wentasah
commented
1 year ago Hi, I've no experience with MoveIt. I'd need to wait for your .nix files so that I can try to reproduce the issue you're reporting.
Open okvik opened 1 year ago
wentasah
commented
1 year ago Hi, I've no experience with MoveIt. I'd need to wait for your .nix files so that I can try to reproduce the issue you're reporting.
okvik
commented
1 year ago @wentasah Here's a flake that can reproduce the move_group capability plugins issue. nix develop it and run
ros2 launch moveit_resources_fanuc_moveit_config demo.launch.pyYou should get the same log as above. Take note of the lines like:
[move_group.move_group]: Exception while loading move_group capability 'move_group/ApplyPlanningSceneService': MultiLibraryClassLoader: Could not create object of class type move_group::ApplyPlanningSceneService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary(){
description = "";
inputs = {
nixpkgs.url = "github:nixos/nixpkgs/nixos-unstable";
flake-utils.url = "github:numtide/flake-utils";
nix-ros-overlay.url = "github:okvik/nix-ros-overlay/reproduce-moveit-plugin-issue";
};
outputs = { self, nixpkgs, flake-utils, nix-ros-overlay }: flake-utils.lib.eachDefaultSystem (system:
let
pkgs = import nixpkgs {
inherit system;
config = {};
overlays = [
nix-ros-overlay.overlays.default
];
};
ros = pkgs.rosPackages.humble;
in {
devShells.default = pkgs.mkShell {
name = "ROS 2 development";
LC_NUMERIC = "en_US.UTF-8";
buildInputs = [
(ros.buildEnv {
name = "ROS 2 Environment";
paths = [
ros.ros-environment
ros.ros-base
ros.ros2-control
ros.rviz2
ros.moveit
ros.moveit-resources
ros.moveit-resources-panda-description
ros.moveit-resources-panda-moveit-config
];
})
];
};
}
);
}The nix-ros-overlay.url = "github:okvik/nix-ros-overlay/reproduce-moveit-plugin-issue" input is just nix-ros-overlay master with a few fixes to get the MoveIt stuff building, it doesn't seem like these changes are relevant to the issue at hand but you might wanna take a look anyway.
wentasah
commented
1 year ago Now I can reproduce your problem with the missing capabilities.
You mentioned that "plugin objects are in place". As I don't have any moveit experience, I don't really know where should these objects be located. I tried searching all dependencies for files with names similar to what's printed in the error messages, but it didn't find anything. Can you tell me which objects it is supposed to load?
okvik
commented
1 year ago The plugins are described in the plugin description file (you may have a different hash but look for move-group.
/nix/store/5092rwrx983f3s8vg0k4ifik9zasdxjd-ros-humble-moveit-ros-move-group-2.5.4-r1/share/moveit_ros_move_group/default_capabilities_plugin_description.xmlThis file lists the plugin classes (in this case MoveIt Move Group "capabilities") and points to the shared library object that contains them. This .so file itself is located in the same package at:
/nix/store/5092rwrx983f3s8vg0k4ifik9zasdxjd-ros-humble-moveit-ros-move-group-2.5.4-r1/lib/libmoveit_move_group_default_capabilities.soIt is my understanding that the pluginlib (a library responsible for plugin loading throughout ROS2) searches through plugin description files it knows about when it gets asked to load a plugin class, hopefully finding a match and loading it's object from the shared object file. The resource index (located at ./share/ament_index/resource_index in the same package) is there, I think, only to speed up the process of searching for viable plugins, so the search doesn't have to go through all the plugin .xml descriptions.
All of these things seem to be in place for the move-group package but loading the plugins still fails as seen above.
okvik
commented
1 year ago I've discovered a program in the move group package that lists the available capabilities. This one seems to find the plugins just fine?!
