_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so failed to be imported while being present on the system

squizz617 commented 1 year ago

Bug report

Required Info:

Operating System: Ubuntu 22.04
Installation type: Tried both binary and source installation
Version or commit hash:
- bin: ros-humble-rclpy/jammy,now 3.3.8-2jammy.20230623.051015 amd64 [installed,automatic]
- src: 76212669
DDS implementation: Fast-DDS (default)
Client library (if applicable): rclpy

Steps to reproduce issue

Binary installation:


$ source /opt/ros/humble/setup.sh
$ python3 -c "import rclpy"
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 49, in <module>
from rclpy.signals import install_signal_handlers
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/signals.py", line 15, in <module>
from rclpy.exceptions import InvalidHandle
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/exceptions.py", line 15, in <module>
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
rclpy_implementation = import_c_library('._rclpy_pybind11', package)
File "/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
return importlib.import_module(name, package=package)
File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ImportError: librcl_action.so: cannot open shared object file: No such file or directory
The C extension '/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://docs.ros.org/en/{distro}/Guides/Installation-Troubleshooting.html#import-failing-even-with-library-present-on-the-system' for possible solutions

$ file /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, BuildID[sha1]=7a13e46bccf18deb10a3cfdb76b436aa3856fdda, stripped


* Source installation:

$ source ~/ros2_humble/install/setup.sh $ python3 -c "import rclpy" Traceback (most recent call last): File "", line 1, in File "/home/seulbae/ros2_humble/install/rclpy/local/lib/python3.10/dist-packages/rclpy/init.py", line 49, in from rclpy.signals import install_signal_handlers File "/home/seulbae/ros2_humble/install/rclpy/local/lib/python3.10/dist-packages/rclpy/signals.py", line 15, in from rclpy.exceptions import InvalidHandle File "/home/seulbae/ros2_humble/install/rclpy/local/lib/python3.10/dist-packages/rclpy/exceptions.py", line 15, in from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy File "/home/seulbae/ros2_humble/install/rclpy/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py", line 32, in rclpy_implementation = import_c_library('._rclpy_pybind11', package) File "/home/seulbae/ros2_humble/build/rpyutils/rpyutils/import_c_library.py", line 39, in import_c_library return importlib.import_module(name, package=package) File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) ImportError: librcl_action.so: cannot open shared object file: No such file or directory The C extension '/home/seulbae/ros2_humble/install/rclpy/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://docs.ros.org/en/{distro}/Guides/Installation-Troubleshooting.html#import-failing-even-with-library-present-on-the-system' for possible solutions

$ file /home/seulbae/ros2_humble/build/rclpy/test_rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so /home/seulbae/ros2_humble/build/rclpy/test_rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, BuildID[sha1]=521156ac1b623401f2b012c6dcece989048e6273, not stripped



#### Expected behavior
`rclpy` successfully imported.

#### Actual behavior
Import failure.

#### Additional information
I'm not sure what's causing this issue. A ROS 2 scripts on my machine that worked before suddenly stopped working, and it turned out to be a import failure. Also, the trobleshooting guide in the error message seems to be only for Windows.
Thank you.

mjcarroll commented 1 year ago

What is the output of python3 -VV ?

squizz617 commented 1 year ago

$ python3 -VV
Python 3.10.6 (main, May 29 2023, 11:10:38) [GCC 11.3.0]

mjcarroll commented 1 year ago

Ah, I didn't read closely enough, this is likely the culprit:

ImportError: librcl_action.so: cannot open shared object file: No such file or directory

Do you have ros-humble-rcl-action installed? You should also have the library located at /opt/ros/humble/librcl_action.so from the binaries.

clalancette commented 1 year ago

Further, what does your environment look like?

$ printenv | grep -i ros

squizz617 commented 1 year ago

I have ros-humble-rcl-action installed.

