ignition-gazebo7 (gz-sim7) & gz-garden can't load libraries with arm64

[Ratatinator97]

Hello I just installed on my M1 the ignition-gazebo7 package and I have the following errors:

➜  gz plugin                                                                               
dyld[3862]: Library not loaded: '@rpath/libgz-plugin2-loader.2.dylib'
  Referenced from: '/opt/homebrew/Cellar/gz-plugin2/2.0.0/libexec/gz/plugin2/gz-plugin'
  Reason: tried: '/opt/homebrew/Cellar/gz-plugin2/2.0.0/libexec/gz/plugin2/../lib/libgz-plugin2-loader.2.dylib' (no such file), '/opt/homebrew/Cellar/gz-plugin2/2.0.0/libexec/gz/plugin2/../lib/libgz-plugin2-loader.2.dylib' (no such file), '/usr/local/lib/libgz-plugin2-loader.2.dylib' (no such file), '/usr/lib/libgz-plugin2-loader.2.dylib' (no such file)
Error: Version mismatch. Your configuration file version is
            [2.0.0] but /opt/homebrew/Cellar/gz-plugin2/2.0.0/libexec/gz/plugin2/gz-plugin version is [].

Same issue when I run a SDF file with gz sim -s MySDF.sdf:

Error while loading the library [/opt/homebrew/Cellar/gz-sim7/7.0.0_1/lib/gz-sim-7/plugins/libgz-sim-physics-system.dylib]: dlopen(/opt/homebrew/Cellar/gz-sim7/7.0.0_1/lib/gz-sim-7/plugins/libgz-sim-physics-system.dylib, 0x0085): Library not loaded: '@rpath/libgz-sim7.7.dylib'
  Referenced from: '/opt/homebrew/Cellar/gz-sim7/7.0.0_1/lib/gz-sim-7/plugins/libgz-sim7-physics-system.7.0.0.dylib'
  Reason: tried: '/opt/homebrew/Cellar/gz-sim7/7.0.0_1/lib/gz-sim-7/plugins/../lib/libgz-sim7.7.dylib' (no such file), '/opt/homebrew/Cellar/gz-sim7/7.0.0_1/lib/gz-sim-7/plugins/../lib/libgz-sim7.7.dylib' (no such file), '/opt/homebrew/Cellar/gz-plugin2/2.0.0/lib/../lib/libgz-sim7.7.dylib' (no such file), '/usr/local/lib/libgz-sim7.7.dylib' (no such file), '/usr/lib/libgz-sim7.7.dylib' (no such file)

and for gz-sim-physics-system, gz-sim-user-commands-system, gz-sim-scene-broadcaster-system, gz-sim-particle-emitter-system ...

