[Rock-dev] [rock] #405: Syskit not finding a transformation

[rock]

#405: Syskit not finding a transformation
------------------------+-----------------------------------
 Reporter:  rdominguez  |      Owner:  rock-dev-mailing-list
     Type:  defect      |     Status:  new
 Priority:  major       |  Milestone:
Component:  base        |   Keywords:  syskit transformer
------------------------+-----------------------------------
 I am trying to use the tilt_scan component. Running with a script that
 uses the bundle works.

 Syskit is unable to find the transformation.

 {{{
 cannot find a port providing the transformation lower_dynamixel =>
 upper_dynamixel on
 ServoDynamixel::Task:0x8ccdc80
   owners: Roby::Distributed
   arguments: :driver_dev => device(Dev::Actuators::Dynamixel, :as =>
 dynamixel),
   :conf => ["default"]
 }}}

 rock/models/orogen/servo_dynamixel.rb:
 {{{
 require 'models/blueprints/devices'
 class ServoDynamixel::Task
     driver_for Dev::Actuators::Dynamixel, :as => 'driver'

     orogen_model.find_port('command').multiplexes

     transformer do
         frames "lower", "upper"
         transform_output "transforms", "lower" => "upper"
     end
 end
 }}}

 In the profile the transformations are declared (after all other
 declarations) as follows:
 {{{
 transformer do
                 dynamic_transform skid4_odometry_def, 'body' => 'odometry'
                 dynamic_transform ptu_dev, 'ptu_head' => 'ptu_base'
                 dynamic_transform xsens_dev, 'xsens' => 'imu_enu'
                 dynamic_transform dynamixel_dev, 'lower_dynamixel' =>
 'upper_dynamixel'
 end
 }}}

 Thanks in advance for the help!

-- 
Ticket URL: <https://rock.opendfki.de/ticket/405>
rock <https://rock.opendfki.de>
rock: the robot construction kit