On Thu, Dec 2, 2010 at 4:54 PM, Peter Soetens <peter [..] ...>wrote:

> On Thursday 02 December 2010 16:34:38 Steven Bellens wrote:
> > 2010/12/2 Peter Soetens <peter [..] ...>:
> > > On Thursday 02 December 2010 11:07:18 Steven Bellens wrote:
> > >> 2010/12/2 Peter Soetens <peter [..] ...>:
> > >> > On Thursday 02 December 2010 10:24:18 Steven Bellens wrote:
> > >> >> I've generated the RTT typekit using the rtt_ros_integration macro
> > >> >> for the brics_actuator package
> > >> >> (https://github.com/abubeck/brics-interfaces). However, upon
> loading
> > >> >> the typekit, the deployer knows all the types but only decomposes
> > >> >> part of them. For example:
> > >> >>
> > >> >> "Configuration Properties:
> > >> >> JointPositions pos_tmp = {poisonStamp = {originator = ,
> > >> >> description = , qos = 0 }, positions = (unknown_t) } ()"
> > >> >>
> > >> >> the positions element is an array of JointValue messages. This
> > >> >> "JointValue" type is known to the type system:
> > >> >>
> > >> >> "Controller [R]> var JointValue t
> > >> >> = {value = 0 }"
> > >> >>
> > >> >> Why is the positions element not properly decomposed / known to the
> > >> >> system?
> > >> >
> > >> > What does '.types' list ? Is positions an std::vector or a fixed
> size
> > >> > [] array of JointValue ?
> > >>
> > >> ".types
> > >> Available data types: Bool Byte ByteMultiArray CartesianImpedance
> > >> CartesianPose CartesianTwist CartesianVector CartesianWrench Char
> > >> Clock ColorRGBA ConnPolicy Duration Empty Float32 Float32MultiArray
> > >> Float64 Float64MultiArray FlowStatus Header Int16 Int16MultiArray
> > >> Int32 Int32MultiArray Int64 Int64MultiArray Int8 Int8MultiArray
> > >> JointAccelerations JointConstraint JointImpedances JointPositions
> > >> JointTorques JointValue JointValues JointVelocities Log
> > >> MultiArrayDimension MultiArrayLayout Point Point32 PointStamped Poison
> > >> Polygon PolygonStamped Pose Pose2D PoseArray PoseStamped
> > >> PoseWithCovariance PoseWithCovarianceStamped PropertyBag Quaternion
> > >> QuaternionStamped SendHandle SendStatus String TaskContext Time
> > >> Transform TransformStamped Twist TwistStamped TwistWithCovariance
> > >> TwistWithCovarianceStamped UInt16 UInt16MultiArray UInt32
> > >> UInt32MultiArray UInt64 UInt64MultiArray UInt8 UInt8MultiArray Vector3
> > >> Vector3Stamped Wrench WrenchStamped array bool char double float int
> > >> rt_string string time uint void"
> > >>
> > >> It's an std::vector of JointValue
> > >
> > > If a type is unknown_t, it means the proper typekit has not been found.
> > > We need a better look at the generated code to figure out what went
> > > wrong...
> > >
> > > Somehow, the typeinfo for JointValue[] has not been generated, probably
> > > because no .msg file for it exists. A solution would be to generate the
> > > SequenceTypeInfo<T> for each .msg type as well, such that we
> > > automatically support a sequence of each message type. This is adding
> > > one line of code in the template files for generating the typekits (ie,
> > > below where it says StructTypeInfo<T>(...) ) You could then name that
> > > sequence type 'Name'[]
> >
> > I need some help with the syntax:
> > The current code now states:
> > "RTT::types::Types()->addType( new
> > types::StructTypeInfo<@ROSMSGTYPE@>("@ROSMSGNAME@") );"
> >
> > I thought about adding:
> >
> > RTT::types::Types()->addType( new types::StructTypeInfo<std::vector
> > <@ROSMSGTYPE@>>("@ROSMSGNAME@_array") );
> >
> > How would the syntax be with the [] operator?
>
> You have to add instead of what you propose:
>
> RTT::types::Types()->addType( new types::SequenceTypeInfo<std::vector
> <@ROSMSGTYPE@>>("@ROSMSGNAME@[]") );
>

You probably also want to add a space between the two closing angular
brackets above so the compiler doesn't complain, i.e., <@ROSMSGTYPE@>>
becomes <@ROSMSGTYPE@> >

Adolfo

>
> So Sequence instead of Struct and use [] in the name to match the ROS name.
>
> Peter
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