$ apt list | grep humble-rcl-action                                                                                           

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

ros-humble-rcl-action-dbgsym/jammy 5.3.3-1jammy.20230623.045652 amd64
ros-humble-rcl-action/jammy,now 5.3.3-1jammy.20230623.045652 amd64 [installed,automatic]

Env when using the binary installation:

$ printenv | grep -i ros          
PATH=/opt/ros/humble/bin:/usr/local/texlive/2022/bin/x86_64-linux:/home/seulbae/.local/bin:/usr/local/texlive/2022/bin/x86_64-linux:/home/seulbae/.local/bin:/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:/home/seulbae/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
AMENT_PREFIX_PATH=/opt/ros/humble
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
ROS_DISTRO=humble
ROS_LOCALHOST_ONLY=0
ROS_PYTHON_VERSION=3
ROS_VERSION=2

squizz617 commented 1 year ago

$ file /opt/ros/humble/lib/librcl_action.so 
/opt/ros/humble/lib/librcl_action.so: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, BuildID[sha1]=e1d3f18a4b279ed1c5c6aca4dd4332e5fd3f06e5, stripped

mjcarroll commented 1 year ago

I'm not seeing anything obvious. Can you also run ldd /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so

squizz617 commented 1 year ago

seulbae@xps13 ~   [23-07-27 13:37:31]
$ source /opt/ros/humble/setup.zsh                                                                                
seulbae@xps13 ~   [23-07-27 13:37:32]
$ ldd /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so 
    linux-vdso.so.1 (0x00007fff79b99000)
    librcl_action.so => /opt/ros/humble/lib/librcl_action.so (0x00007f7f3459f000)
    librcl_lifecycle.so => /opt/ros/humble/lib/librcl_lifecycle.so (0x00007f7f34595000)
    libpython3.10.so.1.0 => /lib/x86_64-linux-gnu/libpython3.10.so.1.0 (0x00007f7f33e00000)
    librcl.so => /opt/ros/humble/lib/librcl.so (0x00007f7f34526000)
    librcl_yaml_param_parser.so => /opt/ros/humble/lib/librcl_yaml_param_parser.so (0x00007f7f3451a000)
    librmw_implementation.so => /opt/ros/humble/lib/librmw_implementation.so (0x00007f7f3450b000)
    librcl_logging_interface.so => /opt/ros/humble/lib/librcl_logging_interface.so (0x00007f7f34506000)
    librmw.so => /opt/ros/humble/lib/librmw.so (0x00007f7f344fa000)
    liblifecycle_msgs__rosidl_typesupport_c.so => /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_c.so (0x00007f7f344f3000)
    librcutils.so => /opt/ros/humble/lib/librcutils.so (0x00007f7f344db000)
    libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f7f33a00000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f7f344b9000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f7f33600000)
    libtracetools.so => /opt/ros/humble/lib/libtracetools.so (0x00007f7f344b4000)
    liblifecycle_msgs__rosidl_generator_c.so => /opt/ros/humble/lib/liblifecycle_msgs__rosidl_generator_c.so (0x00007f7f344a4000)
    librosidl_runtime_c.so => /opt/ros/humble/lib/librosidl_runtime_c.so (0x00007f7f34499000)
    libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f7f34468000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f7f3444a000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f7f33d19000)
    librcl_logging_spdlog.so => /opt/ros/humble/lib/librcl_logging_spdlog.so (0x00007f7f34443000)
    librcl_interfaces__rosidl_typesupport_c.so => /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_c.so (0x00007f7f3443a000)
    librcl_interfaces__rosidl_generator_c.so => /opt/ros/humble/lib/librcl_interfaces__rosidl_generator_c.so (0x00007f7f3441e000)
    libyaml.so => /opt/ros/humble/lib/libyaml.so (0x00007f7f343fc000)
    libament_index_cpp.so => /opt/ros/humble/lib/libament_index_cpp.so (0x00007f7f343ef000)
    librcpputils.so => /opt/ros/humble/lib/librcpputils.so (0x00007f7f343e1000)
    librosidl_typesupport_c.so => /opt/ros/humble/lib/librosidl_typesupport_c.so (0x00007f7f343db000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f7f34696000)
    libspdlog.so.1 => /lib/x86_64-linux-gnu/libspdlog.so.1 (0x00007f7f33c9e000)
    libbuiltin_interfaces__rosidl_generator_c.so => /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_generator_c.so (0x00007f7f33c99000)
    libfmt.so.8 => /lib/x86_64-linux-gnu/libfmt.so.8 (0x00007f7f33c76000)

squizz617 commented 1 year ago

The issue persists after upgrading ros-humble apt package to ros-humble-rcl-action/jammy,now 5.3.4-3jammy.20230721.204515 amd64 [installed,automatic]..

mjcarroll commented 1 year ago

I'm pretty stumped here. I suppose as a next step, you could look at each of the dependent shared libraries and make sure that they can correctly resolve their dependencies via ldd?

iuhilnehc-ynos commented 1 year ago

@squizz617

I'm interested in this issue because it's almost impossible as the ldd shows that the rcl_action.so is found.