➜  ls /opt/homebrew/Cellar/gz-sim7/7.0.0_1/lib/gz-sim-7/plugins/                              
gui                                                       libgz-sim7-joint-position-controller-system.7.dylib
libgz-sim-ackermann-steering-system.dylib                 libgz-sim7-joint-position-controller-system.dylib
libgz-sim-air-pressure-system.dylib                       libgz-sim7-joint-state-publisher-system.7.0.0.dylib
libgz-sim-altimeter-system.dylib                          libgz-sim7-joint-state-publisher-system.7.dylib
libgz-sim-apply-joint-force-system.dylib                  libgz-sim7-joint-state-publisher-system.dylib
libgz-sim-apply-link-wrench-system.dylib                  libgz-sim7-joint-trajectory-controller-system.7.0.0.dylib
libgz-sim-breadcrumbs-system.dylib                        libgz-sim7-joint-trajectory-controller-system.7.dylib
libgz-sim-buoyancy-engine-system.dylib                    libgz-sim7-joint-trajectory-controller-system.dylib
libgz-sim-buoyancy-system.dylib                           libgz-sim7-kinetic-energy-monitor-system.7.0.0.dylib
libgz-sim-camera-video-recorder-system.dylib              libgz-sim7-kinetic-energy-monitor-system.7.dylib
libgz-sim-collada-world-exporter-system.dylib             libgz-sim7-kinetic-energy-monitor-system.dylib
libgz-sim-comms-endpoint-system.dylib                     libgz-sim7-label-system.7.0.0.dylib
libgz-sim-contact-system.dylib                            libgz-sim7-label-system.7.dylib
libgz-sim-detachable-joint-system.dylib                   libgz-sim7-label-system.dylib
libgz-sim-diff-drive-system.dylib                         libgz-sim7-lift-drag-system.7.0.0.dylib
libgz-sim-elevator-system.dylib                           libgz-sim7-lift-drag-system.7.dylib
libgz-sim-follow-actor-system.dylib                       libgz-sim7-lift-drag-system.dylib
libgz-sim-forcetorque-system.dylib                        libgz-sim7-linearbatteryplugin-system.7.0.0.dylib
libgz-sim-hydrodynamics-system.dylib                      libgz-sim7-linearbatteryplugin-system.7.dylib
libgz-sim-imu-system.dylib                                libgz-sim7-linearbatteryplugin-system.dylib
libgz-sim-joint-controller-system.dylib                   libgz-sim7-log-system.7.0.0.dylib
libgz-sim-joint-position-controller-system.dylib          libgz-sim7-log-system.7.dylib
libgz-sim-joint-state-publisher-system.dylib              libgz-sim7-log-system.dylib
libgz-sim-joint-trajectory-controller-system.dylib        libgz-sim7-log-video-recorder-system.7.0.0.dylib
libgz-sim-kinetic-energy-monitor-system.dylib             libgz-sim7-log-video-recorder-system.7.dylib
libgz-sim-label-system.dylib                              libgz-sim7-log-video-recorder-system.dylib
libgz-sim-lift-drag-system.dylib                          libgz-sim7-logical-camera-system.7.0.0.dylib
libgz-sim-linearbatteryplugin-system.dylib                libgz-sim7-logical-camera-system.7.dylib
libgz-sim-log-system.dylib                                libgz-sim7-logical-camera-system.dylib
libgz-sim-log-video-recorder-system.dylib                 libgz-sim7-logicalaudiosensorplugin-system.7.0.0.dylib
libgz-sim-logical-camera-system.dylib                     libgz-sim7-logicalaudiosensorplugin-system.7.dylib
libgz-sim-logicalaudiosensorplugin-system.dylib           libgz-sim7-logicalaudiosensorplugin-system.dylib
libgz-sim-magnetometer-system.dylib                       libgz-sim7-magnetometer-system.7.0.0.dylib
libgz-sim-mecanum-drive-system.dylib                      libgz-sim7-magnetometer-system.7.dylib
libgz-sim-model-photo-shoot-system.dylib                  libgz-sim7-magnetometer-system.dylib
libgz-sim-multicopter-control-system.dylib                libgz-sim7-mecanum-drive-system.7.0.0.dylib
libgz-sim-multicopter-motor-model-system.dylib            libgz-sim7-mecanum-drive-system.7.dylib
libgz-sim-navsat-system.dylib                             libgz-sim7-mecanum-drive-system.dylib
libgz-sim-odometry-publisher-system.dylib                 libgz-sim7-model-photo-shoot-system.7.0.0.dylib
libgz-sim-opticaltactileplugin-system.dylib               libgz-sim7-model-photo-shoot-system.7.dylib
libgz-sim-particle-emitter-system.dylib                   libgz-sim7-model-photo-shoot-system.dylib
libgz-sim-particle-emitter2-system.dylib                  libgz-sim7-multicopter-control-system.7.0.0.dylib
libgz-sim-perfect-comms-system.dylib                      libgz-sim7-multicopter-control-system.7.dylib
libgz-sim-performer-detector-system.dylib                 libgz-sim7-multicopter-control-system.dylib
libgz-sim-physics-system.dylib                            libgz-sim7-multicopter-motor-model-system.7.0.0.dylib
libgz-sim-pose-publisher-system.dylib                     libgz-sim7-multicopter-motor-model-system.7.dylib
libgz-sim-rf-comms-system.dylib                           libgz-sim7-multicopter-motor-model-system.dylib
libgz-sim-scene-broadcaster-system.dylib                  libgz-sim7-navsat-system.7.0.0.dylib
libgz-sim-sensors-system.dylib                            libgz-sim7-navsat-system.7.dylib
libgz-sim-shader-param-system.dylib                       libgz-sim7-navsat-system.dylib
libgz-sim-thermal-sensor-system.dylib                     libgz-sim7-odometry-publisher-system.7.0.0.dylib
libgz-sim-thermal-system.dylib                            libgz-sim7-odometry-publisher-system.7.dylib
libgz-sim-thruster-system.dylib                           libgz-sim7-odometry-publisher-system.dylib
libgz-sim-touchplugin-system.dylib                        libgz-sim7-opticaltactileplugin-system.7.0.0.dylib
libgz-sim-track-controller-system.dylib                   libgz-sim7-opticaltactileplugin-system.7.dylib
libgz-sim-tracked-vehicle-system.dylib                    libgz-sim7-opticaltactileplugin-system.dylib
libgz-sim-trajectory-follower-system.dylib                libgz-sim7-particle-emitter-system.7.0.0.dylib
libgz-sim-triggered-publisher-system.dylib                libgz-sim7-particle-emitter-system.7.dylib
libgz-sim-user-commands-system.dylib                      libgz-sim7-particle-emitter-system.dylib
libgz-sim-velocity-control-system.dylib                   libgz-sim7-particle-emitter2-system.7.0.0.dylib
