Re: Is kernel all I need?

On Thursday 25 March 2004 14:31, orocos orocos wrote:
> :: 1 ::
>
> I've downloaded kernel samples and everything is ok, but:
> * While doing make in cartesian_names:
>
> ...error: 'inspectReports' undeclared...

That's odd.. I can not find inspectReports in the 0.12.0 or 0.12.1 files i've 
put online. I use it only in the subversion branch...

>
> * Making 'integrated' returns following error:
>
> ...*** No rule to make target 'kernel.cxx'...]

The README reports that the example 'integrated' is out of date. We should 
leave it out of the release. Sorry.

>
> Are all these kernels supposed to compile?

integrated is the only one not.

>
> :: 2 ::
>
> I was wondering if KERNEL_NAME.o is all I need? What files do I
> need to run s i m p l e OROCOS application? I've read lots of
> documentation, but there is nothing about what shall I exactly
> write?

We are _working_ on this. Currently the kernel_samples nAxes application are 
the available examples. nAxes is for now only accessible through subversion, 
but we may put in online in a tar.gz when 0.14.0 comes out.

To allow faster setup of control applications, I am preparing for 0.14.0 Two 
Generic Hardware components (GenericEffector and GenericSensor) which allow 
any device driver access from the control kernel. The device drivers must 
implement the device_interface interface classes though (you need to do that 
too).

Next, I'm working on two application fronts : (simple) Signal Processing and 
Motion Control. The first is for easy setup/testing purposes mainly. You can 
read input signals (digital/analog), and send them back to an output device, 
or Generate a software signal (like a sine) and send that to an output 
device.
A simple P controller will be provided too.
The second application is for 6DOF robot movement. We have pretty much now, 
but testing is still very needed. We can 6D move/moveTo/wait (realtime) from 
Orocos program scripts or track generated 6D setpoint data.

>
> I suppose that there is something I should write which is
> hardware dependent. Somnething simillar to KinematicsFactoryKuka
> from CartesianKernel.cpp. A class like Irp6KinematicsFactory? ;]

You certainly need to make your own kinematics factory for your robot. The 
basic information is in KinematicsInterface.
Our own robot control has one kernel entirely dedicated at starting/stopping 
and controlling the robot. Other cascaded kernels send position commands.

>
> I don't know yet what to do with kernel.o file? How to execute
> it? I don't have any Kuka robot, so it won't work, but if I had,
> what shall I do?

normally, if you do make all (version 0.12.1), each test should compile an 
executable which you can run and adapt the .cpf files.

>
> Mabe you could give an outline of actions which have to be done
> to prepare s i m p l e OROCOS application.

The kernel_samples are meant to be simple demos. Feel free to send the 
complete make output to the orocos-dev mailinglist if you want more detailed 
help.

Peter
-- 
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Peter Soetens, Research Assistent                  http://www.orocos.org
Katholieke Universiteit Leuven
Division Production Engineering,                      tel. +32 16 322773
Machine Design and Automation                         fax. +32 16 322987
Celestijnenlaan 300B                   [email protected]
B-3001 Leuven Belgium                 http://www.mech.kuleuven.ac.be/pma
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