1建立模塊
zz@ubuntu:~/orocos/myrobot$ orocreate-pkg myrobot component
2將模塊路徑加入包環境
zz@ubuntu:~/orocos/myrobot$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/zz/orocos/myrobot
3編譯模塊
# Standard build (installs in the same directory as Orocos Toolchain):
$ mkdir build ; cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX=orocos
$ make install
# OR: ROS build:
$ make
4 模塊路徑加入可加載路徑中:
zz@ubuntu:~/orocos/myrobot$ export RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:/home/zz/orocos/myrobot/build/orocos/lib/orocos
5運行模塊
$ deployer-gnulinux
Switched to : Deployer
This console reader allows you to browse and manipulate TaskContexts.
You can type in an operation, expression, create or change variables.
(type 'help' for instructions and 'ls' for context info)
TAB completion and HISTORY is available ('bash' like)
Deployer [S]> import("myrobot")
= true
Deployer [S]> displayComponentTypes
I can create the following component types:
Myrobot
OCL::ConsoleReporting
OCL::FileReporting
OCL::HMIConsoleOutput
OCL::HelloWorld
OCL::TcpReporting
OCL::TimerComponent
= (void)
Deployer [S]> loadComponent("TheRobot","Myrobot")
Myrobot constructed !
= true
Deployer [S]> cd TheRobot
Switched to : TheRobot
TheRobot [S]> ls
Listing TaskContext TheRobot[S] :
Configuration Properties: (none)
Provided Interface:
Attributes : (none)
Operations : activate cleanup configure error getPeriod inFatalError inRunTimeError
isActive isConfigured isRunning setPeriod start stop trigger update
Data Flow Ports: (none)
Services:
(none)
Requires Operations : (none)
Requests Services : (none)
Peers : (none)
參考:
https://www.orocos.org/wiki/orocos/toolchain/getting-started/using-orocreate-pkg