Re: Re: Re: Orocos Program
Peter Soetens <[email protected]>
| Newsgroups | gmane.science.robotics.orocos.user |
|---|---|
| Organization | KU Leuven |
| Message-ID | <[email protected]> |
On Tuesday 18 May 2004 09:58, Andrea Consonni wrote: > > Ok, we'll send the modified sources of Orocos to your personal e-mail. > Ok. That should do it. > >> 2) The StartupComponents struct in configuration xml file contains > >> the list of components which must be selected when the kernel is > >> started. However, we have noted that the componentStartup hook > >> of these components isn't executed. Why? > > > > This is strange, this works in the motion_tracking kernel for example. > > > > Possible mistakes are : > > * A spelling error in the xml file (you must specify the unique name > > given in the constructor of your component) > > Sorry, we had a spelling error in the xml file. We didn't see that because > the Generator MoveTo method was executed and we thought that the components > were selected in right way. Yes, this is a 'feature' of Orocos that you can also give commands to not selected components. If your command is only usefull when the component is selected (like a moveto), you can check it in various ways. You can set a flag in the componentStartup/componentShutdown, and check for it in your commands (this is a bit cumbersome). I will add a this->isSelected() method on the component to detect selection equivalent to this->inKernel() which detects if the component is loaded. But then you'll have to wait for the next release... Peter -- ------------------------------------------------------------------------ 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 ------------------------------------------------------------------------