$ ros2 run moveit_ros_move_group list_move_group_capabilities
Available capabilities:
move_group/ApplyPlanningSceneService
move_group/ClearOctomapService
move_group/MoveGroupCartesianPathService
move_group/MoveGroupExecuteService
move_group/MoveGroupExecuteTrajectoryAction
move_group/MoveGroupGetPlanningSceneService
move_group/MoveGroupKinematicsService
move_group/MoveGroupMoveAction
move_group/MoveGroupPlanService
move_group/MoveGroupQueryPlannersService
move_group/MoveGroupStateValidationService
move_group/TfPublisher
pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceServiceI found the same issue reported upstream, so this might not be a problem with Nix packaging here: https://github.com/ros-planning/moveit2/issues/1907
Thieso
commented
2 months ago I encountered the same issue but have also not found a solution
Thieso
commented
2 months ago Ok so I think this is a path issue. On humble and by using buildEnv I do not encounter this issue. On iron I cannot use buildEnv due to #391 which makes AMENT_PREFIX_PATH be very long. So I assume fixing #391 would also fix this issue potentially.
nilp-dromeda
commented
1 month ago Ok so I think this is a path issue. On
humbleand by usingbuildEnvI do not encounter this issue. OnironI cannot usebuildEnvdue to #391 which makesAMENT_PREFIX_PATHbe very long. So I assume fixing #391 would also fix this issue potentially.
Were you able to fix this? I am also getting the same error. What do you mean by using buildEnv. Are you able to give an example?
Thieso
commented
1 month ago Sadly, I was not able to fix this. As I am not a MoveIt expert, it is unclear to me, where exactly this originates and this issue also does not mention a solution except reinstallation. I did not have more time to look into this.
Takishima
commented
1 month ago So looking into this myself as well, it seems that the pluginlib or the class_loader packages are unable to read the symbols from the MoveIt library.
Essentially, going back up the callstack from
[move_group-4] [INFO 1716497236.304083998] [pluginlib.ClassLoader]: Exception raised by low-level multi-library class loader when attempting to create instance of class move_group/MoveGroupStateValidationService. (createUniqueInstance() at /tmp/install/include/pluginlib/pluginlib/class_loader_imp.hpp:178)The ClassLoader * getClassLoaderForClass(const std::string & class_name) function located at multi_library_class_loader.hpp from the class_loader returns nullptr.
This is in turns due to the template<class Base> std::vector<std::string> getAvailableClasses() const from class_loader.hpp from the same package returning an empty std::vector<std::string>.
The debug output (which I hacked by changing the log level of some of the logging functions) of some of the class_loader_core functions also seems to indicate this:
move_group-4] Warning: class_loader.impl: Attempting to load library /tmp/install/lib/libmoveit_move_group_default_capabilities.so on behalf of ClassLoader handle 0x1293650...
[move_group-4] at line 433 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'.../
[move_group-4] Warning: class_loader.impl: Successfully loaded library /tmp/install/lib/libmoveit_move_group_default_capabilities.so into memory (handle = 0x12c33f0).
[move_group-4] at line 474 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Warning: class_loader.impl: Though the library /tmp/install/lib/libmoveit_move_group_default_capabilities.so was just loaded, it seems no factory metaobjects were registered. Checking factory graveyard for previously loaded metaobjects.../
[move_group-4] at line 482 in .../src/class_loader/src/class_loader_core.cppIn a normal run (outside of Nix), we get something like this:
[move_group-4] [INFO 1716496724.767593825] [pluginlib.ClassLoader]: Loading library: ...//code/ros2/install/lib/libmoveit_move_group_default_capabilities.so (loadLibraryForClass() at .../install/include/pluginlib/pluginlib/class_loader_imp.hpp:654)
[move_group-4] Warning: class_loader.impl: Attempting to load library .../install/lib/libmoveit_move_group_default_capabilities.so on behalf of ClassLoader handle 0x5e99297e6850.../
[move_group-4] at line 433 in .../src/class_loader/src/class_loader_core.cpp
.../ [omitted]
[move_group-4] Warning: class_loader.impl: Registering plugin factory for class = move_group::ApplyPlanningSceneService, ClassLoader* = 0x5e99297e6850 and library name .../install/lib/libmoveit_move_group_default_capabilities.so.
[move_group-4] at line 215 in .../install/include/class_loader/class_loader/class_loader_core.hpp
[move_group-4] Warning: factoryMapMap.size() = 7 (N10move_group19MoveGroupCapabilityE)
[move_group-4] at line 68 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Warning: class_loader.impl: Registration of move_group::ApplyPlanningSceneService complete (Metaobject Address = 0x5e99297ea780)
.../ [omitted]
[move_group-4] Warning: class_loader.impl: Successfully loaded library .../install/lib/libmoveit_move_group_default_capabilities.so into memory (handle = 0x5e99297e76a0).
