On Tuesday 22 February 2011 23:55:26 Willy Lambert wrote: > 2011/2/22 Peter Soetens > > > > On Monday 21 February 2011 00:32:05 Willy Lambert wrote: > > 2011/2/8 Willy Lambert > > > > > > > >>> The standard way to run executables in ROS packages is with > > >>> rosrun, > > >>> e.g; > > >>> > > >>> rosrun ocl deployer-gnulinux > > >> > > >> Oh yes ! I still don't have the ROS reflexes :) > > > > > > it answers : > > > ard@ard-host-v5:/media/DD_data/home/ard$ rosrun ocl > > > deployer-gnulinux > > > [rosrun] You have chosen a non-unique executable, please pick one of > > > the following: > > > 1) /home/ard/ros/orocos_toolchain_ros/ocl/bin/deployer-gnulinux > > > 2) > > > /home/ard/ros/orocos_toolchain_ros/ocl/install/bin/deployer-gnulinu > > > x > > > #? > > > > > > I know there are egal because one is the "make installed" version > > > of the > > > > > > other, by I find it is strange and prevent from starting it > > > automatically after boot (of course I have solutions to avoid this, > > > but the rosway should work no ?) > > > > > > I makes me thinking about folder size and orocos_toolchain_ros is > > > 1,7Gb > > > on my computer x-( I know there is some hard work on code size > > > reduction on the Orocos side but nearly 2gb is quite huge. > > > > > > Does it exist a "rosmake clean" instruction ? > > > > Let me up this subject, > > after having built the orocos_toolchain_ros it seems it's a bit messy > > with build and installed files. Firstly, rosrun find 2 executables for > > deployer-gnulinux and can't choose. > > We're still looking on how to solve this. The problem is that we require a > 'make install' in ocl because the headers are included using > 'ocl/Header.hpp' by user code, while they are in the sources in > 'subproject/Header.hpp'. We discussed moving all headers to the ocl/ > directory, but this somewhat beats the purpose of the modularisation we > did. An alternative would be to create symlinks from ocl/Header.hpp to > subproject/Header.hpp in ROS_ROOT > environments. This might be the least intrusive step for now. > > Ok, but here it's about a binary > > > Secondly after having used "make clean" > > in all the packages of orocos_toolchain_ros stack, it reduced from > > nearly > > 2gb to 350Mb with is by far more acceptable. Is it any "ros" tool to do > > this ? Would it be possible to add a global "make clean" at the root of > > orocos_toolchain_ros ? > > Did you compile with MinSizeRel ? > > I used the default configuration and didn't thougth about this. > How may I change this with rosmake ? > There are different things you can use: I suggest you just edit the orocos- rtt.default.cmake file. > > The make clean is not what you want, since > it will also remove the libraries of the normal 'ros' packages, which don't > have an install step (so it only makes sense for RTT and OCL right now). > > People are looking at how to reduce code size, but for a development system, > it's always handy to have the .o files still there.... > > of course it is. But it is also handy to have a clean function before > copying on the robot (and not to embed the sources). > > In the "classic" orocos toolchain installation I used to copy the install > folder onto my target with the same path as on the building machine. If I > could create my_orocos_toolchain.deb easily I would install then on my > robot instead of copying. You could strip the orocos_toolchain_ros rtt and ocl packages after building and before copying it. AFAIK you can entirely remove the build directory. > As there is no "install" step yet in ROS, I just copy the complete ros_root > folder containing all the stacks (including orocos_toolchain_ros) onto the > target. So the .o goes with it. Maybe I could do better, but I don't know > how to do it > > > > > Peter -- Ruben