libgz-sim-wheel-slip-system.dylib                         libgz-sim7-particle-emitter2-system.7.dylib
libgz-sim-wind-effects-system.dylib                       libgz-sim7-particle-emitter2-system.dylib
libgz-sim7-ackermann-steering-system.7.0.0.dylib          libgz-sim7-perfect-comms-system.7.0.0.dylib
libgz-sim7-ackermann-steering-system.7.dylib              libgz-sim7-perfect-comms-system.7.dylib
libgz-sim7-ackermann-steering-system.dylib                libgz-sim7-perfect-comms-system.dylib
libgz-sim7-air-pressure-system.7.0.0.dylib                libgz-sim7-performer-detector-system.7.0.0.dylib
libgz-sim7-air-pressure-system.7.dylib                    libgz-sim7-performer-detector-system.7.dylib
libgz-sim7-air-pressure-system.dylib                      libgz-sim7-performer-detector-system.dylib
libgz-sim7-altimeter-system.7.0.0.dylib                   libgz-sim7-physics-system.7.0.0.dylib
libgz-sim7-altimeter-system.7.dylib                       libgz-sim7-physics-system.7.dylib
libgz-sim7-altimeter-system.dylib                         libgz-sim7-physics-system.dylib
libgz-sim7-apply-joint-force-system.7.0.0.dylib           libgz-sim7-pose-publisher-system.7.0.0.dylib
libgz-sim7-apply-joint-force-system.7.dylib               libgz-sim7-pose-publisher-system.7.dylib
libgz-sim7-apply-joint-force-system.dylib                 libgz-sim7-pose-publisher-system.dylib
libgz-sim7-apply-link-wrench-system.7.0.0.dylib           libgz-sim7-rf-comms-system.7.0.0.dylib
libgz-sim7-apply-link-wrench-system.7.dylib               libgz-sim7-rf-comms-system.7.dylib
libgz-sim7-apply-link-wrench-system.dylib                 libgz-sim7-rf-comms-system.dylib
libgz-sim7-breadcrumbs-system.7.0.0.dylib                 libgz-sim7-scene-broadcaster-system.7.0.0.dylib
libgz-sim7-breadcrumbs-system.7.dylib                     libgz-sim7-scene-broadcaster-system.7.dylib
libgz-sim7-breadcrumbs-system.dylib                       libgz-sim7-scene-broadcaster-system.dylib
libgz-sim7-buoyancy-engine-system.7.0.0.dylib             libgz-sim7-sensors-system.7.0.0.dylib
libgz-sim7-buoyancy-engine-system.7.dylib                 libgz-sim7-sensors-system.7.dylib
libgz-sim7-buoyancy-engine-system.dylib                   libgz-sim7-sensors-system.dylib
libgz-sim7-buoyancy-system.7.0.0.dylib                    libgz-sim7-shader-param-system.7.0.0.dylib
libgz-sim7-buoyancy-system.7.dylib                        libgz-sim7-shader-param-system.7.dylib
libgz-sim7-buoyancy-system.dylib                          libgz-sim7-shader-param-system.dylib
libgz-sim7-camera-video-recorder-system.7.0.0.dylib       libgz-sim7-thermal-sensor-system.7.0.0.dylib
libgz-sim7-camera-video-recorder-system.7.dylib           libgz-sim7-thermal-sensor-system.7.dylib
libgz-sim7-camera-video-recorder-system.dylib             libgz-sim7-thermal-sensor-system.dylib
libgz-sim7-collada-world-exporter-system.7.0.0.dylib      libgz-sim7-thermal-system.7.0.0.dylib
libgz-sim7-collada-world-exporter-system.7.dylib          libgz-sim7-thermal-system.7.dylib
libgz-sim7-collada-world-exporter-system.dylib            libgz-sim7-thermal-system.dylib
libgz-sim7-comms-endpoint-system.7.0.0.dylib              libgz-sim7-thruster-system.7.0.0.dylib
libgz-sim7-comms-endpoint-system.7.dylib                  libgz-sim7-thruster-system.7.dylib
libgz-sim7-comms-endpoint-system.dylib                    libgz-sim7-thruster-system.dylib
libgz-sim7-contact-system.7.0.0.dylib                     libgz-sim7-touchplugin-system.7.0.0.dylib
libgz-sim7-contact-system.7.dylib                         libgz-sim7-touchplugin-system.7.dylib
libgz-sim7-contact-system.dylib                           libgz-sim7-touchplugin-system.dylib
libgz-sim7-detachable-joint-system.7.0.0.dylib            libgz-sim7-track-controller-system.7.0.0.dylib
libgz-sim7-detachable-joint-system.7.dylib                libgz-sim7-track-controller-system.7.dylib
libgz-sim7-detachable-joint-system.dylib                  libgz-sim7-track-controller-system.dylib
libgz-sim7-diff-drive-system.7.0.0.dylib                  libgz-sim7-tracked-vehicle-system.7.0.0.dylib
libgz-sim7-diff-drive-system.7.dylib                      libgz-sim7-tracked-vehicle-system.7.dylib
libgz-sim7-diff-drive-system.dylib                        libgz-sim7-tracked-vehicle-system.dylib
libgz-sim7-elevator-system.7.0.0.dylib                    libgz-sim7-trajectory-follower-system.7.0.0.dylib
libgz-sim7-elevator-system.7.dylib                        libgz-sim7-trajectory-follower-system.7.dylib
libgz-sim7-elevator-system.dylib                          libgz-sim7-trajectory-follower-system.dylib
libgz-sim7-follow-actor-system.7.0.0.dylib                libgz-sim7-triggered-publisher-system.7.0.0.dylib
libgz-sim7-follow-actor-system.7.dylib                    libgz-sim7-triggered-publisher-system.7.dylib
libgz-sim7-follow-actor-system.dylib                      libgz-sim7-triggered-publisher-system.dylib
libgz-sim7-forcetorque-system.7.0.0.dylib                 libgz-sim7-user-commands-system.7.0.0.dylib
libgz-sim7-forcetorque-system.7.dylib                     libgz-sim7-user-commands-system.7.dylib
libgz-sim7-forcetorque-system.dylib                       libgz-sim7-user-commands-system.dylib
libgz-sim7-hydrodynamics-system.7.0.0.dylib               libgz-sim7-velocity-control-system.7.0.0.dylib
libgz-sim7-hydrodynamics-system.7.dylib                   libgz-sim7-velocity-control-system.7.dylib
libgz-sim7-hydrodynamics-system.dylib                     libgz-sim7-velocity-control-system.dylib
libgz-sim7-imu-system.7.0.0.dylib                         libgz-sim7-wheel-slip-system.7.0.0.dylib
libgz-sim7-imu-system.7.dylib                             libgz-sim7-wheel-slip-system.7.dylib
libgz-sim7-imu-system.dylib                               libgz-sim7-wheel-slip-system.dylib
libgz-sim7-joint-controller-system.7.0.0.dylib            libgz-sim7-wind-effects-system.7.0.0.dylib
libgz-sim7-joint-controller-system.7.dylib                libgz-sim7-wind-effects-system.7.dylib
libgz-sim7-joint-controller-system.dylib                  libgz-sim7-wind-effects-system.dylib
libgz-sim7-joint-position-controller-system.7.0.0.dylib