[move_group-4] at line 474 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Warning: class_loader.impl: Library .../install/lib/libmoveit_move_group_default_capabilities.so generated new factory metaobjects on load. Destroying graveyarded objects from previous loads.../
[move_group-4] at line 491 in .../src/class_loader/src/class_loader_core.cppRather, the init functions from the plugins defined within libmoveit_move_group_default_capabilities.so are not called when this gets dlopen-ed by the class loader.
However, when loading the library manually:
#include <dlfcn.h>
int main()
{
const char * library_path = "/tmp/install/lib/libmoveit_move_group_default_capabilities.so";
void * handle = dlopen(library_path, RTLD_LAZY);
if (handle == nullptr) {
return 1;
}
dlclose(handle);
return 0;
}Those get called.
I tried looking for different linker flags passed on by Nix using export NIX_DEBUG=1 when compiling MoveIt, but have not found anything yet. I also tried using export NIX_HARDENING_ENABLE=''
Takishima
commented
1 month ago [EDIT] Keeping the message below for context, but this explanation does not hold upon further investigations.
I think I found the culprit. Still need to run some more tests to 100% confirm this.
By default Nix builds derivation with
bindnowinNIX_HARDENING_ENABLE. This in turns silently adds-Wl,-z,nowto any linker command.This then wreaks havoc with
pluginlibwhich loads libraries withdlopen()and relies on the fact that libraries are loaded lazily in order to attribute the symbols it loads to a particular shared library.
Takishima
commented
1 month ago I stand corrected, it is a bit more than just that.
[INFO] [1716561773.091904226] [pluginlib.ClassLoader]: [search path for 'pilz_industrial_motion_planner']: '/nix/store/XXX-env/bin/pilz_industrial_motion_planner/liblibpilz_industrial_motion_plannerd.so'
[INFO] [1716561773.091906893] [pluginlib.ClassLoader]: Iterating through all possible paths where pilz_industrial_motion_planner could be located...
[INFO] [1716561773.091909363] [pluginlib.ClassLoader]: Checking path /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so
[INFO] [1716561773.091916802] [pluginlib.ClassLoader]: Library pilz_industrial_motion_planner found at explicit path /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so.
[INFO] [1716561773.091920312] [pluginlib.ClassLoader]: Loading library: /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.soThe issue is that libpilz_industrial_motion_planner.so is actually dependent on libmoveit_move_group_interface.so.2.5.5, but only within Nix.
Outside of Nix:
> ldd /opt/ros/humble/lib/libpilz_industrial_motion_planner.so | grep move_groupWithin of Nix:
> ldd /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so | grep move_group
libmoveit_move_group_interface.so.2.5.5 => .../install/libmoveit_move_group_interface.so.2.5.5 (0x0000746c6098d000)
libmoveit_move_group_default_capabilities.so.2.5.5 => .../install/lib/libmoveit_move_group_default_capabilities.so.2.5.5 (0x0000746c60200000)
libmoveit_move_group_capabilities_base.so.2.5.5 => .../install/lib/libmoveit_move_group_capabilities_base.so.2.5.5 (0x0000746c6089b000)Cool, thanks for looking into this :) So turning off NIX_HARDENING_ENABLE fixes the issue?
I am a bit confused that it works in humble for me but not in iron
Takishima
commented
1 month ago Unfortunately no. I think that my theory is wrong after looking into it some more...
The one key difference I can see in the linker commands between normal and Nix build is that Nix does not have -Wl,--as-needed which means a lot of the dependencies stay explicit, which in turns make the linker load more than one shared library when loading the plugins.
Takishima
commented
1 month ago No clue where that comes from yet though.
Thieso
commented
1 month ago Hm okay, sadly this is a bit too deep for my CS knowledge, so I cannot help you there.
nilp-dromeda
commented
1 month ago I am actively looking into this issue as well. Will keep you guys updated with any breakthrough.
