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RobotecAI / RobotecGPULidar

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RobotecGPULidar library cannot be found! #330

Open alonsollorente opened 2 weeks ago

alonsollorente commented 2 weeks ago

Hi everyone, hope you can help me out with this one.

I'm trying to implement RobotecGPULidar in my Unity project alongside with Ros2ForUnity, but I'm facing some issues regarding its installation. I'm working with Unity 2023.2.8f1 in Ubuntu 22.04LTS and with AWSIM scripts for generating LiDAR point clouds.

This are the steps I followed to use the Library:

  1. Install CUDA Toolkit 11.7+.
  2. Download NVidia OptiX 7.2. --> Configured environment variable accordingly.
  3. Install dependencies with command: ./setup.py --install-deps
  4. Execute: ./setup.py --with-ros2-standalone --lib-rpath \$ORIGIN/../../../../Ros2ForUnity/Plugins/Linux/x86_64/
  5. Move the generated libRobotecGpuLidar.so to the RGLUnityPlugin/Plugins/Linux/x86_64/ directory.
  6. Copy-paste the _build/lib/ros2standalone .so files to the Ros2ForUnity/Plugins/Linux/x86_64 directory and skip for duplicates.

After this, I Re-Imported all the assets and I'm getting these errors:

image

I am concerned about #187 issue, stating that we shouldn't source ROS2 while using this plugin in the standalone version, but still I'm having this problem.

I don't really know why Unity stopped recognizing this Library, but maybe you can give me some hints in things to look out that may be useful towards solving this issue, since my experience with dynamic libraries installation is limited.

Thank you, Alonso

msz-rai commented 2 weeks ago

Hi @alonsollorente

To assist in reproducing your issue, could you please provide the following details:

Additionally, you can try to inspect shared object dependencies of libRobotecGPULidar.so and check whether all of them are satisfied. You can do this using the following command:

ldd {YourUnityProject}/Assets/RGLUnityPlugin/Plugins/Linux/x86_64/libRobotecGPULidar.so