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OpenEtherCATsociety / SOEM

Simple Open Source EtherCAT Master
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ubuntu ros2 humble cannot open shared object file: No such file or directory #719

Open Gates-456 opened 1 year ago

Gates-456 commented 1 year ago

Description of the problem: EtherCAT can work normally under the root user, but it cannot work normally after adding sudo setcap cap_net_admin, cap_net_raw+ep to the compiled target file. It seems that after adding sudo, you cannot link to your own ros2 package lib. How to solve it? Version: ubuntu ros2 humble Error: [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [asda_ethercat_node-1]: process started with pid [39742] [ERROR] [asda_ethercat_node-1]: process has died [pid 39742, exit code 127, cmd '/home/offlines_ws/install/asda_ethercat_driver/lib/asda_ethercat_driver/my_node --ros-args --params-file /tmp/launch_params_ddiqp050 --params-file /tmp/launch_params_jnqxotxy --params-file /tmp/launch_params_p0koe3cm --params-file /tmp/launch_params_hrh4ykd9 --params-file /tmp/launch_params_59v3jony --params-file /tmp/launch_params_z9xrwp97 --params-file /tmp/launch_params_irrrx23b --params-file /tmp/launch_params_iuzb9dey --params-file /tmp/launch_params_1td7anch --params-file /tmp/launch_params_ywl7bwim --params-file /tmp/launch_params_t42err8p --params-file /tmp/launch_params_7zu4mxna']. [asda_ethercat_node-1] /home/offlines_ws/install/asda_ethercat_driver/lib/asda_ethercat_driver/my_node: error while loading shared libraries: libmy_node.so: cannot open shared object file: No such file or directory

Gates-456 commented 12 months ago

seems to add： /etc/ld.so.conf.d$ cat ros2.conf /opt/ros/humble/lib/ /etc/ld.so.conf.d$ cat asda_ethercat_driver.conf /home/offlines_ws/install/asda_ethercat_driver/lib /home/offlines_ws/install/msg_type/lib

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/offlines_ws/install/asda_ethercat_driver/lib sudo ldconfig refer to: https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/RPATH-handling

ArthurKetels commented 12 months ago

An executable with special permissions is excluded from using environment variables. Also those that resolve links to dynamic libraries. You need to use ldconfig to add the paths to the needed libraries into its cache.