Could you run the command strace python3 -c "import rclpy" > /tmp/failed-to-import-rclpy.txt 2>&1, and then upload the log /tmp/failed-to-import-rclpy.txt?

squizz617 commented 1 year ago

@iuhilnehc-ynos Here's the strace of python3 importing rclpy: strace_rclpy.txt.

iuhilnehc-ynos commented 1 year ago

According to access("/etc/suid-debug", F_OK), I believe that you changed the /usr/bin/python3.10 with '+s' which will erase the LD_LIBRARY_PATH.

Please revert it with sudo chmod -s /usr/bin/python3.10.

squizz617 commented 1 year ago

I believe that you changed the /usr/bin/python3.10 with '+s'

@iuhilnehc-ynos Thanks for the suggestion but I haven't set the setuid bit..

$ ls -alh /usr/bin/python3.10 
-rwxr-xr-x 1 root root 5.7M Jun 11 01:26 /usr/bin/python3.10

iuhilnehc-ynos commented 1 year ago

Wow, so there are other cases can make the __libc_enable_secure get true and then call unsetenv the LD_LIBRARY_PATH.

Besides the manually setting suid for the /usr/bin/python3.10, another case I can think of is the mount option.

@squizz617 Could you show the mount options for the device?

DRAGON-BOOSTERR commented 1 year ago

I also have the same problem, for me the command import rclpy was not working in pycharm and after some messing around I found that we need to add the interpreter paths in pycharm. after that I ended up this error and by following this beautiful thread, Im looking for a way forward. but when I run the code with just the python command python3 ros_test.py, the program runs.

PS: I was following a udemy tutorial on ROS2

chenyenru commented 1 year ago

@DRAGON-BOOSTERR May you elaborate on how you solved the problem? I'm having the same problem too 😭

DRAGON-BOOSTERR commented 1 year ago

@chenyenru yeah here is the stackover flow page that I raised the issue and answered myself https://stackoverflow.com/questions/76983995/python-package-is-installed-but-it-doesnt-get-detected-in-a-ide-ros2/77009205#77009205

chenyenru commented 1 year ago

Thank you! I was able to solve it by deactivating my anaconda environment (don't know why but that way my Python interpreter finds rclpy package).

DRAGON-BOOSTERR commented 1 year ago

@chenyenru @squizz617 Hey guys I think i found a short term fix for this issue! As said before I was having problems with IDEs not recognising the rclpy library of ROS2. As by the comment yesterday I mentioned how I solved the problem by adding the interpreter paths in Pycharm IDE. The Pycharm IDE tries to run the file inside the IDE or something like that and received the same error as the title of this thread. Today I tried the code with visual studio code, surprisingly VS code recognised that rclpy library and showed all the auto complete and other things of that library. Since VS code runs every file in terminal inside the IDE, so the code works without any issues. I think this might fix your problem with that error?

chenyenru commented 1 year ago

I was able to include extra paths in the settings.json file, where the interpreter would successfully autosuggest functions from the rclpy library.

However, when I tried to compile it on the IDE, it still showed that rclpy was not found. I was able to resolve this problem by not running it on conda environment and instead the base file while installing required packages with pip. Hope this result would help you too!

fferri commented 1 year ago

I got the exact issue reported by OP. Turned out I was overriding LD_LIBRARY_PATH for the process responsible for spawning python3. Appending/prepending paths to LD_LIBRARY_PATH -instead of overriding- fixed the issue for me.

asukiaaa commented 1 year ago

I could resolve this problem by removing all packages of using ros2 distribution and install again.

sudo apt remove ros-rolling-*
sudo apt install ros-rolling-desktop-full

2019lelexia commented 1 year ago

According to this, https://docs.ros.org/en/rolling/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system I think we cannot use different version of Python because the Python of ROS2 build different binary file of C extension from the Python of another

yerkgb commented 1 year ago

I had a same problem. These two lines are helped me out: $sudo apt install --reinstall ros-humble-rclpy $source /opt/ros/humble/setup.bash Try your luck!

