.txt
>  - ...
> 
> 
> 
>
>
> I don't know how to continue. How I can say to the deployer that it has to
> use the generated plugin?
>
> When I run the command make from the root of the project it seams that it
> doesn't compile the typekite files. Do I have to add some lines in the
> main CMakeList?

Can you provide us with the header file you use ? Than we can check what's
going wrong. Also be sure to tell us which version you are using.

>
> I tried to insert the command "orocos_typegen_headers" but it overrides the
> file generated with typegen and generate files that seams not correct. For
> example the corba Idl is empty.

That's not necessary, no generated file should be edited

Peter

Re: Using complex data types with Corba

peter wrote:
On Friday 08 July 2011 16:36:27 luca [dot] gherardi [..] ... wrote:

> I don't know how to continue. How I can say to the deployer that it has to > use the generated plugin? > > When I run the command make from the root of the project it seams that it > doesn't compile the typekite files. Do I have to add some lines in the > main CMakeList?

Can you provide us with the header file you use ? Than we can check what's going wrong. Also be sure to tell us which version you are using.

> > I tried to insert the command "orocos_typegen_headers" but it overrides the > file generated with typegen and generate files that seams not correct. For > example the corba Idl is empty.

That's not necessary, no generated file should be edited

Peter

Hi Peter,

I'm using the last version of RTT from the debian packages. I also have Ros installed on a Ubuntu 10.10 os.

This is the header, is very simple!

#include  <vector>
using namespace std;
 
namespace CollisionChecker{
    struct Obstacle{
            double center_x;
            double center_y;
            double radius;
    };
 
    struct RobotConfig{
            double center_x;
            double center_y;
            double radius;
    };
 
    struct Obstacles{
            vector<Obstacle> values;
    };
}

I developed the component without using typegen and it works. Then I generated the plugin with typegen but I'm not able to integrate this plugin in the corba deployer.

Thanks, Luca

Using complex data types with Corba

On Tue, Jul 12, 2011 at 11:10 PM, <luca [dot] gherardi [..] ...> wrote:
>

peter wrote:
On Friday 08 July 2011 16:36:27 luca [dot] gherardi [..] ... wrote:
>
>> I don't know how to continue. How I can say to the deployer that it has to
>> use the generated plugin?
>>
>> When I run the command make from the root of the project it seams that it
>> doesn't compile the typekite files. Do I have to add some lines in the
>> main CMakeList?
>
> Can you provide us with the header file you use ? Than we can check what's
> going wrong. Also be sure to tell us which version you are using.
>
>>
>> I tried to insert the command "orocos_typegen_headers" but it overrides the
>> file generated with typegen and generate files that seams not correct. For
>> example the corba Idl is empty.
>
> That's not necessary, no generated file should be edited
>
> Peter
>

>
> Hi Peter,
>
> I'm using the last version of RTT from the debian packages. I also have Ros installed on a Ubuntu 10.10 os.
>
> This is the header, is very simple!
>
> &#10;&gt; #include  &lt;vector&gt;&#10;&gt; using namespace std;&#10;&gt;&#10;&gt; namespace CollisionChecker{&#10;&gt;        struct Obstacle{&#10;&gt;                        double center_x;&#10;&gt;                        double center_y;&#10;&gt;                        double radius;&#10;&gt;        };&#10;&gt;&#10;&gt;        struct RobotConfig{&#10;&gt;                        double center_x;&#10;&gt;                        double center_y;&#10;&gt;                        double radius;&#10;&gt;        };&#10;&gt;&#10;&gt;        struct Obstacles{&#10;&gt;                        vector&lt;Obstacle&gt; values;&#10;&gt;        };&#10;&gt; }&#10;&gt;
>
> I developed the component without using typegen and it works.
> Then I generated the plugin with typegen but I'm not able to integrate this plugin in the corba deployer.

Works out of the box here:

typegen --output lcollision lcollision collision.hpp --transports corba
cd lcollsion
make
rosrun ocl deployer-corba-gnulinux
import("lcollision")
CollisionChecker.RobotConfig

Peter
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