[openrtm-users 02874] Re: OpenHRP - how to display output from controller?

[Ando Noriaki]

Hello.

> Hi all,
>
> I hope this is correct place to ask questions about OpenHRP robot simulator.
>
> Currently I am testing SamplePD controller.  It includes "SamplePDComp" and
> "SamplePD.so"
>
>
> * The main() function is inside "SamplePDComp".
> I want to give data like argv, argc to the SamplePD.so module.
>
> How can I pass data into this RTM component?

How do you instantiate the SamplePD RTC?
An RTC can be instantiated as a standalone component (SamplePDComp) or
loadable module (SamplePD.so). So, parameters which are used in an RTC are
given though configuration file (not given from command line options
(argv, argc)).

Please see a example component here.
http://svn.openrtm.org/OpenRTM-aist/trunk/OpenRTM-aist/examples/ConfigSample/

> * I try to put printf() statement in SamplePD.so so I can see problems with
> controller.
>
> How can I load the controller so data is printed to the terminal or inside
> OpenHRP?

You can use logger of OpenRTM.
http://www.openrtm.org/OpenRTM-aist/documents/1.0/cxx/classreference_en/classRTC_1_1Logger.html

Best regards,
Noriaki Ando