Also, on your .bashrc file try to source ros directory at the end after all lines.

sungchan1 commented 10 months ago

I finally managed to solve the problem and wrote a blog post about it in Korean.

https://du-sungchan-24k.tistory.com/37

In summary, you need to directly inject this into your pycharm.sh script.

. /opt/ros/humble/setup.sh' If installed via Jetbrain Toolbox, your pycharm.sh will be located at

'/home/{USER_NAME}/.local/share/JetBrains/Toolbox/apps/{pycharm_version}/bin/pycharm.sh'. For Jetbrain Remote Development, pycharm.sh is in

'/home/{USER_NAME}/.cache/JetBrains/RemoteDev/dist/{cached_pycharm_version}/bin/pycharm.sh'. The same applies to CLion and IntelliJ.

nixrunner commented 8 months ago

nixrunner@fedora:/usr/lib64/ros2-iron$ ros2 Traceback (most recent call last): File "/usr/lib64/ros2-iron/bin/ros2", line 33, in <module> sys.exit(load_entry_point('ros2cli==0.25.4', 'console_scripts', 'ros2')()) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib64/ros2-iron/bin/ros2", line 25, in importlib_load_entry_point return next(matches).load() ^^^^^^^^^^^^^^^^^^^^ File "/usr/lib64/python3.12/importlib/metadata/__init__.py", line 205, in load module = import_module(match.group('module')) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib64/python3.12/importlib/__init__.py", line 90, in import_module return _bootstrap._gcd_import(name[level:], package, level) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "<frozen importlib._bootstrap>", line 1387, in _gcd_import File "<frozen importlib._bootstrap>", line 1360, in _find_and_load File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 935, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 995, in exec_module File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed File "/usr/lib64/ros2-iron/lib/python3.12/site-packages/ros2cli/cli.py", line 22, in <module> from rclpy.executors import ExternalShutdownException File "/usr/lib64/ros2-iron/lib/python3.12/site-packages/rclpy/__init__.py", line 49, in <module> from rclpy.signals import install_signal_handlers File "/usr/lib64/ros2-iron/lib/python3.12/site-packages/rclpy/signals.py", line 15, in <module> from rclpy.exceptions import InvalidHandle File "/usr/lib64/ros2-iron/lib/python3.12/site-packages/rclpy/exceptions.py", line 15, in <module> from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy File "/usr/lib64/ros2-iron/lib/python3.12/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module> rclpy_implementation = import_c_library('._rclpy_pybind11', package) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib64/ros2-iron/lib/python3.12/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library return importlib.import_module(name, package=package) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib64/python3.12/importlib/__init__.py", line 90, in import_module return _bootstrap._gcd_import(name[level:], package, level) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ImportError: librosidl_typesupport_c.so: cannot open shared object file: No such file or directory The C extension '/usr/lib64/ros2-iron/lib/python3.12/site-packages/rclpy/_rclpy_pybind11.cpython-312-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://docs.ros.org/en/{distro}/Guides/Installation-Troubleshooting.html#import-failing-even-with-library-present-on-the-system' for possible solutions

I am having a similar error. I faced with same error on Fedora 39 and Ubuntu 24.04 Noble

dheera commented 5 months ago

Bump, same error or Ubuntu 24.04 + rolling

Python 3.11.5 (main, Sep 11 2023, 13:54:46) [GCC 11.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import rclpy
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/__init__.py", line 49, in <module>
    from rclpy.signals import install_signal_handlers
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/signals.py", line 15, in <module>
    from rclpy.exceptions import InvalidHandle
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/exceptions.py", line 16, in <module>
    from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
    rclpy_implementation = import_c_library('._rclpy_pybind11', package)
                           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/rolling/lib/python3.12/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
    return importlib.import_module(name, package=package)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/dheera/miniconda3/lib/python3.11/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
The C extension '/opt/ros/rolling/lib/python3.12/site-packages/_rclpy_pybind11.cpython-311-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/rolling/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions

