orocos 建立自己的模塊，編譯，測試

原創

2020-02-20 22:32

1建立模塊

 zz@ubuntu:~/orocos/myrobot$ orocreate-pkg myrobot component

2將模塊路徑加入包環境

zz@ubuntu:~/orocos/myrobot$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/zz/orocos/myrobot

3編譯模塊

# Standard build (installs in the same directory as Orocos Toolchain):
  $ mkdir build ; cd build
  $ cmake .. -DCMAKE_INSTALL_PREFIX=orocos
  $ make install
# OR: ROS build:
  $ make

4 模塊路徑加入可加載路徑中：

zz@ubuntu:~/orocos/myrobot$ export RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:/home/zz/orocos/myrobot/build/orocos/lib/orocos

5運行模塊

$ deployer-gnulinux
   Switched to : Deployer
 
  This console reader allows you to browse and manipulate TaskContexts.
  You can type in an operation, expression, create or change variables.
  (type 'help' for instructions and 'ls' for context info)
 
    TAB completion and HISTORY is available ('bash' like)
 
Deployer [S]> import("myrobot")
 = true
 
Deployer [S]> displayComponentTypes
I can create the following component types:
   Myrobot
   OCL::ConsoleReporting
   OCL::FileReporting
   OCL::HMIConsoleOutput
   OCL::HelloWorld
   OCL::TcpReporting
   OCL::TimerComponent
 = (void)
 
Deployer [S]> loadComponent("TheRobot","Myrobot")
Myrobot constructed !
 = true
 
Deployer [S]> cd TheRobot
   Switched to : TheRobot
TheRobot [S]> ls
 
 Listing TaskContext TheRobot[S] :
 
 Configuration Properties: (none)
 
 Provided Interface:
  Attributes   : (none)
  Operations      : activate cleanup configure error getPeriod inFatalError inRunTimeError 
isActive isConfigured isRunning setPeriod start stop trigger update 
 
 Data Flow Ports: (none)
 
 Services: 
(none)
 
 Requires Operations :  (none)
 Requests Services   :  (none)
 
 Peers        : (none)

參考：

https://www.orocos.org/wiki/orocos/toolchain/getting-started/using-orocreate-pkg