[Rock-dev] Cannot typedef already defined types!

[Ajish Babu]

Hi,

the line triggering the error is
/using_task_library "cog_support_polygon"/
which contains the port with this datatype. The complete file looks like

/name "sherpa_tt_deployments"

using_task_library "trajectory_generation"
using_task_library "cog_support_polygon"
using_task_library "sherpa_tt_mcs"
using_task_library "sams"

deployment 'sherpa_tt_kinematics' do
     task("self_collision_viz", "sams::SelfCollisionViz").
         realtime.priority(40)

     task("self_collision_ctrl", "sams::SelfCollisionCtrl").
         realtime.priority(70)

     task("self_collision_check", "sams::SelfCollisionCheck").
         realtime.priority(70)

     task("cog_support_polygon", "cog_support_polygon::Task").
         realtime.priority(70)

     task("rml_position", "trajectory_generation::Task").
         realtime.priority(80).
         periodic(0.01)

     task("sherpa_tt_mcs", "sherpa_tt_mcs::Task" ).
         realtime.priority(80)

     add_default_logger
end/

and the cog_support_polygon.orogen looks like

/name "cog_support_polygon"

using_library "kdl_parser"
using_library "cog_support_polygon"
import_types_from "base"
import_types_from "cog_support_polygonTypes.hpp"
import_types_from "cog_support_polygon/SupportPolygon.hpp"

task_context "Task" do
     needs_configuration

     runtime_states 'WITHIN_SAFETY_MARGIN',
         'OUTSIDE_SAFETY_MARGIN',
         'OUTSIDE_SUPPORT_POLYGON'

     #Properties
     property("urdf_file", "/std/string").
         doc("UDRF file for the robot")

     property("safety_margin", "/double", 0.0).
         doc("Minimum allowed distance to edge of convex hull")

     #Input ports
     input_port("enabled", "bool").
         doc("Set true to enable to modify command")

     input_port("joints_command", "/base/commands/Joints").
         doc("Current joint state")

     input_port("body_orientation", "/base/Quaterniond").
         doc("Orientation of the body w.r.t the world CS")

     input_port("support_points", "///cog_support_polygon/PolygonPoints3d").
         doc("Points which are part of the support")

     #Output ports
     output_port("modified_joints_command", "/base/commands/Joints").
         doc("Reference for joints")

     output_port("support_polygon_info", 
"/cog_support_polygon/SupportPolygonInfo").
         doc("Data output from the support polygon")

     # Computed time for one cycle in seconds
     output_port "actual_cycle_time", "/double"

     port_driven 'joints_command'
end/*

*Now it is running without using the typedef !*

*regards
Ajish*
*

On 05/13/2014 11:39 PM, Sylvain Joyeux wrote:
> What is unclear is what generates the error from the orogen file. What 
> is inside the sherpa_tt_deployments.orogen file ? (especially in the 
> first few lines ...)
>
> Sylvain
>
>
> On Tue, May 13, 2014 at 3:31 PM, Ajish Babu <ajish.babu at dfki.de 
> <mailto:ajish.babu at dfki.de>> wrote:
>
>     Hi all,
>
>     I was trying to use the type *
>     typedef std::vector< base::Vector3d > PolygonPoints3d;*
>     as port type in orogen module. The module builds without problems.
>
>     But when I try to build the deployment it gives an error
>     *sherpa_tt_deployments.orogen:4: type
>     /cog_support_polygon/PolygonPoints3d is not declared
>     (Orocos::Generation::ConfigError). *
>
>     What I understand now is that the type *std::vector<
>     base::Vector3d > *is already in the typekit in
>     base/orogen/types/base.orogen. I could not find any warnings about it.
>
>     Does anybody know what is going on? Why was there no problem in
>     building the module? Why would another typedef create such a problem?
>
>     regards
>     Ajish
>
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>

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