[CartesIO 2] Cartesian Interface config.so do not find

[lia2790]

Problem

Hi, I am opening this issue because I am occurring the following error

[error] in generate_jidmap: urdf does not exists! 
[error] File libModelInterface/config.so NOT found
terminate called after throwing an instance of 'std::runtime_error'
  what():  libModelInterface/config.so path must be listed inside LD_LIBRARY_PATH
[CartesioTests-2] process has died [pid 32274, exit code -6, cmd /home/liana/catkin_ws/devel/lib/cartesio_tests/CartesioTests __name:=CartesioTests __log:=/home/liana/.ros/log/f97ce514-b245-11eb-86cf-d8cb8a3f0cce/CartesioTests-2.log].
log file: /home/liana/.ros/log/f97ce514-b245-11eb-86cf-d8cb8a3f0cce/CartesioTests-2*.log

while I use the cartesian interface, with CartesIO 2. How can I solve it?

How I get the problem

In detail, I followed the instruction here to write a C++ code to command a robot with the cartesian interface. Then I build on it a ROS Node which basically wraps that code. Here the sources:

• CartesioTests.zip

I am executing that code using this command

roslaunch cartesio_tests CartesioTests.launch

with Ubuntu 18.04 and ROS Melodic. For CartesIO 2, I download the binaries from here. In particular, I downloaded them: bionic-2020_06_08_19_58_19.tar.gz.

[liesrock]

Thanks @lia2790 : if you have the source code on github can you please specify the link instead of the zip?

[lia2790]

yes @liesrock!

https://github.com/lia2790/CartesioTests

[alaurenzi]

The errors comes from the fact that the model_type parameter is taking its default value of /config (see here). You can use RBDL instead, as in the example you are following.

[lia2790]

Hi @alaurenzi, many thanks for your answer. Yes, the problem was that. Therefore, we can close this issue.