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RobotWebTools / ros2-web-bridge

Bridging your browser to the ROS 2.0
Apache License 2.0
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Start of rosbridge.js aborts (librcl.so not found) #161

Open whatis777 opened 3 years ago

whatis777 commented 3 years ago

When trying to start ros2-web-bridge with node bin/rosbridge.js, it aborts with this error message:

/home/ubuntu/webbridgetest/ros2-web-bridge/node_modules/bindings/bindings.js:121
        throw e;
        ^
Error: librcl.so: cannot open shared object file: No such file or directory
    at Object.Module._extensions..node (internal/modules/cjs/loader.js:1057:18)
    at Module.load (internal/modules/cjs/loader.js:863:32)
    at Function.Module._load (internal/modules/cjs/loader.js:708:14)
    at Module.require (internal/modules/cjs/loader.js:887:19)
    at require (internal/modules/cjs/helpers.js:74:18)
    at bindings (/home/ubuntu/webbridgetest/ros2-web-bridge/node_modules/bindings/bindings.js:112:48)
    at Object.<anonymous> (/home/ubuntu/webbridgetest/ros2-web-bridge/node_modules/rclnodejs/lib/clock.js:17:38)
    at Module._compile (internal/modules/cjs/loader.js:999:30)
    at Object.Module._extensions..js (internal/modules/cjs/loader.js:1027:10)
    at Module.load (internal/modules/cjs/loader.js:863:32)

The setup is:

librcl.so is located in /opt/ros/foxy/lib: -rw-r--r-- 1 root root 223912 Dec 10 11:48 librcl.so

echo $LD_LIBRARY_PATH prints /opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/lib/aarch64-linux-gnu:/opt/ros/foxy/lib

The terminals are sourced by default (echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc)

ros2-web-bridge was installed in a directory besides the ROS2 workspace using these commands to install it:

git clone https://github.com/RobotWebTools/ros2-web-bridge.git
cd ros2-web-bridge
git checkout 0.3.0
npm install

Can you please help me here?

minggangw commented 3 years ago

It seems that everything has been set properly, normally this kind of issue was caused by not sourcing the setup.bash for ROS2. Can you run the examples of rclpy?

whatis777 commented 3 years ago

I have a python-based custom node up & running properly & publishing ROS2 messages if that helps. If not please let me know which example I should run

minggangw commented 3 years ago

I just want to confirm whether the librcl.so could be found because rclpy is similar to rclnodejs by wrapping the librcl.so library. Currently, I have no idea what causes it, but I suggest you could try to use https://github.com/ros2/ros2/releases/download/release-foxy-20201211/ros2-foxy-20201211-linux-focal-arm64.tar.bz2 package to see if it works.

whatis777 commented 3 years ago
  1. I did a ROS2 reinstall using the binary and this tutorial
  2. reboot
  3. Tested the talker & listener nodes as described in the tutorial: both work
  4. reinstall ros2-web-bridge (performing the steps as described above)

Performing npm install already shows a similar error at the end of the build:

....
....
make: Leaving directory '/home/ubuntu/webbridgetest/ros2-web-bridge/node_modules/rclnodejs/build'
> rclnodejs@0.17.0 postinstall /home/ubuntu/webbridgetest/ros2-web-bridge/node_modules/rclnodejs
> node scripts/generate_messages.js
Start JavaScript message generation...
Caught error: Error: librcl.so: cannot open shared object file: No such file or directory
npm notice created a lockfile as package-lock.json. You should commit this file.
npm WARN optional SKIPPING OPTIONAL DEPENDENCY: fsevents@~2.1.1 (node_modules/chokidar/node_modules/fsevents):
npm WARN notsup SKIPPING OPTIONAL DEPENDENCY: Unsupported platform for fsevents@2.1.3: wanted {"os":"darwin","arch":"any"} (current: {"os":"linux","arch":"arm64"})
added 414 packages from 318 contributors and audited 415 packages in 396.636s

The file is there and the path is known: