[ros-users] [Orocos-users] orocos_toolchain_ros for debian

[Ruben Smits]

On Wednesday 23 February 2011 14:18:34 Willy Lambert wrote:
> 2011/2/23 Ruben Smits
> <ruben.smits at mech.kuleuven.be<mailto:ruben.smits at mech.kuleuven.be>>
> 
> On Tuesday 22 February 2011 23:55:26 Willy Lambert wrote:
> > 2011/2/22 Peter Soetens
> > <peter at thesourceworks.com<mailto:peter at thesourceworks.com><mailto:peter@
> > thesourceworks.com<mailto:peter at thesourceworks.com>>>
> > 
> > On Monday 21 February 2011 00:32:05 Willy Lambert wrote:
> > > 2011/2/8 Willy Lambert
> > > <lambert.willy at gmail.com<mailto:lambert.willy at gmail.com><mailto:lamb
> > > ert.willy at gmail.com<mailto:lambert.willy at gmail.com>>>
> > > 
> > > >>> 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 at 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-gnul
> > > > inu
> > > > 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 ?
> 
> > 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 ?

AFAIR it does, yes.

--Ruben

> > 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