NirvanaDragon commented 5 months ago

Bump, same error or Ubuntu 24.04 + rolling

Python 3.11.5 (main, Sep 11 2023, 13:54:46) [GCC 11.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import rclpy
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/__init__.py", line 49, in <module>
    from rclpy.signals import install_signal_handlers
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/signals.py", line 15, in <module>
    from rclpy.exceptions import InvalidHandle
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/exceptions.py", line 16, in <module>
    from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
    rclpy_implementation = import_c_library('._rclpy_pybind11', package)
                           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/rolling/lib/python3.12/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
    return importlib.import_module(name, package=package)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/dheera/miniconda3/lib/python3.11/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
The C extension '/opt/ros/rolling/lib/python3.12/site-packages/_rclpy_pybind11.cpython-311-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/rolling/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions

You should check if the Python environment for ROS matches the current terminal's Python environment. I noticed your terminal is using Python 3.11, but ROS is looking for Python 3.12, which could be why it can't find the required library. This is just my guess.

Rizo11 commented 5 months ago

SOLUTION: I had the same problem. I was running it in conda env. I truned off conda env, and it worked!

dholukeval commented 4 months ago

setcap solved the problem for me. here

sudo setcap -r /usr/bin/python3.10

This will remove extended capabilities form the executable. Change the python version according to your setup.

dhruvmsheth commented 4 months ago

I had the same issue. I made a dumb error of changing PATH in the bashrc file to something else while making another installation and forgot to change it back. Removed those and it worked. As mentioned in the above comments, make sure to source the setup file only at the end of the bashrc file. Use gedit ~/.bashrc to check what's wrong with the file.

AndyZe commented 1 month ago

I'm here because I was using IsaacSim, without ROS2 installed natively. Remove this line from .bashrc to get ROS2 working again natively:

# export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$isaac_sim_package_path/exts/omni.isaac.ros2_bridge/humble/lib

AnarchistKnight commented 3 weeks ago

sudo apt install ros-rolling-desktop-full

May I ask what is the python version of ROS2?

AnarchistKnight commented 3 weeks ago

anyone kindly show the complete way to fix this issue, please?

sungchan1 commented 3 weeks ago

anyone kindly show the complete way to fix this issue, please?

It’s been a while, but I solved this issue. Here’s the link to my blog. I hope it helps!

https://du-sungchan-24k.tistory.com/37

AnarchistKnight commented 3 weeks ago

anyone kindly show the complete way to fix this issue, please?

It’s been a while, but I solved this issue. Here’s the link to my blog. I hope it helps!

https://du-sungchan-24k.tistory.com/37

The problem I encountered might be a bit different from yours. I am setting up ROS2 under WSL2. The system python version is 3.12. I follow the instruction step by step from here. The ROS2 distro I use is ros2-jazzy-20240919-linux-noble-amd64.tar.bz2.

While, I found no python version info in this official installation tutorial. But I saw somewhere else said ROS2 is developed under python 3.8, so I just set up a python environment of version is 3.8.2. I add alias python="python3.8" and alias python3="python3.8" in bashrc. I also activate local python venv at the very beginning of the installation. From the traceback info, I guess the python version is not compatible with ROS2, I would be very happy if you kindly tell me under which python version you setup ROS2, or whether there is version conflict and how to resolve the confict.

For your convenience, below I would like to paste

the specific Ubuntu version

the traceback

the output of printenv | grep -i ros

the pip list

Ubuntu version

Linux version 5.15.153.1-microsoft-standard-WSL2 (root@941d701f84f1) (gcc (GCC) 11.2.0, GNU ld (GNU Binutils) 2.37) #1 SMP Fri Mar 29 23:14:13 UTC 2024

