PLUGINLIB_REGISTER_CLASS is deprecated, but should still work just fine.

I wonder if the line: "using namespace my_controller_ns" before the macro
could screw things up. I don't have a great reason for this, but I seem to
remember the Poco manifest stuff being a bit finiky when it was called from
within a namespace and this could have a similar effect. Perhaps, instead of
using the namespace, remove that line, call the macro, open the
my_controller_ns namespace, and put the rest of your implementation inside
of that. I'm not sure that'll fix anything, but its worth a shot and its
more consistent with how most of our plugins are written.

Hope this helps,

Eitan

On Tue, Aug 3, 2010 at 1:51 PM, Stuart Glaser <sglaser@willowgarage.com>wrote:

> He does have PLUGINLIB_REGISTER_CLASS.  Doesn't that still work?
>
> -Stu
>
> On Tue, Aug 3, 2010 at 1:28 PM, Tully Foote <tfoote@willowgarage.com>
> wrote:
> > That error is due to a lack of the PLUGINLIB_DECLARE_CLASS macro.
> >  See http://www.ros.org/wiki/pluginlib/Troubleshooting
> >
> > Tully
> > On Tue, Aug 3, 2010 at 11:59 AM, Stuart Glaser <sglaser@willowgarage.com
> >
> > wrote:
> >>
> >> Hi Koen,
> >>
> >> This error:
> >>
> >> Cannot load library: No manifest in
> >>
> >>
> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so:
> >> MyControllerPlugin"
> >>
> >> indicates that the library was built incorrectly.  Pluginlib searches
> >> the library for a particular symbol in order to find the plugins, and
> >> this error explains that it couldn't find the symbol.  Run the
> >> following to see what plugins the library contains:
> >>
> >> nm lib/libmy_controller_lib.so  | grep pocoBuildManifest
> >>
> >> Is your plugin listed?
> >>
> >> -Stu
> >>
> >> On Tue, Aug 3, 2010 at 11:02 AM, koen buys <koen.buys@mech.kuleuven.be>
> >> wrote:
> >> > $ cat controller_plugins.xml
> >> > <library path="lib/libmy_controller_lib">
> >> >  <class name="MyControllerPlugin"
> >> >         type="my_controller_ns::MyControllerClass"
> >> >         base_class_type="pr2_controller_interface::Controller" />
> >> > </library>
> >> >
> >> >
> >> > On 3 August 2010 18:44, Rob Wheeler <wheeler@willowgarage.com> wrote:
> >> >> What does your controller_plugins.xml file look like?
> >> >>
> >> >> -R
> >> >>
> >> >> On Tue, Aug 3, 2010 at 7:23 AM, koen buys <
> koen.buys@mech.kuleuven.be>
> >> >> wrote:
> >> >>>
> >> >>> Hi all,
> >> >>>
> >> >>> I'm trying to run the following tutorial:
> >> >>>
> >> >>>
> >> >>>
> http://www.ros.org/wiki/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller
> >> >>> Rxconsole is giving me the following error:
> >> >>>
> >> >>> "Could not load class MyControllerPlugin: Failed to load library
> >> >>>
> >> >>>
> >> >>>
> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so.
> >> >>> Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in
> >> >>> the library code, and that names are consistent between this macro
> and
> >> >>> your XML. Error string: Cannot load library: No manifest in
> >> >>>
> >> >>>
> >> >>>
> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so:
> >> >>> MyControllerPlugin"
> >> >>>
> >> >>> Together with the following error after:
> >> >>>
> >> >>> "Could not load controller 'my_controller_name' because controller
> >> >>> type 'MyControllerPlugin' does not exist"
> >> >>>
> >> >>> We couldn't find the cause of it. When I did a :
> >> >>>
> >> >>> $ rosrun pr2_controller_manager pr2_controller_manager list-types
> >> >>> CartesianTrajectoryController
> >> >>> ContactObserverPlugin
> >> >>> JTTeleopController
> >> >>> JointGravityController
> >> >>> JointPendulumController
> >> >>> MyControllerPlugin
> >> >>> SlipGripControllerPlugin
