2011/2/24 Peter Soetens > On Wednesday 23 February 2011 14:18:34 Willy Lambert wrote: > > 2011/2/23 Ruben Smits > > > > > 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. > > > > Does I only have to change the rtt config ? What about ocl ? > > rtt_ros_integration ? > > Changing orocos-rtt.default.cmake is not recommended, since the file itself > says that you must copy it to orocos-rtt.cmake and edit that file. It will > only > influence the RTT itself. > > For setting it for all other packages (including OCL), create a > rosconfig.cmake > file in the ROS_ROOT directory, and set the build type there, see the > documentation here: > > > https://code.ros.org/trac/ros/browser/stacks/ros/trunk/core/rosbuild/rosconfig.cmake?rev=7291 > > > > > > > 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. > > > > I'll try stripping and let you know about resulting size > > "remove the build directory" : This is what "make clean" does no ? > > In ROS builds, a make clean will wipe your build dir, and the files in lib/ > and > bin/, while doing a rm -rf build, will leave the files in lib/ and bin/ > untouched. So you want the latter. > This help orocos_toolchain directory is now 1,1Gb with build stuff if I call rm `find . -name "build"` -rf (which is a better solution in front of make clean if I understood what you said) It downs to 427 Mb which is more acceptable. How may I be sure the MinSizeRel has been taken into account ? > > Peter >