Takishima
commented
1 month ago Outside of Nix you get:
> patchelf --print-needed libmoveit_planning_scene_interface.so.2.5.5
libmoveit_msgs__rosidl_typesupport_cpp.so
librclcpp.so
librcl.so
librmw.so
librcutils.so
libtracetools.so
libstdc++.so.6
libgcc_s.so.1
libc.so.6
ld-linux-x86-64.so.2While inside we get:
> patchelf --print-needed /nix/store/XXX/lib/libmoveit_planning_scene_interface.so.2.5.5
libmoveit_move_group_default_capabilities.so.2.5.5
libmoveit_move_group_capabilities_base.so.2.5.5
libstd_srvs__rosidl_typesupport_introspection_c.so
libstd_srvs__rosidl_typesupport_fastrtps_c.so
libstd_srvs__rosidl_typesupport_introspection_cpp.so
libstd_srvs__rosidl_typesupport_fastrtps_cpp.so
libstd_srvs__rosidl_typesupport_cpp.so
libstd_srvs__rosidl_generator_py.so
libstd_srvs__rosidl_typesupport_c.so
libstd_srvs__rosidl_generator_c.so
libstatic_transform_broadcaster_node.so
libmoveit_constraint_sampler_manager_loader.so.2.5.5
libmoveit_plan_execution.so.2.5.5
libmoveit_default_planning_request_adapter_plugins.so.2.5.5
libmoveit_cpp.so.2.5.5
libmoveit_planning_pipeline.so.2.5.5
libmoveit_trajectory_execution_manager.so.2.5.5
libmoveit_planning_scene_monitor.so.2.5.5
libmoveit_ros_occupancy_map_monitor.so.2.5.5
libmoveit_robot_model_loader.so.2.5.5
libmoveit_kinematics_plugin_loader.so.2.5.5
libmoveit_rdf_loader.so.2.5.5
libmoveit_collision_plugin_loader.so.2.5.5
libcollision_detector_bullet_plugin.so.2.5.5
libmoveit_butterworth_filter.so.2.5.5
librclcpp_lifecycle.so
librcl_lifecycle.so
liblifecycle_msgs__rosidl_typesupport_introspection_c.so
liblifecycle_msgs__rosidl_typesupport_fastrtps_c.so
liblifecycle_msgs__rosidl_typesupport_introspection_cpp.so
liblifecycle_msgs__rosidl_typesupport_fastrtps_cpp.so
liblifecycle_msgs__rosidl_typesupport_cpp.so
liblifecycle_msgs__rosidl_generator_py.so
liblifecycle_msgs__rosidl_typesupport_c.so
liblifecycle_msgs__rosidl_generator_c.so
librsl.so
libmoveit_collision_distance_field.so.2.5.5
libmoveit_collision_detection_bullet.so.2.5.5
libBulletDynamics.so.3.25
libBulletCollision.so.3.25
libLinearMath.so.3.25
libBulletSoftBody.so.3.25
libmoveit_dynamics_solver.so.2.5.5
libkdl_parser.so
libmoveit_constraint_samplers.so.2.5.5
libmoveit_distance_field.so.2.5.5
libmoveit_kinematics_metrics.so.2.5.5
libmoveit_planning_interface.so.2.5.5
libmoveit_planning_request_adapter.so.2.5.5
libmoveit_planning_scene.so.2.5.5
libmoveit_kinematic_constraints.so.2.5.5
libmoveit_collision_detection_fcl.so.2.5.5
libmoveit_collision_detection.so.2.5.5
libfcl.so.0.7
libccd.so.2
libmoveit_smoothing_base.so.2.5.5
libmoveit_test_utils.so.2.5.5
libmoveit_trajectory_processing.so.2.5.5
libmoveit_robot_trajectory.so.2.5.5
libmoveit_robot_state.so.2.5.5
libmoveit_robot_model.so.2.5.5
libmoveit_exceptions.so.2.5.5
libmoveit_kinematics_base.so
libsrdfdom.so.2.0.4
liborocos-kdl.so.1.5
liburdf.so
libruckig.so
libmoveit_transforms.so.2.5.5
libtf2_ros.so
librclcpp_action.so
librcl_action.so
libtf2.so
libtf2_msgs__rosidl_typesupport_introspection_c.so
libtf2_msgs__rosidl_typesupport_fastrtps_c.so
libtf2_msgs__rosidl_typesupport_introspection_cpp.so
libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so
libtf2_msgs__rosidl_typesupport_cpp.so
libtf2_msgs__rosidl_generator_py.so
libtf2_msgs__rosidl_typesupport_c.so
libtf2_msgs__rosidl_generator_c.so
libgeometric_shapes.so.2.1.3
libvisualization_msgs__rosidl_typesupport_fastrtps_c.so
libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so
libvisualization_msgs__rosidl_typesupport_introspection_c.so
