KDL datatype transport from rtt to ros topic

Submitted by mastermirko on Fri, 2012-07-27 15:37

I want to transport a KDL::Frame dataflow port into a rostopic. I have imported in the deployer the kdl_typekit and rtt_tf package of rtt_geometry stack.

By writing

stream("Peer.PortName",ros.topic("name_topic"))

I get these errors:

[ Warning][ScriptingService] The protocol with id 3 did not register a fall-back handler for unknown types!
1.329 [ Warning][ScriptingService]   triggered by: unknown_t which does not have a transport.
1.329 [ ERROR  ][ScriptingService] Could not create transport stream for port CartesianPositionFrame with transport id 3
1.329 [ ERROR  ][ScriptingService] No such transport registered. Check your policy.transport settings or add the transport for type KDL.Frame
1.330 [ Warning][ScriptingService] The protocol with id 3 did not register a fall-back handler for unknown types!
1.330 [ Warning][ScriptingService]   triggered by: unknown_t which does not have a transport.
1.330 [ ERROR  ][ScriptingService] Could not create transport stream for port Jacobian with transport id 3
1.330 [ ERROR  ][ScriptingService] No such transport registered. Check your policy.transport settings or add the transport for type KDL.Jacobian

Does anybody knows how to do that?

Thank you for your help

Regards,

M

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Solution

Submitted by mastermirko on Fri, 2013-01-04 13:48.

Hi All, I realized that the only solution is to use the Pose messages for this purpose, and the tf conversion among KDL and Pose messages.

Best regards,

MDC

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