➜  ~ brew config
HOMEBREW_VERSION: 3.6.7
ORIGIN: https://github.com/Homebrew/brew
HEAD: 6a7eac25e167a1eb2d49e13c8cc530a3188af995
Last commit: 2 days ago
Core tap ORIGIN: https://github.com/Homebrew/homebrew-core
Core tap HEAD: 33fb1c68a5eb2b35c9c420adc7b1dfbbefa68262
Core tap last commit: 20 hours ago
Core tap branch: master
HOMEBREW_PREFIX: /opt/homebrew
HOMEBREW_CASK_OPTS: []
HOMEBREW_DISPLAY: /private/tmp/com.apple.launchd.dXQxKwjsPW/org.xquartz:0
HOMEBREW_MAKE_JOBS: 10
Homebrew Ruby: 2.6.8 => /System/Library/Frameworks/Ruby.framework/Versions/2.6/usr/bin/ruby
CPU: 10-core 64-bit arm_firestorm_icestorm
Clang: 14.0.0 build 1400
Git: 2.37.0 => /Applications/Xcode.app/Contents/Developer/usr/bin/git
Curl: 7.79.1 => /usr/bin/curl
macOS: 12.6-arm64
CLT: 14.0.0.0.1.1661618636
Xcode: 14.0.1
Rosetta 2: false

