OS: ubuntu 12.04 xubuntu-desktop Orocos version: 2.6, installed after multiple bootstrap attempts and edits (side-note: bootstrap.sh does not work for me, I've attempted installs on a clean 12.04 partition, and a virtual machine.) ROS on system: Yes

Hi, I'm fairly new to Orocos, my installation is not a part of ROS although I do have ROS installed on my computer.

I've looked at this topic: http://www.orocos.org/forum/orocos/orocos-users/error-type-array-did-not-provide-type-composition-function-i-need-one

but still nothing.

I'm attempting to configure a program with the following lines (located in a .cpf file):

<?xml version="1.0" encoding="UTF-8"?> <!DOCTYPE properties SYSTEM "cpf.dtd"> <properties>

  <!-- Total number of servos (joints) in the kinematic chain. -->
  12Number of servos34656

  <!-- CAN interface device -->
  78CAN interface910/dev/pcan11112

  <!-- Servo drive unit mode (UM).  1=torque, 2=speed, 5=angle. -->
  1314Control Mode151621718

  <!-- Set this to 1 for pure simulation -->
  1920Simulation212212324

  <!-- Encoder counts per joint revolution. -->
  25
     26Encoder counts per joint revolution27
     28298177413031
     32338177413435  <!--  +/- ~0.14%  -->
     3637-4142463839 <!--  +/- ~0.06%  -->
     40414142464243
     4445-4142464647
     48494142465051
  52

  <!-- Home position -->
  53
     54home position55
     56573.141595859
     60610.06263
     64651.57086667
     68690.07071
     72731.57087475
     76770.07879
  80

  <!-- The Node-ID's to which the servo drives will respond.
       SimArm will ignore these values. -->
  81 
     82Joint node IDs83
     84851018687
     88891029091
     92931039495
     96971049899
     100101105102103
     104105106106107
     108109128110111
  112

  <!-- Home position -->
  113
     114home position115
     1161170118119
     12012111000122123
  124

the logger displays:

... 0.104 [ Info ][PropertyLoader:configure] Configuring Service 'Robot' with '/home/jmao/Programming/SSL-projects/knrModified/config/woodstock/nbv/elmoarm_vel.cpf'. 0.104 [ ERROR ][refreshProperties] Could not find Property double Element0 in source. 0.104 [ ERROR ][refreshProperties] Could not find Property double Element1 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element2 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element3 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element4 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element5 in source. 0.105 [ ERROR ][PropertyLoader:configure] The type 'array' did not provide a type composition function, but I need one to compose it from a PropertyBag. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element0 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element1 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element2 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element3 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element4 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element5 in source. 0.105 [ ERROR ][PropertyLoader:configure] The type 'array' did not provide a type composition function, but I need one to compose it from a PropertyBag. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element0 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element1 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element2 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element3 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element4 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element5 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element6 in source. 0.105 [ ERROR ][PropertyLoader:configure] The type 'array' did not provide a type composition function, but I need one to compose it from a PropertyBag. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element0 in source. 0.105 [ ERROR ][refreshProperties] Could not find Property double Element1 in source. 0.105 [ ERROR ][PropertyLoader:configure] The type 'array' did not provide a type composition function, but I need one to compose it from a PropertyBag. 0.105 [ ERROR ][DeploymentComponent::configureComponents] Failed to configure properties for component Robot 0.105 [ Info ][DeploymentComponent::configureComponents] Re-setting activity of Robot ...

The properties in question that are being modified are of std::vector<double>. The cpf and xml files have been reused from the previous 1.x version of the same code base.

.types lists: ConnPolicy FlowStatus PropertyBag SendHandle SendStatus TaskContext array bool char double doubles float int ints rt_string string strings uint void

as available data types.

What am I doing wrong? What might I be missing? (what part of orocos-toolchain might I be missing? noting my multiple failed attempts and work around)