Distributor ID: Ubuntu
Description:    Ubuntu 24.04.1 LTS
Release:        24.04
Codename:       noble

output of `ros2 run demo_nodes_cpp talker`

Traceback (most recent call last):
  File "/home/guozhengyang/ros2-linux/bin/ros2", line 33, in 
    sys.exit(load_entry_point('ros2cli==0.32.1', 'console_scripts', 'ros2')())
  File "/home/guozhengyang/ros2-linux/bin/ros2", line 25, in importlib_load_entry_point
    return next(matches).load()
  File "/usr/local/lib/python3.8/importlib/metadata.py", line 77, in load
    module = import_module(match.group('module'))
  File "/usr/local/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "", line 1014, in _gcd_import
  File "", line 991, in _find_and_load
  File "", line 975, in _find_and_load_unlocked
  File "", line 671, in _load_unlocked
  File "", line 783, in exec_module
  File "", line 219, in _call_with_frames_removed
  File "/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/ros2cli/cli.py", line 22, in 
    from rclpy.executors import ExternalShutdownException
  File "/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/rclpy/__init__.py", line 49, in 
    from rclpy.signals import install_signal_handlers
  File "/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/rclpy/signals.py", line 15, in 
    from rclpy.exceptions import InvalidHandle
  File "/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/rclpy/exceptions.py", line 16, in 
    from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
  File "/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/rclpy/impl/implementation_singleton.py", line 32, in 
    rclpy_implementation = import_c_library('._rclpy_pybind11', package)
  File "/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
    return importlib.import_module(name, package=package)
  File "/usr/local/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
The C extension '/home/guozhengyang/ros2-linux/lib/python3.12/site-packages/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/jazzy/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions

output of `printenv | grep -i ros`

ROS_VERSION=2
PKG_CONFIG_PATH=/home/guozhengyang/ros2-linux/lib/x86_64-linux-gnu/pkgconfig:/home/guozhengyang/ros2-linux/lib/pkgconfig
ROS_PYTHON_VERSION=3
PWD=/home/guozhengyang/ros2-linux
VIRTUAL_ENV=/home/guozhengyang/ros2-linux/venv
AMENT_PREFIX_PATH=/home/guozhengyang/ros2-linux
CMAKE_PREFIX_PATH=/home/guozhengyang/ros2-linux/opt/gz_math_vendor:/home/guozhengyang/ros2-linux/opt/gz_utils_vendor:/home/guozhengyang/ros2-linux/opt/gz_cmake_vendor:/home/guozhengyang/ros2-linux
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
COLCON_PREFIX_PATH=/home/guozhengyang/ros2-linux
PYTHONPATH=/home/guozhengyang/ros2-linux/lib/python3.12/site-packages
LD_LIBRARY_PATH=/home/guozhengyang/ros2-linux/opt/rviz_ogre_vendor/lib:/home/guozhengyang/ros2-linux/opt/mimick_vendor/lib:/home/guozhengyang/ros2-linux/opt/gz_math_vendor/lib:/home/guozhengyang/ros2-linux/opt/gz_utils_vendor/lib:/home/guozhengyang/ros2-linux/opt/gz_cmake_vendor/lib:/home/guozhengyang/ros2-linux/lib
PATH=/home/guozhengyang/ros2-linux/bin:/home/guozhengyang/ros2-linux/venv/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/usr/lib/wsl/lib:/mnt/c/Program Files/WindowsApps/CanonicalGroupLimited.Ubuntu_2404.1.66.0_x64__79rhkp1fndgsc:/mnt/c/Program Files/Git/bin:/mnt/c/Python38/Scripts/:/mnt/c/Python38/:/mnt/c/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.1/bin:/mnt/c/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.1/libnvvp:/mnt/c/Windows/system32:/mnt/c/Windows:/mnt/c/Windows/System32/Wbem:/mnt/c/Windows/System32/WindowsPowerShell/v1.0/:/mnt/c/Windows/System32/OpenSSH/:/mnt/c/Program Files/Perforce/:/mnt/c/Program Files (x86)/dotnet/:/mnt/c/Program Files/Git/cmd:/mnt/c/MinGW/bin:/mnt/c/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx86/x86:/mnt/c/Program Files/Common Files/Autodesk Shared/:/mnt/c/Program Files/NVIDIA Corporation/Nsight Compute 2023.1.0/:/mnt/c/Program Files/dotnet/:/mnt/c/Program Files (x86)/Windows Kits/10/Windows Performance Toolkit/:/mnt/c/Program Files (x86)/Incredibuild:/mnt/c/Program Files/Perforce:/mnt/d/xftp/:/mnt/c/MinGW/bin/:/mnt/c/ProgramData/chocolatey/bin:/mnt/c/ProgramData/chocolatey/lib/cunit/lib:/mnt/c/ProgramData/chocolatey/lib/tinyxml2/lib:/mnt/c/ProgramData/chocolatey/lib/log4cxx/lib:/mnt/c/ProgramData/chocolatey/lib/bullet/lib:/mnt/c/Program Files/OpenSSL-Win64/bin/:/mnt/c/opencv/x64/vc16/bin:/mnt/c/Program Files/CMake/bin:/mnt/c/xmllint/bin:/mnt/c/Program Files/Graphviz/bin:/mnt/c/Program Files/Mi
rosoft VS Code/bin:/mnt/c/Program Files/Docker/Docker/resources/bin:/mnt/f/Epic Games/UE_5.4/Engine/Binaries/ThirdParty/Python3/Win64:/mnt/f/Epic Games/UE_5.4/Engine/Binaries/ThirdParty/Python3/Win64/Scripts:/mnt/c/Users/guozhengyang/.cargo/bin:/mnt/c/Users/guozhengyang/AppData/Local/Microsoft/WindowsApps:/mnt/c/Program Files/JetBrains/PyCharm Community Edition 2024.1.2/bin:/mnt/c/Users/guozhengyang/AppData/Local/Programs/Ollama:/mnt/c/Program Files (x86)/GnuWin32/bin:/mnt/c/Users/guozhengyang/.dotnet/tools:/mnt/c/Users/guozhengyang/AppData/Local/Programs/Microsoft VS Code/bin:/snap/bin
ROS_DISTRO=jazzy

