[Rock-dev] Setting up controller using Ruby

[Sylvain Joyeux]

On 02/12/2011 11:07 PM, gprizzi at tin.it wrote:
>  Dear Sirs,
>
>  first of all thank you for the great work on orogen, using it to 
> build Orocos components is now easy.
>
>  Now I am trying to use roby to set up a controller but I have 
> difficulties in doing this.
>
>  I had a look at  the documentation and I did the following:
>
>  mkdir myRosetta
>
>  cd myRosetta
>
>  roby init -p orocos
>
>  then I edit config/init.rb adding
>
>  Roby.app.using 'orocos'
>
>  then in 'config' directory I created ROBOT.rb and I put in it the 
> following line
>
>   Roby.app.use_deployments_from "Rosetta"
>
>  Where Rosetta (first letter uppercase) is then name of a deployment 
> generated from an orogen project.
>  The binary for Rosetta is located in /usr/local/lib/rock/bin/  , my 
> installation directory.
>
>  After this  I created in /root/rock/robyRosetta/tasks/compositions/
>  the file
>
>  myRosetta.rb
>
>  in which I put
>
> using_task_library 'rosetta'
> composition 'Controller' do
>   add LabcommToOrocos::Task, :as => 'lc'
>   add IntentionEstimation::Task, :as => 'est'
>   autoconnect
> end
>
> Where rosetta (first letter lower case) is the name of the orogen project
> defined in the first row of my orogen file as
>
> name 'rosetta'
> version '1.0'
>
> and LabcommToOrocos and IntentionEstimation are two task_context 
> defined in the project.
>
> when I run the command
>
> /root/rock/robyRosetta/scripts/orocos/system_model -o svg -r ROBOT.rb
>
> I get the following errors:
>
> root at UBU1004:~/rock/robyRosetta# 
> /root/rock/robyRosetta/scripts/orocos/system_model -o svg -r ROBOT.rb
>
> = uninitialized constant Kernel::LabcommToOrocos (NameError)
> = Backtrace
> | tasks/compositions/myRosetta.rb:3,
> |   tasks/compositions/myRosetta.rb:3,
> |   tasks/compositions/myRosetta.rb:2,
> |   /root/rock/robyRosetta/scripts/orocos/system_model:3
> =
>
>
> I am missing some important thing can you help me to understand my error?
You need to prefix your task context names with the project name 
(converted to CamelCase)

In you case,

composition 'Controller' do
   add Rosetta::LabcommToOrocos::Task, :as => 'lc'
   add Rosetta::IntentionEstimation::Task, :as => 'est'
   autoconnect
end


>
> Thank you in advance.
>
> Gianpaolo Rizzi
>
>
> _______________________________________________
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> Rock-dev at dfki.de
> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev


-- 
Sylvain Joyeux
Space&  Security Robotics

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