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orocos_toolchain: log4cpp | ocl | orogen | rtt | rtt_typelib | typelib | utilmm | utilrb

Package Summary

This package contains standard components for the Orocos Toolchain

orocos_toolchain: log4cpp | ocl | orogen | rtt | rtt_typelib | typelib | utilmm | utilrb

Package Summary

Orocos component library This package contains standard components for the Orocos Toolchain

orocos_toolchain: log4cpp | ocl | orogen | rtt | rtt_typelib | typelib | utilmm | utilrb

Package Summary

Orocos component library This package contains standard components for the Orocos Toolchain

orocos_toolchain: log4cpp | ocl | orogen | rtt | rtt_typelib | typelib | utilrb

Package Summary

Orocos component library This package contains standard components for the Orocos Toolchain

Package Summary

Orocos component library This package contains standard components for the Orocos Toolchain

Package Summary

Orocos component library This package contains standard components for the Orocos Toolchain

Package Summary

Orocos component library This package contains standard components for the Orocos Toolchain

How to deploy your OROCOS application

Read the OROCOS deployment manual for detailed information on how to use the deployer.

Run the orocos deployer using rosrun

rosrun ocl deployer-gnulinux -ldebug -s deploy.ops

Where you define your launch configuration in the deploy.ops script, e.g.

   1 #import your OROCOS library (dependencies are automatically resolved)
   2 import("my{Ros/OROCOS}Pkg")
   3 
   4 #Load your OROCOS component (ComponentName as defined using the ORO_CREATE_* macro and Comp the name as you like the component to be known for the TaskBrowser)
   5 loadComponent("Comp","ComponentName")
   6 
   7 #Load properties
   8 loadService("Comp","marshalling")
   9 Comp.marshalling.loadProperties("cpf/myCompProp.cpf")
  10 
  11 # Configure / Start components 
  12 Comp.configure()
  13 Comp.start()

The myCompProp.cpf file declares the Components properties using XML syntax:

<?xml version="1.0" encoding="UTF-8"?>                                                                                                                            
  <!DOCTYPE properties SYSTEM "cpf.dtd">                                                                                                                            
    <properties>
     <simple name="init_file" type="string"><description>Name of the initialisation file</description><value>init.xml</value></simple>
    </properties>  

Roslaunch for OROCOS components

From orocos toolchain 2.2 and onwards, it is possible to start your OROCOS component(s) using a roslaunch file. In that way you can also give your component a more understandable name when using the rtt_ros_integration.

E.g, a roslaunch file myComp.launch to start the ocl deployer in debug mode and load the deploy.ops script in the myRosPkg package:

 <launch>                                                                                                                                                 
   <node name="myNodeName" pkg="ocl" type="deployer-gnulinux" launch-prefix="konsole -e" args="-ldebug -s $(find myRosPkg)/deploy.ops --">
   </node>           
  </launch> 

Important remarks:


2019-08-17 13:01