Closed cnboonhan closed 2 years ago
Ok, so it seems that the conflicting file is:
trying to overwrite '/opt/ros/galactic/lib/x86_64-linux-gnu/libreadonly.so', which is also in package ros-galactic-rmf-robot-sim-gazebo-plugins 1.3.0-1focal.20210909.173539
I locally tested some changes to rename each one of these plugins to readonly_gz
and readonly_ign
respectively in order to avoid the conflicting filename. This will most probably need a change somewhere on rmf_demos
too (caddy sdf model I believe). Waiting for some feedback from @luca-della-vedova as he knows more about this to see if there might be any conflicts with that solution.
I'm also wondering if we should use more RMF specific names for stuff like this, i.e., rmf_readonly_fleet_gz
instead of just readonly_gz
, which means very little on the overall ROS
scope.
I'm also wondering if we should use more RMF specific names for stuff like this, i.e., rmf_readonly_fleet_gz instead of just readonly_gz, which means very little on the overall ROS scope.
I think including an rmf
prefix is a good idea
I think this might be a slightly hairier issue, right now the fact that the files have the same name is "by design" so we can have a single sdf
file for each model and have it look for a single file (i.e. libreadonly
, or librmf_readonly
if you wish) , then depending on the configured search path in the launch file either the Ignition or Gazebo file will be found.
My first question is whether it would be possible to keep a similar approach and instead of installing under /lib/<filename>
having it under /lib/package_name/<filename>
, this should fix the issue.
Otherwise we will have to come up with a way to load different plugins for the models, since (if I remember correctly) it's not quite possible to override only what we need in the <plugin>
tag at the world file level, we might have to enforce some other solution (i.e. gz and ign packages conflicting with each other) but that's not quite optimal
On installing RMF on galactic binaries off a ubuntu 20.04 installation, I seem to encounter issues with installing robot-sim-ignition plugins:
You can reproduce it by the following:
This is seems to be due to multiple copies of '/opt/ros/galactic/lib/x86_64-linux-gnu/libreadonly.so` being installed.