libvisualization_msgs__rosidl_typesupport_introspection_cpp.so
libvisualization_msgs__rosidl_typesupport_cpp.so
libvisualization_msgs__rosidl_generator_py.so
libvisualization_msgs__rosidl_typesupport_c.so
libvisualization_msgs__rosidl_generator_c.so
liboctomap.so.1.9
liboctomath.so.1.9
libresource_retriever.so
libcurl.so.4
librandom_numbers.so
libassimp.so.5
libqhull_r.so.8.0
liburdfdom_sensor.so.3.0
liburdfdom_model_state.so.3.0
liburdfdom_model.so.3.0
liburdfdom_world.so.3.0
libtinyxml.so
libmoveit_utils.so.2.5.5
libmoveit_msgs__rosidl_typesupport_introspection_c.so
libobject_recognition_msgs__rosidl_typesupport_introspection_c.so
libaction_msgs__rosidl_typesupport_introspection_c.so
libunique_identifier_msgs__rosidl_typesupport_introspection_c.so
libsensor_msgs__rosidl_typesupport_introspection_c.so
libshape_msgs__rosidl_typesupport_introspection_c.so
liboctomap_msgs__rosidl_typesupport_introspection_c.so
libtrajectory_msgs__rosidl_typesupport_introspection_c.so
libgeometry_msgs__rosidl_typesupport_introspection_c.so
libstd_msgs__rosidl_typesupport_introspection_c.so
libmoveit_msgs__rosidl_typesupport_fastrtps_c.so
libobject_recognition_msgs__rosidl_typesupport_fastrtps_c.so
libaction_msgs__rosidl_typesupport_fastrtps_c.so
libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so
libsensor_msgs__rosidl_typesupport_fastrtps_c.so
libshape_msgs__rosidl_typesupport_fastrtps_c.so
liboctomap_msgs__rosidl_typesupport_fastrtps_c.so
libtrajectory_msgs__rosidl_typesupport_fastrtps_c.so
libgeometry_msgs__rosidl_typesupport_fastrtps_c.so
libstd_msgs__rosidl_typesupport_fastrtps_c.so
libmoveit_msgs__rosidl_typesupport_introspection_cpp.so
libobject_recognition_msgs__rosidl_typesupport_introspection_cpp.so
libaction_msgs__rosidl_typesupport_introspection_cpp.so
libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so
libsensor_msgs__rosidl_typesupport_introspection_cpp.so
libshape_msgs__rosidl_typesupport_introspection_cpp.so
liboctomap_msgs__rosidl_typesupport_introspection_cpp.so
libtrajectory_msgs__rosidl_typesupport_introspection_cpp.so
libgeometry_msgs__rosidl_typesupport_introspection_cpp.so
libstd_msgs__rosidl_typesupport_introspection_cpp.so
libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so
libobject_recognition_msgs__rosidl_typesupport_fastrtps_cpp.so
libaction_msgs__rosidl_typesupport_fastrtps_cpp.so
libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so
libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so
libshape_msgs__rosidl_typesupport_fastrtps_cpp.so
liboctomap_msgs__rosidl_typesupport_fastrtps_cpp.so
libtrajectory_msgs__rosidl_typesupport_fastrtps_cpp.so
libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so
libstd_msgs__rosidl_typesupport_fastrtps_cpp.so
libmoveit_msgs__rosidl_typesupport_cpp.so
libobject_recognition_msgs__rosidl_typesupport_cpp.so
libaction_msgs__rosidl_typesupport_cpp.so
libunique_identifier_msgs__rosidl_typesupport_cpp.so
libsensor_msgs__rosidl_typesupport_cpp.so
libshape_msgs__rosidl_typesupport_cpp.so
liboctomap_msgs__rosidl_typesupport_cpp.so
libtrajectory_msgs__rosidl_typesupport_cpp.so
libgeometry_msgs__rosidl_typesupport_cpp.so
libstd_msgs__rosidl_typesupport_cpp.so
libmoveit_msgs__rosidl_generator_py.so
libmoveit_msgs__rosidl_typesupport_c.so
libmoveit_msgs__rosidl_generator_c.so
libobject_recognition_msgs__rosidl_generator_py.so
libobject_recognition_msgs__rosidl_typesupport_c.so
libobject_recognition_msgs__rosidl_generator_c.so
libaction_msgs__rosidl_generator_py.so
libaction_msgs__rosidl_typesupport_c.so
