Re: orocos_toolchain, support for Xenomai 3

----- Mail original -----
> De: "Peter Soetens" <[email protected]>
> À: "Huy Cong Vu" <[email protected]>
> Cc: "orocos-dev" <[email protected]>
> Envoyé: Mercredi 4 Mars 2015 09:25:03
> Objet: Re: [Orocos-Dev] orocos_toolchain, support for Xenomai 3

> Hi Huy Cong,
> 
> On Fri, Feb 27, 2015 at 3:24 PM, Huy Cong Vu <[email protected]> wrote:
>> Hello everyone,
>>
>> I recently made a Xenomai 3 support patch for orocos toolchain, fuerte
>> branch, that I attach in this message. For now it is compilable against
>> xenomai-3 next branch (need a small patch for Xenomai 3 too, that I also
>> attach in here). However, I dont know which test to run to know if the new
>> toolchain still working properly, and my patch is mainly for Xenomai
>> support, so the flags that I inserted in may corrupt build for other sys &
>> arch. If someone have time to take a look at my patch and do some necessary
>> modifications it will be very helpful for me. I run my 1st test with 1 of my
>> .launch file using deployer-xenomai, and it can't read the args (which
>> indicate some .ops file to run). So there definetely a problem somewhere.
> 
> Probably the error is just in your launch file. Please also note that
> most ROS development
> is going on on the indigo branches on github. Why did you use fuerte ?

The dev of our platform use fuerte to make it easier to adapt with, it still use rosbuid as build toolchain that some of our developpers are get used to.

After some test I realize that there is more problem on runtime, especially with alchemy skin, most problem are at copperplate level when initializing, so I will migrate also the base Xenomai API of Orocos from alchemy to cobalt to avoid pass through copperplate. I will update it in this post.

Also, I'm doing a migration from fuerte to indigo. Now I'm following this guide to catkinize my old rosbuild packages. But there is something weird: 

1.When I add a path in ROS_PACKAGE_PATH variable that contains a stack, when I run:

rospack profile

It gives:

Segmentation fault (core dumped)

Does it means that under the path of ROS, there are only packages (but not stack)?

2. I tried to apply the catkinize script to my package:

catkinize {my_package} 1.0.0

And this is what is returned:

Traceback (most recent call last):
  File "/usr/local/bin/catkinize", line 5, in <module>
    pkg_resources.run_script('catkinize==0.1', 'catkinize')
  File "/usr/lib/python2.7/dist-packages/pkg_resources.py", line 528, in run_script
    self.require(requires)[0].run_script(script_name, ns)
  File "/usr/lib/python2.7/dist-packages/pkg_resources.py", line 1401, in run_script
    exec(script_code, namespace, namespace)
  File "/usr/local/lib/python2.7/dist-packages/catkinize-0.1-py2.7.egg/EGG-INFO/scripts/catkinize", line 61, in <module>
    
  File "/usr/local/lib/python2.7/dist-packages/catkinize-0.1-py2.7.egg/EGG-INFO/scripts/catkinize", line 56, in main
    
  File "build/bdist.linux-x86_64/egg/catkinize/main.py", line 79, in catkinize_stack
ValueError: Path is not a rosbuild stack, missing stack.xml at {my_package}
 
This is just a single package so it didn't have stack.xml file, what should I do? 

> 
> If you supply ROS arguments to the deployer in the launch file, don't
> forget to add '--'
> as extra argument before the ROS arguments, or it may be confused by these
> parameters.
> 
> You can just run the deployer-xenomai from the commandline as well to check
> if it starts.
> 
>>
>> Some infos about my platform: ROS desktop-full fuerte orocos fuerte, patch
>> with rtt-xenomai-3.patch & ocl-xenomai-3.patch following xenomai-3-next most
>> recent commit, patch with xenomai-3-extras.patch
> 
> It would be good if the version 3 changes in the code are guarded with a
> #if ...#else... #endif version check statements.
> 
>>
>> Thanks for spend your time to read this :)
> 
> Peter

-- 
Huy Cong
Wandercraft SAS
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