Dear all:

I'm trying to build a robotic system with RTC. Since some of the
components are developed in ROS framework, I would like to combine them into
RTC.
It exited me when I saw there are common effort in the openRTM webpage:
http://www.openrtm.org/openrtm/en/content/ros-transport-rosport. However,
this webpage is really sketchy on how to doing this. Here are some problems I
confronted with:

1. I use Ubuntu-12.04. This is not supported by
OpenRTM-1.0.0. (But I tried this first because it is a "patch" prvided on the
website based on OpenRTM-1.0.0 ) I successed building and installing
OpenRTM-1.0.0 on Ubuntu-12.04, but there is a fatal error when I running the
examples. The components failes when its InPort is being connected. So I
tried OpenRTM-1.1.0, and made a few changes on the "patch" file. I'm not sure
does it still work with transporting ROS.

2. There are four examples (server,
client, subscriber, publisher), there are compiling error said: undefined
class ros::Message. I looked up it in my ROS, and found that Message is a
deprecated class. I use the ROS version: Fuerte. So I wonder what ROS version
are these examples based on? And how can I improve it so that it can work
with my ROS version? Thank you! Best wishes! Wenshan

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