veysiadn / pongbotq_one_leg Goto Github PK

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################# Package : ROS(kinetic) + SOEM(ROS) + ELMO + Xenomai-3.0.5 +Eigen ###################
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< Package Execution Command order >
 - typing the codes on termianl in order
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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
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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
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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


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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


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ctrl+c : program exit
ctrl+z : program stop