######################################################################################################
################# Package : ROS(kinetic) + SOEM(ROS) + ELMO + Xenomai-3.0.5 +Eigen ###################
######################################################################################################
< Package Execution Command order >
- typing the codes on termianl in order
___________________________________________________________________________________
Main. execution
(0) roscore
(1) cm
(2) cd ~/catkin_ws/src/PongBotQ_One_Leg/bin/ && sudo setcap cap_net_admin,cap_net_raw=eip elmo_pkgs_exe
(3) roslaunch elmo_pkgs elmo.launch
___________________________________________________________________________________
Example. xenomai_test execution
(0) cm
(1) cd ~/catkin_ws/src/PongBotQ_One_Leg/examples/xenomai_test/bin/ && sudo setcap cap_net_admin,cap_net_raw=eip xenomai_test_exe
(2) sudo ./xenomai_test_exe
___________________________________________________________________________________
Example. soem_test execution
(0) cm
(1) cd ~/catkin_ws/src/PongBotQ_One_Leg/examples/soem_test/bin/ && sudo setcap cap_net_admin,cap_net_raw=eip soem_test_exe
(2) sudo ./soem_test_exe
##############################################################################
Error : libalchemy.so.0: cannot open shared object file: No such file or directory
Solution :
ldd ./<file_name> : Confirm the header file in the list. (Run the codes )
=> ldd ./libalchemy.so.0 이 없음을 확인?
cd /etc/ld.so.conf.d : Move to "/etc/ld.so.conf.d" directory.
sudo gedit tspi.conf : Make "tspi.conf" file
/usr/xenomai/lib : typing the location of directory where "libalchemy.so.0 file" exist in
sudo ldconfig : apply the changes
###############################################################################
ctrl+c : program exit
ctrl+z : program stop