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

[Peter Soetens]

On Wednesday 23 February 2011 14:18:34 Willy Lambert wrote:
> 2011/2/23 Ruben Smits <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>>
> > > 
> > > 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>>
> > > > 
> > > > >>> 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-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.

Peter