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How to load Orocos Component by loadComponent function?

asked 2017-08-16 09:08:58 -0500

sam gravatar image

I followed: http://rtt-lwr.readthedocs.io/en/late...

instructions:

cd ~/code/ros_kinetic/src/
catkin_create_pkg my_component rtt_ros roscpp ocl rtt_sensor_msgs
roscd my_component

src:

vim src/basic_orocos_rtt.cpp
#include <rtt/RTT.hpp>
#include <rtt/TaskContext.hpp>
#include <rtt/Component.hpp>
#include <rtt/Logger.hpp>

class MyComponent : public RTT::TaskContext
{
   public:
   // Constructor
   // That's the name you're gonna pass as first argument of "loadComponent"
   MyComponent(const std::string& name):
   RTT::TaskContext(name)
   {
        RTT::log(RTT::Info) << "Constructing ! " << RTT::endlog();
   }

   // The function called when writing my_component.configure()
   bool configureHook()
   {
        RTT::log(RTT::Info) << "Configuring  ! " << RTT::endlog();
        return true;
   }

   // The function called (periodically or not) when calling my_component.start()
   void updateHook()
   {
        RTT::log(RTT::Info) << "Updating ! " << RTT::endlog();
   }
};
ORO_CREATE_COMPONENT(MyComponent) //Let Orocos know how to build this component

CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(my_component)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rtt_sensor_msgs
  rtt_ros
  cmake_modules
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package ...
(more)
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1 Answer

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answered 2018-04-03 04:02:33 -0500

dinesh gravatar image

I think u have to create a deployer script for that i.e to load a component in a deployer. u can either use lua, ops or xml script for that. in ops script it will be:

loadComponent("your_component_name", "actual_component")

here u can check which components can be loaded by typing displayComponents in taskbrowser i.e inside deployer. if u can't see the component which u want to load. than u have to first load the package which contains that component. For exampke if u have created that component inside a package named package_1 which may be ros package. Than u have to type:

import("package_1")

so that all the components which u have created inside this package will be avialabe in the taskborwser.

So all together: 1. import("package_name") 2. loadComponent("name_u_like", "component_name") thats all.

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Asked: 2017-08-16 09:08:58 -0500

Seen: 109 times

Last updated: Apr 03 '18