➜  ~ brew doctor
Please note that these warnings are just used to help the Homebrew maintainers
with debugging if you file an issue. If everything you use Homebrew for is
working fine: please don't worry or file an issue; just ignore this. Thanks!

Warning: "config" scripts exist outside your system or Homebrew directories.
`./configure` scripts often look for *-config scripts to determine if
software packages are installed, and which additional flags to use when
compiling and linking.

Having additional scripts in your path can confuse software installed via
Homebrew if the config script overrides a system or Homebrew-provided
script of the same name. We found the following "config" scripts:
  /Users/alex/.pyenv/shims/python3.7-config
  /Users/alex/.pyenv/shims/python3.10-config
  /Users/alex/.pyenv/shims/python3.7m-config
  /Users/alex/.pyenv/shims/python3.9-config
  /Users/alex/.pyenv/shims/python-config
  /Users/alex/.pyenv/shims/python3-config
  /Library/Frameworks/Python.framework/Versions/3.7/bin/python3.7-config
  /Library/Frameworks/Python.framework/Versions/3.7/bin/python3.7m-config
  /Library/Frameworks/Python.framework/Versions/3.7/bin/python3-config

Warning: Unbrewed dylibs were found in /usr/local/lib.
If you didn't put them there on purpose they could cause problems when
building Homebrew formulae, and may need to be deleted.

Unexpected dylibs:
  /usr/local/lib/librtlsdr.0.0.0.dylib
  /usr/local/lib/librtlsdr.0.dylib
  /usr/local/lib/librtlsdr.dylib
  /usr/local/lib/libusb-1.0.0.dylib

My Rbenv config:

➜  ~ which ruby
/Users/alex/.rbenv/shims/ruby
➜  ~ ruby --version
ruby 3.1.2p20 (2022-04-12 revision 4491bb740a) [arm64-darwin21]

Isssue appears in an ArduPilot forum post: https://discuss.ardupilot.org/t/how-to-use-gazebo-garden-for-sitl-simulation-of-ardupilot-on-apple-silicon/92390

[scpeters]

I haven't yet had a chance to build bottles for arm64, so I'm not sure how much of gazebo works on that architecture

[Ratatinator97]

I installed gz-garden and the problem persists:

➜  ~ gz gui          
Error while loading the library [/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib]: dlopen(/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib, 0x0085): Library not loaded: '@rpath/libgz-gui7.7.dylib'
  Referenced from: '/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib'
  Reason: tried: '/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/../lib/libgz-gui7.7.dylib' (no such file), '/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/../lib/libgz-gui7.7.dylib' (no such file), '/opt/homebrew/Cellar/gz-plugin2/2.0.0/lib/../lib/libgz-gui7.7.dylib' (no such file), '/usr/local/lib/libgz-gui7.7.dylib' (no such file), '/usr/lib/libgz-gui7.7.dylib' (no such file)
[GUI] [Err] [Application.cc:495] Failed to load plugin [CameraTracking] : couldn't load library on path [/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib].
➜  ~ ls /opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/
libCameraTracking.dylib         libMinimalScene.dylib           libTeleop.dylib
libGrid3D.dylib                 libNavSatMap.dylib              libTopicEcho.dylib
libGridConfig.dylib             libPointCloud.dylib             libTopicViewer.dylib
libImageDisplay.dylib           libPublisher.dylib              libTransportPlotting.dylib
libInteractiveViewControl.dylib libScreenshot.dylib             libTransportSceneManager.dylib
libKeyPublisher.dylib           libShutdownButton.dylib         libWorldControl.dylib
libMarkerManager.dylib          libTapeMeasure.dylib            libWorldStats.dylib
➜  ~ ruby --version
ruby 3.1.2p20 (2022-04-12 revision 4491bb740a) [arm64-darwin21]

Another example:

/opt/homebrew/opt/ruby/bin/ruby $(which gz) gui             
Error while loading the library [/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib]: dlopen(/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib, 0x0085): Library not loaded: '@rpath/libgz-gui7.7.dylib'
  Referenced from: '/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib'
  Reason: tried: '/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/../lib/libgz-gui7.7.dylib' (no such file), '/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/../lib/libgz-gui7.7.dylib' (no such file), '/opt/homebrew/Cellar/gz-plugin2/2.0.0/lib/../lib/libgz-gui7.7.dylib' (no such file), '/usr/local/lib/libgz-gui7.7.dylib' (no such file), '/usr/lib/libgz-gui7.7.dylib' (no such file)
[GUI] [Err] [Application.cc:495] Failed to load plugin [CameraTracking] : couldn't load library on path [/opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/libCameraTracking.dylib].

