bulgrozer's profile - activity

Hi everyone,

Since few days I try to understand and use Nodelet to dynamically load process from a cpp Node. I read lots of questions and answer from this forum and I have a problem. (Btw thanks to the community with clear answers on many questions)

I just copied the code from nodelet_tutorial_math and modified it to republish with custom messages and I can launch my Node using this launch file:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" />
  <node pkg="nodelet" type="nodelet" name="test_nodelet" 
    args="load test_nodelet/Add nodelet_manager">
  </node>
</launch>

But when I try to use the following commands:

rosrun nodelet nodelet manager __name:=nodelet_manager 
rosrun nodelet nodelet load test_nodelet/Add nodelet_manager __name:=test_nodelet

I can't run my nodelet because the manager does not find it in the nodelet package:

[ERROR] [1490717511.798024359]: Failed to load nodelet [/nodelet_test] of type [test_nodelet/Add] even after refreshing the cache: According to the loaded plugin descriptions the class test_nodelet/Add with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/debayer image_proc/rectify image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1490717511.798075777]: The error before refreshing the cache was: According to the loaded plugin descriptions the class test_nodelet/Add with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/debayer image_proc/rectify image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2

My CMakeList is the following one:

cmake_minimum_required(VERSION 2.8.3)
project(test_nodelet)

add_definitions(-std=c++11)


find_package(catkin REQUIRED COMPONENTS nodelet roscpp std_msgs)

include_directories(${catkin_INCLUDE_DIRS})

catkin_package(
  LIBRARIES nodelet_test
  CATKIN_DEPENDS nodelet roscpp std_msgs
)

add_library(nodelet_test src/test_nodelet.cpp)
target_link_libraries(nodelet_test ${catkin_LIBRARIES})
if(catkin_EXPORTED_LIBRARIES)
  add_dependencies(nodelet_test ${catkin_EXPORTED_LIBRARIES})
endif()

install(TARGETS nodelet_test
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(FILES nodelet_test.xml 
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

and here is my nodelet_test.xml:

<library path="lib/libnodelet_test">
  <class name="test_nodelet/Add" 
         type="test_nodelet::Add" 
         base_class_type="nodelet::Nodelet ...

Hi,

I've tried to code a simple service between a client node and a proxy node and i have this error :

In file included from /opt/ros/indigo/include/ros/publisher.h:34:0, from /opt/ros/indigo/include/ros/node_handle.h:32, from /opt/ros/indigo/include/ros/ros.h:45, from /home/mamy/ftm_ws/src/pbr/src/proxy/proxy.cpp:1: /opt/ros/indigo/include/ros/serialization.h: In instantiation of ‘static void ros::serialization::Serializer<t>::read(Stream&, typename boost::call_traits<t>::reference) [with Stream = ros::serialization::IStream; T = const client::SrvCltRequest_<std::allocator<void> >; typename boost::call_traits<t>::reference = const client::SrvCltRequest_<std::allocator<void> >&]’: /opt/ros/indigo/include/ros/serialization.h:163:32: required from ‘void ros::serialization::deserialize(Stream&, T&) [with T = const client::SrvCltRequest_<std::allocator<void> >; Stream = ros::serialization::IStream]’ /opt/ros/indigo/include/ros/serialization.h:900:25: required from ‘void ros::serialization::deserializeMessage(const ros::SerializedMessage&, M&) [with M = const client::SrvCltRequest_<std::allocator<void> >]’ /opt/ros/indigo/include/ros/service_callback_helper.h:176:49: required from ‘bool ros::ServiceCallbackHelperT<spec>::call(ros::ServiceCallbackHelperCallParams&) [with Spec = ros::ServiceSpec<const client::srvcltrequest_<std::allocator<void=""> >, client::SrvCltResponse_<std::allocator<void> > >]’ /home/mamy/ftm_ws/src/pbr/src/proxy/proxy.cpp:44:2: required from here /opt/ros/indigo/include/ros/serialization.h:136:5: error: ‘const struct client::SrvCltRequest_<std::allocator<void> >’ has no member named ‘deserialize’ t.deserialize(stream.getData());

here is my code and I don't understand this problem :

#include "ros/ros.h"
#include <iostream>
#include <stdio.h>
#include "std_msgs/String.h"
#include "std_msgs/Header.h"

#include "proxy.h"

#include "communication/MsgPxyPro.h"
#include "communication/MsgProPxy.h"
#include "client/SrvClt.h"

Proxy::Proxy(){
// Initialisation of Publisher on topic "Proxy - Protocol"  
//pub_pxy_pro = nh.advertise<communication::MsgPxyPro>("/pxy2pro", 10);     
// Initialisation of Subscriber on topic "Client - Proxy"
//sub_pro_pxy = nh.subscribe("/pro2pxy", 10, &Proxy::receiveAnswer,this);   
// Init of the Server on service "Client - Proxy"
ser_clt = nh.advertiseService("clt2pxy", &Proxy::addId,this);
};


bool Proxy::addId(const client::SrvClt::Request  &req, client::SrvClt::Response &res)
{
  /*//msg_pxy_pro.request = req.request;
   //msg_pxy_pro.id = req.header.seq; // A retravailler...
  pub_pxy_pro.publish(msg_pxy_pro);
 while (flag!=true)
 {
    usleep(100);
 }  
 //for(int i = 0;sizeof(answer);i++){
      //    res.answer[i] = *(answer+i);
//}
    flag = false;   */
 };

 void Proxy::receiveAnswer(const communication::MsgProPxy msg_pro_pxy)
{
/*for(int i = 0;sizeof(msg_pro_pxy.answer);i++){
    *(answer+i) = msg_pro_pxy.answer[i];
}
flag = true;*/
};

When I delete the line where I initiate my ser_clt, it compile without any problem, do you have a solution ?

Thx

Ps : Yes I've looked at my .h and everything should be alright

Edit :

For my organization I have 4 packages : - client - communication - pbr - tr - server

I dissociated the client and the server because they're should be independent at the end. I have, in my communication pkg, my proxy, my protocol and every msg and srv that not belong to the client and the server because they should be the same in my pbr pkg and tr pkg and I want to switch ... (more)