> >> >>> SrhFakeJointCalibrationController
> >> >>> StanfordWBCPump
> >> >>> VelController
> >> >>> ethercat_trigger_controllers/MultiTriggerController
> >> >>> ethercat_trigger_controllers/ProjectorController
> >> >>> ethercat_trigger_controllers/TriggerController
> >> >>> ft_eval/PoseForceController
> >> >>> ft_eval/TwistForceController
> >> >>> joint_qualification_controllers/CheckoutController
> >> >>> joint_qualification_controllers/CounterbalanceTestController
> >> >>> joint_qualification_controllers/HeadPositionController
> >> >>> joint_qualification_controllers/HysteresisController
> >> >>> joint_qualification_controllers/JointLimitCalibrationController
> >> >>> joint_qualification_controllers/MotorJointCalibrationController
> >> >>> joint_qualification_controllers/WristDifferenceController
> >> >>> pr2_calibration_controllers/CasterCalibrationController
> >> >>> pr2_calibration_controllers/GripperCalibrationController
> >> >>> pr2_calibration_controllers/JointCalibrationController
> >> >>> pr2_calibration_controllers/WristCalibrationController
> >> >>> pr2_controller_manager/TestController
> >> >>> pr2_mechanism_controllers/CasterController
> >> >>> pr2_mechanism_controllers/CasterControllerNode
> >> >>> pr2_mechanism_controllers/LaserScannerTrajController
> >> >>> pr2_mechanism_controllers/Pr2BaseController
> >> >>> pr2_mechanism_controllers/Pr2BaseController2
> >> >>> pr2_mechanism_controllers/Pr2GripperController
> >> >>> pr2_mechanism_controllers/Pr2Odometry
> >> >>> robot_mechanism_controllers/CartesianPoseController
> >> >>> robot_mechanism_controllers/CartesianTwistController
> >> >>> robot_mechanism_controllers/CartesianWrenchController
> >> >>> robot_mechanism_controllers/JointEffortController
> >> >>> robot_mechanism_controllers/JointPositionController
> >> >>> robot_mechanism_controllers/JointSplineTrajectoryController
> >> >>> robot_mechanism_controllers/JointTrajectoryActionController
> >> >>> robot_mechanism_controllers/JointVelocityController
> >> >>> rttuning_controllers/JointTuningController
> >> >>> teleop_controllers/JinvTeleopController7
> >> >>> tff_controller/TFFController
> >> >>> tirt/TirtController
> >> >>>
> >> >>> It shows up. However now:
> >> >>>
> >> >>> $ rosrun pr2_controller_manager pr2_controller_manager load
> >> >>> MyControllerPlugin
> >> >>> Error when loading MyControllerPlugin
> >> >>>
> >> >>> This is my manifest:
> >> >>>
> >> >>> <package>
> >> >>>  <description brief="my_controller_pkg">
> >> >>>
> >> >>>     my_controller_pkg
> >> >>>
> >> >>>  </description>
> >> >>>  <author>Koen</author>
> >> >>>  <license>BSD</license>
> >> >>>  <review status="unreviewed" notes=""/>
> >> >>>  <url>http://ros.org/wiki/my_controller_pkg</url>
> >> >>>  <depend package="pr2_controller_interface"/>
> >> >>>  <depend package="pr2_mechanism_model"/>
> >> >>>  <depend package="pluginlib"/>
> >> >>>  <export>
> >> >>>    <pr2_controller_interface
> plugin="${prefix}/controller_plugins.xml"
> >> >>> />
> >> >>>  </export>
> >> >>> </package>
> >> >>>
> >> >>> This is my CMakeLists:
> >> >>>
> >> >>> cmake_minimum_required(VERSION 2.4.6)
> >> >>> include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
> >> >>>
> >> >>> # Set the build type.  Options are:
> >> >>> #  Coverage       : w/ debug symbols, w/o optimization, w/
> >> >>> code-coverage
> >> >>> #  Debug          : w/ debug symbols, w/o optimization
> >> >>> #  Release        : w/o debug symbols, w/ optimization
> >> >>> #  RelWithDebInfo : w/ debug symbols, w/ optimization
> >> >>> #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped
> >> >>> binaries
> >> >>> #set(ROS_BUILD_TYPE RelWithDebInfo)
> >> >>>
> >> >>> rosbuild_init()
> >> >>>
