Hi,
the line triggering the error is
/using_task_library "cog_support_polygon"/
which contains the port with this datatype. The complete file looks like
/name "sherpa_tt_deployments"
using_task_library "trajectory_generation"
using_task_library "cog_support_polygon"
using_task_library "sherpa_tt_mcs"
using_task_library "sams"
deployment 'sherpa_tt_kinematics' do
task("self_collision_viz", "sams::SelfCollisionViz").
realtime.priority(40)
task("self_collision_ctrl", "sams::SelfCollisionCtrl").
realtime.priority(70)
task("self_collision_check", "sams::SelfCollisionCheck").
realtime.priority(70)
task("cog_support_polygon", "cog_support_polygon::Task").
realtime.priority(70)
task("rml_position", "trajectory_generation::Task").
realtime.priority(80).
periodic(0.01)
task("sherpa_tt_mcs", "sherpa_tt_mcs::Task" ).
realtime.priority(80)
add_default_logger
end/
and the cog_support_polygon.orogen looks like
/name "cog_support_polygon"
using_library "kdl_parser"
using_library "cog_support_polygon"
import_types_from "base"
import_types_from "cog_support_polygonTypes.hpp"
import_types_from "cog_support_polygon/SupportPolygon.hpp"
task_context "Task" do
needs_configuration
runtime_states 'WITHIN_SAFETY_MARGIN',
'OUTSIDE_SAFETY_MARGIN',
'OUTSIDE_SUPPORT_POLYGON'
#Properties
property("urdf_file", "/std/string").
doc("UDRF file for the robot")
property("safety_margin", "/double", 0.0).
doc("Minimum allowed distance to edge of convex hull")
#Input ports
input_port("enabled", "bool").
doc("Set true to enable to modify command")
input_port("joints_command", "/base/commands/Joints").
doc("Current joint state")
input_port("body_orientation", "/base/Quaterniond").
doc("Orientation of the body w.r.t the world CS")
input_port("support_points", "///cog_support_polygon/PolygonPoints3d").
doc("Points which are part of the support")
#Output ports
output_port("modified_joints_command", "/base/commands/Joints").
doc("Reference for joints")
output_port("support_polygon_info",
"/cog_support_polygon/SupportPolygonInfo").
doc("Data output from the support polygon")
# Computed time for one cycle in seconds
output_port "actual_cycle_time", "/double"
port_driven 'joints_command'
end/*
*Now it is running without using the typedef !*
*regards
Ajish*
*
On 05/13/2014 11:39 PM, Sylvain Joyeux wrote:
What is unclear is what generates the error from the orogen file. What
is inside the sherpa_tt_deployments.orogen file ? (especially in the
first few lines ...)
Sylvain
On Tue, May 13, 2014 at 3:31 PM, Ajish Babu <[email protected]
<mailto:[email protected]>> wrote:
Hi all,
I was trying to use the type *
typedef std::vector< base::Vector3d > PolygonPoints3d;*
as port type in orogen module. The module builds without problems.
But when I try to build the deployment it gives an error
*sherpa_tt_deployments.orogen:4: type
/cog_support_polygon/PolygonPoints3d is not declared
(Orocos::Generation::ConfigError). *
What I understand now is that the type *std::vector<
base::Vector3d > *is already in the typekit in
base/orogen/types/base.orogen. I could not find any warnings about it.
Does anybody know what is going on? Why was there no problem in
building the module? Why would another typedef create such a problem?
regards
Ajish
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