pip list

Package                              Version
------------------------------------ -------
action-msgs                          2.0.2
action-tutorials-interfaces          0.33.5
action-tutorials-py                  0.33.5
actionlib-msgs                       5.3.5
ament-clang-format                   0.17.1
ament-clang-tidy                     0.17.1
ament-cmake-google-benchmark         2.5.2
ament-cmake-test                     2.5.2
ament-copyright                      0.17.1
ament-cppcheck                       0.17.1
ament-cpplint                        0.17.1
ament-flake8                         0.17.1
ament-index-python                   1.8.1
ament-lint                           0.17.1
ament-lint-cmake                     0.17.1
ament-mypy                           0.17.1
ament-package                        0.16.3
ament-pclint                         0.17.1
ament-pep257                         0.17.1
ament-pycodestyle                    0.17.1
ament-pyflakes                       0.17.1
ament-uncrustify                     0.17.1
ament-xmllint                        0.17.1
argcomplete                          3.5.1
builtin-interfaces                   2.0.2
composition-interfaces               2.0.2
demo-nodes-py                        0.33.5
diagnostic-msgs                      5.3.5
domain-coordinator                   0.12.0
example-interfaces                   0.12.0
examples-rclpy-executors             0.19.4
examples-rclpy-guard-conditions      0.19.4
examples-rclpy-minimal-action-client 0.19.4
examples-rclpy-minimal-action-server 0.19.4
examples-rclpy-minimal-client        0.19.4
examples-rclpy-minimal-publisher     0.19.4
examples-rclpy-minimal-service       0.19.4
examples-rclpy-minimal-subscriber    0.19.4
examples-rclpy-pointcloud-publisher  0.19.4
examples-tf2-py                      0.36.4
geometry-msgs                        5.3.5
interactive-markers                  2.5.4
laser-geometry                       2.7.0
launch                               3.4.2
launch-pytest                        3.4.2
launch-ros                           0.26.5
launch-testing                       3.4.2
launch-testing-examples              0.19.4
launch-testing-ros                   0.26.5
launch-xml                           3.4.2
launch-yaml                          3.4.2
lifecycle-msgs                       2.0.2
lifecycle-py                         0.33.5
logging-demo                         0.33.5
lttngpy                              8.2.2
map-msgs                             2.4.1
message-filters                      4.11.2
nav-msgs                             5.3.5
osrf-pycommon                        2.1.4
pendulum-msgs                        0.33.5
pip                                  24.3.1
point-cloud-transport-py             4.0.2
python-qt-binding                    2.2.1
PyYAML                               6.0.2
qt-dotgraph                          2.7.4
qt-gui                               2.7.4
qt-gui-cpp                           2.7.4
qt-gui-py-common                     2.7.4
quality-of-service-demo-py           0.33.5
rcl-interfaces                       2.0.2
rclpy                                7.1.2
rcutils                              6.7.2
resource-retriever                   3.4.3
rmw-dds-common                       3.1.0
ros2action                           0.32.1
ros2bag                              0.26.5
ros2bag-mcap-cli                     0.26.5
ros2bag-sqlite3-cli                  0.26.5
ros2cli                              0.32.1
ros2cli-test-interfaces              0.32.1
ros2component                        0.32.1
ros2doctor                           0.32.1
ros2interface                        0.32.1
ros2launch                           0.26.5
ros2lifecycle                        0.32.1
ros2multicast                        0.32.1
ros2node                             0.32.1
ros2param                            0.32.1
ros2pkg                              0.32.1
ros2run                              0.32.1