Here are the rights of the differents libraries:

➜  ~ ls -al /opt/homebrew/Cellar/gz-gui7/7.0.0/lib/gz-gui-7/plugins/
total 8216
drwxr-xr-x  23 alex  admin     736 Nov  7 10:47 .
drwxr-xr-x   3 alex  admin      96 Nov  7 10:47 ..
-r--r--r--   1 alex  admin  245392 Nov  7 10:47 libCameraTracking.dylib
-r--r--r--   1 alex  admin  176720 Nov  7 10:47 libGrid3D.dylib
-r--r--r--   1 alex  admin  176720 Nov  7 10:47 libGridConfig.dylib
-r--r--r--   1 alex  admin  197904 Nov  7 10:47 libImageDisplay.dylib
-r--r--r--   1 alex  admin  204400 Nov  7 10:47 libInteractiveViewControl.dylib
-r--r--r--   1 alex  admin  130960 Nov  7 10:47 libKeyPublisher.dylib
-r--r--r--   1 alex  admin  285664 Nov  7 10:47 libMarkerManager.dylib
-r--r--r--   1 alex  admin  277904 Nov  7 10:47 libMinimalScene.dylib
-r--r--r--   1 alex  admin  174816 Nov  7 10:47 libNavSatMap.dylib
-r--r--r--   1 alex  admin  285840 Nov  7 10:47 libPointCloud.dylib
-r--r--r--   1 alex  admin  151776 Nov  7 10:47 libPublisher.dylib
-r--r--r--   1 alex  admin  201344 Nov  7 10:47 libScreenshot.dylib
-r--r--r--   1 alex  admin  128896 Nov  7 10:47 libShutdownButton.dylib
-r--r--r--   1 alex  admin  211328 Nov  7 10:47 libTapeMeasure.dylib
-r--r--r--   1 alex  admin  152592 Nov  7 10:47 libTeleop.dylib
-r--r--r--   1 alex  admin  175968 Nov  7 10:47 libTopicEcho.dylib
-r--r--r--   1 alex  admin  184768 Nov  7 10:47 libTopicViewer.dylib
-r--r--r--   1 alex  admin  128416 Nov  7 10:47 libTransportPlotting.dylib
-r--r--r--   1 alex  admin  286240 Nov  7 10:47 libTransportSceneManager.dylib
-r--r--r--   1 alex  admin  216944 Nov  7 10:47 libWorldControl.dylib
-r--r--r--   1 alex  admin  175424 Nov  7 10:47 libWorldStats.dylib

Feel free to ask other infos in order to debug

[briankthsmth]

I have same problem when try to run gz sim -s. I noticed that when brew installs gz-sim7 it runs cmake .. -DCMAKE_INSTALL_RPATH=@loader_path/../lib. You can see it in gz-sim7.rb file and the other gz-*.rb files.

The error is consistent with the linker setting the path to libgz-sim7.7.dylib in each plugin's dylib to @loader_path/../lib, as the dynamic linker is searching for libgz-sim7.7.dylib one directory below in a folder which doesn't exist.

@loader_path would be the plugins path, _/opt/homebrew/Cellar/gz-sim7/7.4.02/lib/gz-sim-7/plugins, but libgz-sim7.7.dylib would be in _/opt/homebrew/Cellar/gz-sim7/7.4.02/lib. So, the rpath in the cmake call could be cmake .. -DCMAKE_INSTALL_RPATH=@loader_path/../../../lib which would let the dynamic loader find libgz-sim7.7.dylib. This might cause problems for libgz-sim7.7.dylib if it has any dependencies in the _/opt/homebrew/Cellar/gz-sim7/7.4.02/lib folder. So, it might be better have a separate rpath for plugins for this. This is a similar problem for all of the gz-* modules that have plugins like gz-gui.

I wonder if this is only on Mac silicon with homebrew as homebrew no longer install to /usr/local, and now everything is in /opt/homebrew on Mac silicon. Is homebrew still adding links to the various libgz-*.dylib in /usr/local/lib on other systems which the dynamic linker includes in its search path?

[scpeters]

I believe I have fixed the RPATH issues for garden in #2409 and #2410