[Rock-dev] R: Re: orogen components not loaded by deployer-gnulinux

[gprizzi at tin.it]

Dear Sir,

Yes you are right!


Thank you a lot for your support and for your great work!

Gianpaolo Rizzi

----Messaggio originale----
Da: sylvain.joyeux at dfki.de
Data: 11-gen-2011 4.43 PM
A: "gprizzi at tin.it"<gprizzi at tin.it>
Cc: <rock-dev at dfki.de>
Ogg: Re: [Rock-dev] orogen components not loaded by deployer-gnulinux

On 01/07/2011 08:52 PM, gprizzi at tin.it wrote:
> Dear Sir,
>
> I have just update with the commands
> autoproj update
> autoproj build
>
> enabling OCL.
>
> I tried to load a few test component of mine: "mattest" and "rosetta1"
> with deployer-gnulinux
> I got the following errors on rosetta1, instead mattest is listed as
> available.
>
> root at UBU1004:~/rock/TestMat/build# deployer-gnulinux
> 0.399 [ ERROR ][TypekitRepository::Import] A protocol with id 42 was
> already added for type /std/string
> 0.401 [ Warning][TypekitRepository::Import] Overriding TypeInfo for
> '/std/string'.
> 0.401 [ Warning][TypekitRepository::Import] Attempt to register Type
> '/std/string' twice to the Orocos Type System.
> 0.401 [ ERROR ][TypekitRepository::Import] A protocol with id 42 was
> already added for type /std/string
> 1.143 [ Warning][TypekitRepository::Import] Overriding TypeInfo for
> '/std/string'.
> 1.930 [ ERROR ][TypekitRepository::Import] A protocol with id 1 was
> already added for type /std/string
> 2.238 [ Warning][TypekitRepository::Import] Overriding TypeInfo for
> '/std/vector</int32_t>'.
> 2.330 [ ERROR ][DeploymentComponent::configure] Could not load library
> '/usr/local/lib/rock/lib/orocos/librosetta1-tasks-gnulinux.so':
> 2.330 [ ERROR ][DeploymentComponent::configure]
> /usr/local/lib/rock/lib/orocos/librosetta1-tasks-gnulinux.so: undefined
> symbol: _ZTVN2cv12VideoCaptureE
> Switched to : Deployer
>
> This console reader allows you to browse and manipulate TaskContexts.
> You can type in an operation, expression, create or change variables.
> (type 'help' for instructions and 'ls' for context info)
>
> TAB completion and HISTORY is available ('bash' like)
>
> Deployer [S]> displayComponentTypes
> I can create the following component types:
> OCL::ConsoleReporting
> OCL::FileReporting
> OCL::HMIConsoleOutput
> OCL::HelloWorld
> OCL::LuaComponent
> OCL::TcpReporting
> OCL::TimerComponent
> OCL::logging::Appender
> OCL::logging::FileAppender
> OCL::logging::LoggingService
> OCL::logging::OstreamAppender
> TaskContext
> canbus::Task
> controldev::GenericTask
> controldev::Local
> controldev::Remote
> corridor_planner::Task
> dynamixel::Task
> gps::BaseTask
> gps::GPSDTask
> gps::MB500Task
> hokuyo::Task
> logger::Logger
> logger::LoggerTest
> mattest::matTask
> parport::Task
> skid4_control::Controller
> skid4_control::FourWheelController
> skid4_control::SimpleController
> trajectory_follower::Task
> vicon::Task
> waypoint_navigation::Task
> wifimon::Monitor
> xsens_imu::Task
> = (void)
>
> Deployer [S]>
>
>
>
> rosetta1 module link opencv library instead mattest does't use any
> special library.
> Is it possible to use module base on external libraries?
> Am I missing something?
>
> The orogen generated deployment Rosetta1 works fine as standalone
> executable.
I think I found the problem

You manually link to opencv, highgui and rtt-marshalling in the root 
CMakeLists.txt, which is indeed required.

However, you link the deployment (target = Rosetta1) and not the task 
library.

Move the find_* and target_link_libraries calls from ./CMakeLists.txt to 
tasks/CMakeLists.txt. Add the find calls at the top, and update the 
existing target_link_libraries by adding the linking listed in the root 
CMakeLists.txt

Hope this helps
-- 
Sylvain Joyeux (Dr.Ing.)
Space &amp; Security Robotics

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