orocosは自分のモジュールを創立して、コンパイルして、テストします

1モジュールの構築

 zz@ubuntu:~/orocos/myrobot$ orocreate-pkg myrobot component

2モジュールパスをパッケージ環境に追加

zz@ubuntu:~/orocos/myrobot$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/zz/orocos/myrobot

3コンパイルモジュール
 

# 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モジュールパスがロード可能パスに追加されました.
 

zz@ubuntu:~/orocos/myrobot$ export RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:/home/zz/orocos/myrobot/build/orocos/lib/orocos

 
5運転モジュール

$ 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)

 
参照先:
https://www.orocos.org/wiki/orocos/toolchain/getting-started/using-orocreate-pkg