From ros-users-bounces@code.ros.org Thu Mar 3 12:16:38 2011 Return-Path: X-Original-To: www-data@code.ros.org Delivered-To: www-data@code.ros.org Received: from pub5.willowgarage.com (localhost [127.0.0.1]) by pub5.willowgarage.com (Postfix) with ESMTP id 7D9B82EC687; Thu, 3 Mar 2011 12:16:38 -0800 (PST) X-Original-To: ros-users@code.ros.org Delivered-To: ros-users@code.ros.org Received: from mail-qy0-f181.google.com (mail-qy0-f181.google.com [209.85.216.181]) by pub5.willowgarage.com (Postfix) with ESMTPS id F11C825C0EB for ; Thu, 3 Mar 2011 12:16:36 -0800 (PST) Received: by qyg14 with SMTP id 14so1400240qyg.5 for ; Thu, 03 Mar 2011 12:16:35 -0800 (PST) MIME-Version: 1.0 Received: by 10.224.213.200 with SMTP id gx8mr1601459qab.114.1299183395678; Thu, 03 Mar 2011 12:16:35 -0800 (PST) Received: by 10.229.29.144 with HTTP; Thu, 3 Mar 2011 12:16:35 -0800 (PST) In-Reply-To: <201102241746.24419.peter@thesourceworks.com> References: <20110223080059.11F75F3862@smtps02.kuleuven.be> <201102241746.24419.peter@thesourceworks.com> Date: Thu, 3 Mar 2011 21:16:35 +0100 Message-ID: From: Willy Lambert To: Peter Soetens Cc: orocos-users@lists.mech.kuleuven.be, "ros-users@code.ros.org" Subject: Re: [ros-users] [Orocos-users] orocos_toolchain_ros for debian X-BeenThere: ros-users@code.ros.org X-Mailman-Version: 2.1.9 Precedence: list Reply-To: User discussions List-Id: User discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Content-Type: multipart/mixed; boundary="===============9050184837888315947==" Mime-version: 1.0 Sender: ros-users-bounces@code.ros.org Errors-To: ros-users-bounces@code.ros.org --===============9050184837888315947== Content-Type: multipart/alternative; boundary=20cf30050d98cc2944049d99b47a --20cf30050d98cc2944049d99b47a Content-Type: text/plain; charset=ISO-8859-1 2011/2/24 Peter Soetens > On Wednesday 23 February 2011 14:18:34 Willy Lambert wrote: > > 2011/2/23 Ruben Smits > > > > > On Tuesday 22 February 2011 23:55:26 Willy Lambert wrote: > > > > 2011/2/22 Peter Soetens > > > > > > > > > > > > > On Monday 21 February 2011 00:32:05 Willy Lambert wrote: > > > > > 2011/2/8 Willy Lambert > > > > > > > > > > > > > > > > >>> 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@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. > This help orocos_toolchain directory is now 1,1Gb with build stuff if I call rm `find . -name "build"` -rf (which is a better solution in front of make clean if I understood what you said) It downs to 427 Mb which is more acceptable. How may I be sure the MinSizeRel has been taken into account ? > > Peter > --20cf30050d98cc2944049d99b47a Content-Type: text/html; charset=ISO-8859-1 Content-Transfer-Encoding: quoted-printable

2011/2/24 Peter Soetens <peter@thesourceworks.com<= /a>>
On Wednesday 23 February 2011 14:18:34 Wi= lly Lambert wrote:
> 2011/2/23 Ruben Smits <ruben.smits@mech.kuleuven.be>
>
> > On Tuesday 22 February 2011 23:55:26 Willy Lambert wrote:
> > > 2011/2/22 Peter Soetens
> > > <peter@thesou= rceworks.com<mailto:pete= r@thesourceworks.com>>
> > >
> > > On Monday 21 February 2011 00:32:05 Willy Lambert wrote:
> > > > 2011/2/8 Willy Lambert
> > > > <lambert.= willy@gmail.com<mailto:la= mbert.willy@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 reflex= es :)
> > > > >
> > > > > it answers :
> > > > > ard@ard-host-v5:/media/DD_data/home/ard$ rosrun oc= l
> > > > > 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/depl= oyer-gnulinux
> > > > > 2)
> > > > > /home/ard/ros/orocos_toolchain_ros/ocl/install/bin= /deployer-gnulinu
> > > > > x
> > > > > #?
> > > > >
> > > > > =A0I know there are egal because one is the "= make installed" version
> > > > > =A0of the
> > > > >
> > > > > other, by I find it is strange and prevent from st= arting it
> > > > > automatically after boot (of course I have solutio= ns to avoid this,
> > > > > but the rosway should work no ?)
> > > > >
> > > > > I makes me thinking about folder size and orocos_t= oolchain_ros is
> > > > > 1,7Gb
> > > > > on my computer x-( =A0I know there is some hard wo= rk on code size
> > > > > reduction on the Orocos side but nearly 2gb is qui= te huge.
> > > > >
> > > > > Does it exist a "rosmake clean" instruct= ion ?
> > > >
> > > > 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 includ= ed using
> > > 'ocl/Header.hpp' by user code, while they are in the= sources in
> > > 'subproject/Header.hpp'. We discussed moving all hea= ders to the ocl/
> > > directory, but this somewhat beats the purpose of the modula= risation we
> > > did. An alternative would be to create symlinks from ocl/Hea= der.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 r= educed 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 "ma= ke clean" at the
> > > > root of orocos_toolchain_ros ?
> > >
> > > Did you compile with MinSizeRel ?
> > >
> > > I used the default configuration and didn't thougth abou= t this.
> > > How may I change this with rosmake ?
> >
> > There are different things you can use: I suggest you just edit t= he
> > 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.c= make
file in the ROS_ROOT directory, and set the build type there, see the
documentation here:

https://code.ros.org/tra= c/ros/browser/stacks/ros/trunk/core/rosbuild/rosconfig.cmake?rev=3D7291=

>
> > > 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 dev= elopment
> >
> > 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 functi= on before
> > > copying on the robot (and not to embed the sources).
> > >
> > > In the "classic" orocos toolchain installation I u= sed to copy the
> > > install folder onto my target with the same path as on the b= uilding
> > > 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 aft= er
> > building
> > and before copying it. AFAIK you can entirely remove the build di= rectory.
>
> 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 i= n lib/ and
bin/, while doing a rm -rf build, will leave the files in lib/ and bin/
untouched. So you want the latter.

This help oroco= s_toolchain directory is now 1,1Gb with build stuff
if I call
rm `fi= nd . -name "build"` -rf
(which is a better solution in front o= f make clean if I understood what you said)
It downs to 427 Mb which is more acceptable.

How may I be sure the M= inSizeRel has been taken into account ?

=A0

Peter

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