libaction_msgs__rosidl_generator_c.so
libunique_identifier_msgs__rosidl_generator_py.so
libunique_identifier_msgs__rosidl_typesupport_c.so
libunique_identifier_msgs__rosidl_generator_c.so
libsensor_msgs__rosidl_generator_py.so
libsensor_msgs__rosidl_typesupport_c.so
libsensor_msgs__rosidl_generator_c.so
libshape_msgs__rosidl_generator_py.so
libshape_msgs__rosidl_typesupport_c.so
libshape_msgs__rosidl_generator_c.so
liboctomap_msgs__rosidl_generator_py.so
liboctomap_msgs__rosidl_typesupport_c.so
liboctomap_msgs__rosidl_generator_c.so
libtrajectory_msgs__rosidl_generator_py.so
libtrajectory_msgs__rosidl_typesupport_c.so
libtrajectory_msgs__rosidl_generator_c.so
libgeometry_msgs__rosidl_generator_py.so
libgeometry_msgs__rosidl_typesupport_c.so
libgeometry_msgs__rosidl_generator_c.so
libstd_msgs__rosidl_generator_py.so
libstd_msgs__rosidl_typesupport_c.so
libstd_msgs__rosidl_generator_c.so
libboost_chrono.so.1.81.0
libboost_date_time.so.1.81.0
libboost_filesystem.so.1.81.0
libboost_atomic.so.1.81.0
libboost_iostreams.so.1.81.0
libboost_program_options.so.1.81.0
libboost_regex.so.1.81.0
libboost_serialization.so.1.81.0
libboost_system.so.1.81.0
libboost_thread.so.1.81.0
libclass_loader.so
libconsole_bridge.so.1.0
libmessage_filters.so
librclcpp.so
liblibstatistics_collector.so
librcl.so
librmw_implementation.so
libament_index_cpp.so
librcl_logging_spdlog.so
librcl_logging_interface.so
libfmt.so.10
librcl_interfaces__rosidl_typesupport_introspection_c.so
librcl_interfaces__rosidl_typesupport_fastrtps_c.so
librcl_interfaces__rosidl_typesupport_introspection_cpp.so
librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so
librcl_interfaces__rosidl_typesupport_cpp.so
librcl_interfaces__rosidl_generator_py.so
librcl_interfaces__rosidl_typesupport_c.so
librcl_interfaces__rosidl_generator_c.so
librcl_yaml_param_parser.so
libyaml-0.so.2
librosgraph_msgs__rosidl_typesupport_fastrtps_c.so
librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so
librosgraph_msgs__rosidl_typesupport_introspection_c.so
librosgraph_msgs__rosidl_typesupport_introspection_cpp.so
librosgraph_msgs__rosidl_typesupport_cpp.so
librosgraph_msgs__rosidl_generator_py.so
librosgraph_msgs__rosidl_typesupport_c.so
librosgraph_msgs__rosidl_generator_c.so
libstatistics_msgs__rosidl_typesupport_fastrtps_c.so
libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so
librosidl_typesupport_fastrtps_c.so
libstatistics_msgs__rosidl_typesupport_fastrtps_cpp.so
libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so
librosidl_typesupport_fastrtps_cpp.so
libfastcdr.so.1
librmw.so
libstatistics_msgs__rosidl_typesupport_introspection_c.so
libbuiltin_interfaces__rosidl_typesupport_introspection_c.so
libstatistics_msgs__rosidl_typesupport_introspection_cpp.so
libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so
librosidl_typesupport_introspection_cpp.so
librosidl_typesupport_introspection_c.so
libstatistics_msgs__rosidl_typesupport_cpp.so
libbuiltin_interfaces__rosidl_typesupport_cpp.so
librosidl_typesupport_cpp.so
libstatistics_msgs__rosidl_generator_py.so
libbuiltin_interfaces__rosidl_generator_py.so
libpython3.11.so.1.0
libstatistics_msgs__rosidl_typesupport_c.so
libbuiltin_interfaces__rosidl_typesupport_c.so
libstatistics_msgs__rosidl_generator_c.so
libbuiltin_interfaces__rosidl_generator_c.so
librosidl_typesupport_c.so
librosidl_runtime_c.so
librcpputils.so
librcutils.so
libdl.so.2
libatomic.so.1
libtracetools.so
libstdc++.so.6
libm.so.6
libgcc_s.so.1
libc.so.6
