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<div class="moz-cite-prefix">Hi Jan,<br>
<br>
I can confirm the issue: When building your provided package
action_test_catkin with catkin_make the resulting lisp-structures
for the two actions show up twice in the auto-generated asd-file.
As another test, I added another two test actions. Then every
action defined ended up four times in the auto-generated asd-file.
<br>
<br>
So, it seems with n action definitions a) genlisp gets called n
times for all action-related messages or b) genlisp gets called
with a list of messages to build where this list contains the
action-related messages n times.<br>
<br>
Just for reference, I'm running groovy on oneiric 64 bit.<br>
<br>
Cheers,<br>
Georg.<br>
<br>
<br>
On 06/05/2013 12:43 PM, Jan Winkler wrote:<br>
</div>
<blockquote cite="mid:51AF166B.90507@cs.uni-bremen.de" type="cite">Hey
guys,
<br>
<br>
we just realized a problematic issue when generating action
message using the catkin message generation mechanism.
<br>
<br>
When catkin_make'ing a package that includes actions, the
corresponding messages (`.msg`-files) containing the Request,
Result, and Feedback structures are referenced multiple times in
the resulting `.asd`-Lisp file for that package.
<br>
<br>
This practically breaks loading the message definitions into
roslisp, making the message types unusable this way.
<br>
<br>
The issue arises once you define more than one action in a
package. If only one action is defined, it does not come up. When
defining more than one `.action`-file (say, n files) and putting
them into your CMakeLists.txt file, the block in the `.asd`-file
for that action gets written n times.
<br>
<br>
Just for clarification, if a message is defined more than once in
the `.asd`-file by the same name (which is the case here), it is
unloadable by ASDF (and therefore, roslisp!).
<br>
<br>
The issue does not arise when configuring the package as a
rosbuild package (i.e. all `.asd`-files get generated just fine).
<br>
<br>
The consequence of this issue is, that every package built using
catkin has this problem. Actually, the _officially_released_
packages include this error.
<br>
I'm on Quantal (12.10), using ros-groovy. A good example is the
`moveit_msgs` package. If you look into the file
`/opt/ros/groovy/share/common-lisp/ros/moveit_msgs/msg/moveit_msgs-msg.asd`,
you will most probably find, for example, the "PickupResult" file
being referenced several times (three times, that is).
<br>
The MoveIt! messages (and any other released catkin package
messages including a number of actions > 1) are therefore not
usable in ANY roslisp code in groovy.
<br>
<br>
I attached a sample setup once configured as a rosbuild package
and once as a catkin package. The resulting .asd files for both
cases as well as their diff are attached as well (speak `diff
action_test_catkin-msg.asd action_test_rosbuild-msg.asd`). As you
can see, there is an additional block describing the Test.action
and Test2.action messages, hence breaking the load process of the
ASDF system.
<br>
<br>
We added two individual messages `MessageTest.msg` and
`MessageTest2.msg`. These get generated only once in every case.
<br>
<br>
Correcting the file by hand makes the ASDF system load and work
just fine.
<br>
A wild guess would be that genlisp is doing something wrong when
enumerating the things it has to write into the `.asd`-file.
<br>
<br>
Can anyone confirm this issue?
<br>
<br>
<br>
Best regards,
<br>
Jan
<br>
<br>
<br>
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