> >> >>> #set the default path for built executables to the "bin" directory
> >> >>> set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
> >> >>> #set the default path for built libraries to the "lib" directory
> >> >>> set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
> >> >>>
> >> >>> #uncomment if you have defined messages
> >> >>> #rosbuild_genmsg()
> >> >>> #uncomment if you have defined services
> >> >>> #rosbuild_gensrv()
> >> >>>
> >> >>> #common commands for building c++ executables and libraries
> >> >>> #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
> >> >>> #target_link_libraries(${PROJECT_NAME} another_library)
> >> >>> #rosbuild_add_boost_directories()
> >> >>> #rosbuild_link_boost(${PROJECT_NAME} thread)
> >> >>> #rosbuild_add_executable(example examples/example.cpp)
> >> >>> #target_link_libraries(example ${PROJECT_NAME})
> >> >>> rosbuild_add_library(my_controller_lib src/my_controller_file.cpp)
> >> >>>
> >> >>> And this is the content of my source file:
> >> >>>
> >> >>> #include "my_controller_pkg/my_controller_file.h"
> >> >>> #include <pluginlib/class_list_macros.h>
> >> >>>
> >> >>> using namespace my_controller_ns;
> >> >>>
> >> >>> /// Register controller to pluginlib
> >> >>> PLUGINLIB_REGISTER_CLASS(MyControllerPlugin,
> >> >>>                         my_controller_ns::MyControllerClass,
> >> >>>                         pr2_controller_interface::Controller)
> >> >>>
> >> >>> /// Controller initialization in non-realtime
> >> >>> bool MyControllerClass::init(pr2_mechanism_model::RobotState *robot,
> >> >>>                            ros::NodeHandle &n)
> >> >>> {
> >> >>>  std::string joint_name;
> >> >>>  if (!n.getParam("joint_name", joint_name))
> >> >>>  {
> >> >>>    ROS_ERROR("No joint given in namespace: '%s')",
> >> >>>              n.getNamespace().c_str());
> >> >>>    return false;
> >> >>>  }
> >> >>>
> >> >>>  joint_state_ = robot->getJointState(joint_name);
> >> >>>  if (!joint_state_)
> >> >>>  {
> >> >>>    ROS_ERROR("MyController could not find joint named '%s'",
> >> >>>              joint_name.c_str());
> >> >>>    return false;
> >> >>>  }
> >> >>>  return true;
> >> >>> }
> >> >>>
> >> >>>
> >> >>> /// Controller startup in realtime
> >> >>> void MyControllerClass::starting()
> >> >>> {
> >> >>>  init_pos_ = joint_state_->position_;
> >> >>> }
> >> >>>
> >> >>>
> >> >>> /// Controller update loop in realtime
> >> >>> void MyControllerClass::update()
> >> >>> {
> >> >>>  double desired_pos = init_pos_ + 0.5 *
> sin(ros::Time::now().toSec());
> >> >>>  double current_pos = joint_state_->position_;
> >> >>>  joint_state_->commanded_effort_ = -10 * (current_pos -
> desired_pos);
> >> >>> }
> >> >>>
> >> >>>
> >> >>> /// Controller stopping in realtime
> >> >>> void MyControllerClass::stopping()
> >> >>> {}
> >> >>> _______________________________________________
> >> >>> ros-users mailing list
> >> >>> ros-users@code.ros.org
> >> >>> https://code.ros.org/mailman/listinfo/ros-users
> >> >>
> >> >>
> >> > _______________________________________________
> >> > ros-users mailing list
> >> > ros-users@code.ros.org
> >> > https://code.ros.org/mailman/listinfo/ros-users
> >> >
> >>
> >>
> >>
> >> --
> >> Stuart Glaser
> >> sglaser -at- willowgarage -dot- com
> >> www.willowgarage.com
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users@code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> >
> > --
> > Tully Foote
> > Systems Engineer
> > Willow Garage, Inc.
> > tfoote@willowgarage.com
> > (650) 475-2827
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>
>
>
> --
> Stuart Glaser
> sglaser -at- willowgarage -dot- com
> www.willowgarage.com
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>