ld-linux-x86-64.so.2Cool, thanks for looking into this :) So turning off
NIX_HARDENING_ENABLEfixes the issue? I am a bit confused that it works in humble for me but not in iron
I am testing on humble, and it does not work for me? How were you able to get it to function on humble?
nilp-dromeda
commented
1 month ago I am obtaining this error:
[ros2_control_node-5] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[ros2_control_node-5] at line 253 in /nix/store/QJKWYVARM2R71DKBM2L5YRVH6P7F3FVR-ros-humble-class-loader-2.2.0-r3/include/class_loader/class_loader/class_loader_core.hppIs any one also obtaining this error? I wonder if this error is related.
nilp-dromeda
commented
1 month ago If you run the following command:
LD_PRELOAD=/nix/store/xxx/lib/libmoveit_move_group_default_capabilities.so.2.5.5 nixGL ros2 launch <robot-moveit-config> demo.launch.pyThe simulation launches and finds all the required capabilties. So, it looks like the shared object files are not in the correct place or the symlinks to the shared object files for the move_group_default_capabilities.so are incorrect.
Takishima
commented
1 month ago I think the issue is that the moveit_ros_move_group is added to ament_target_dependencies calls in places where it is not necessary.
Particularly in:
moveit-ros-planning-interface: particularly in planning_scene_interface/CMakeLists.txt and move_group_interface/CMakeLists.txtpilz-industrial-motion-planner: in CMakeListst.txtFixing the dependencies within the CMake files solved my issues and I was able to run the Fanuc demo launch file.
I think that this is not apparent outside of Nix, because some of the libraries MoveIt is linking to add -Wl,--as-needed to the linker command whereas the Nix derivations do not have that flag.
nilp-dromeda
commented
1 month ago Were you able to apply these changes through overridingAttrs of the propgatedBuildInputs for pilz-industrial-motion-planner and moveit-ros-planning-interface packages (move_group_interface is not a package either, its just added as subdirectory call in the CMakeLists.txt file)? Or did you have to manually patch the CMakeList files?
Takishima
commented
1 month ago I had to patch the CMake files since you need to change the calls to ament_target_dependencies
okvik
commented
1 month ago Do you plan on upstreaming these patches by any chance? If not, posting them here would be greatly appreciated. Great work by the way, and thanks.
Takishima
commented
1 month ago As much as I'd like to post the patches here or upstream them right now, I first have to wait for the official permission from the company. As soon as this process is done, I'll post them.
After some patching and cherry picking issues I almost have a workable ROS 2 Humble environment with MoveIt2 and RViz2.
However, the
move_grouppackage that expects to load its capabilities from plugins have trouble finding them, even though the plugin objects themselves and the resource index stuff seem to be in place. Strangely enough the MoveIt2 planning pipelines, which are also plugins, get loaded fine...I'm not exactly sure on how to continue debugging this. Did anyone encounter this with other packages before? I can't seem to find many references to relevant problems with plugins in past issues.
Later today I'll (try to) provide a way to reproduce this easily, but for now here's a log of running
ros2 launch moveit_resources_fanuc_moveit_config demo.launch.py(Fanuc instead of Panda here because Panda config package is broken in the Humble release ofMoveIt...