ceverett's profile - activity

I have it working now. I pasted the correct code now, which subclasses SimpleActionState and will abort the state in a separate heartbeat thread if it hasn't received feedback in 3 seconds. If you have any feedback that would be great, but I am marking this as answered. Thanks again.

Thank you very much. I added the code for my first pass at this suggestion to the question above. However, I am not sure how I can abort? Please take a look at the method/thread _heartbeat_timer() where I try to abort. What should I call to force an abort? Thanks!

I found a related issue, but it doesn't say how to address the problem with smach: simpleactionstate-behaviour-if-action-server-crashes

In previous versions of rosjava, I used to be able to start my node using roslaunch or rosrun. Now, it seems that to execute a node (as shown in the tutorials), I have to use the following syntax: ./my_pub_sub_tutorial com.github.rosjava_catkin_package_a.my_pub_sub_tutorial.Talker &

Please advise if it is still possible to use roslaunch and a launch file. I prefer to launch my java nodes this way, to be able to set parameters in a consistent way with my C++ based nodes. Now, I get an errror, "cannot launch node of type [execute]".

Also, it is not clear if I should be creating my rosjava subprojects as libraries (jar files) or executables to do this.

Thanks in advance.

I cannot get my cross compile to link to the boost libraries in my buildroot.

How can I get catkin/cmake to find the correct libraries (using the arm native libraries in my buildroot instead of the i386 system libraries)? I have tried updating LD_LIBRARY_PATH, and CMAKE_PREFIX_PATH, but I still get linker errors:

/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lPocoFoundation
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_signals-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_filesystem-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -llog4cxx
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_regex-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_date_time-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_system-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_thread-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find /lib/libpthread.so.0
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find /usr/lib/libpthread_nonshared.a

I think this is because cmake does not like that there are multiple versions of this library on the system, even though I order them in the LD_LIBRARY_PATH!

-- catkin 0.5.86
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.49.0
-- Found the following Boost libraries:
--   system
--   thread
-- Configuring done
CMake Warning at CMakeLists.txt:109 (add_library):
  Cannot generate a safe runtime search path for target gt_formation because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libPocoFoundation.so.9] in /usr/lib may be hidden by files in:
      /home/uav/rpi/rootfs/usr/lib
    runtime library [liblog4cxx.so.10] in /usr/lib may be hidden by files in:
      /home/uav/rpi/rootfs/usr/lib

  Some of these libraries may not be found correctly.

Yes, cmake, I know. I "hid" them on purpose. Why is it ignoring the CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY setting?

So, what is the correct way of forcing cmake to use the libs in the buildroot?

Here is my toolchain.cmake file:

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_C_COMPILER arm-linux-gnueabi-gcc)
#$ENV{HOME}/rpi/tools/arm-bcm2708/arm-bcm2708-linux-gnueabi/arm-bcm2708-linux-gnueabi/bin/gcc)
set(CMAKE_CXX_COMPILER arm-linux-gnueabi-g++-4.4)
set(CMAKE_FIND_ROOT_PATH $ENV{HOME}/rpi/tools/arm-bcm2708/arm-bcm2708-linux-gnueabi/arm-bcm2708-linux-gnueabi/sysroot $ENV{HOME}/rpi/rootfs $ENV{HOME}/rpi/rootfs/e2fsprogs-1.42.9 $ENV{HOME}/rpi/rootfs/usr $ENV{HOME}/rpi/rootfs/usr/lib $ENV{HOME}/rpi/rootfs/usr/include $ENV{HOME}/rpi/ros_catkin_ws/install_isolated $ENV{HOME}/rpi/ros_catkin_ws/install_isolated/lib)
set(CMAKE_LIBRARY_PATH $ENV{HOME}/rpi/ros_catkin_ws/install_isolated $ENV{HOME}/rpi/ros_catkin_ws/install_isolated/lib)
set(BOOST_LIBRARYDIR /home/uav/rpi/rootfs/usr/lib)
set(Boost_LIBRARY_DIRS /home/uav/rpi/rootfs/usr/lib)
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

Thanks in advance!