ros2service                          0.32.1
ros2test                             0.6.0
ros2topic                            0.32.1
ros2trace                            8.2.2
rosbag2-examples-py                  0.26.5
rosbag2-interfaces                   0.26.5
rosbag2-py                           0.26.5
rosbag2-test-common                  0.26.5
rosbag2-test-msgdefs                 0.26.5
rosgraph-msgs                        2.0.2
rosidl-adapter                       4.6.4
rosidl-cli                           4.6.4
rosidl-cmake                         4.6.4
rosidl-generator-c                   4.6.4
rosidl-generator-cpp                 4.6.4
rosidl-generator-dds-idl             0.11.1
rosidl-generator-py                  0.22.0
rosidl-generator-type-description    4.6.4
rosidl-parser                        4.6.4
rosidl-pycommon                      4.6.4
rosidl-runtime-py                    0.13.1
rosidl-typesupport-c                 3.2.2
rosidl-typesupport-cpp               3.2.2
rosidl-typesupport-fastrtps-c        3.6.0
rosidl-typesupport-fastrtps-cpp      3.6.0
rosidl-typesupport-introspection-c   4.6.4
rosidl-typesupport-introspection-cpp 4.6.4
rpyutils                             0.4.1
rqt                                  1.6.0
rqt-action                           2.2.0
rqt-bag                              1.5.4
rqt-bag-plugins                      1.5.4
rqt-console                          2.2.1
rqt-graph                            1.5.4
rqt-gui                              1.6.0
rqt-gui-py                           1.6.0
rqt-msg                              1.5.1
rqt-plot                             1.4.0
rqt-publisher                        1.7.2
rqt-py-common                        1.6.0
rqt-py-console                       1.2.2
rqt-reconfigure                      1.6.2
rqt-service-caller                   1.2.1
rqt-shell                            1.2.2
rqt-srv                              1.2.2
rqt-topic                            1.7.2
rti.connext                          7.3.0
sensor-msgs                          5.3.5
sensor-msgs-py                       5.3.5
service-msgs                         2.0.2
setuptools                           41.2.0
shape-msgs                           5.3.5
sros2                                0.13.2
statistics-msgs                      2.0.2
std-msgs                             5.3.5
std-srvs                             5.3.5
stereo-msgs                          5.3.5
test-launch-ros                      0.26.5
test-msgs                            2.0.2
test-ros2trace                       8.2.2
test-tracetools-launch               8.2.2
tf2-geometry-msgs                    0.36.4
tf2-kdl                              0.36.4
tf2-msgs                             0.36.4
tf2-py                               0.36.4
tf2-ros-py                           0.36.4
tf2-sensor-msgs                      0.36.4
tf2-tools                            0.36.4
topic-monitor                        0.33.5
tracetools-launch                    8.2.2
tracetools-read                      8.2.2
tracetools-test                      8.2.2
tracetools-trace                     8.2.2
trajectory-msgs                      5.3.5
turtlesim                            1.8.3
type-description-interfaces          2.0.2
unique-identifier-msgs               2.5.0
visualization-msgs                   5.3.5

AnarchistKnight commented 3 weeks ago

Bump, same error or Ubuntu 24.04 + rolling

Python 3.11.5 (main, Sep 11 2023, 13:54:46) [GCC 11.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import rclpy
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/__init__.py", line 49, in <module>
    from rclpy.signals import install_signal_handlers
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/signals.py", line 15, in <module>
    from rclpy.exceptions import InvalidHandle
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/exceptions.py", line 16, in <module>
    from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
  File "/opt/ros/rolling/lib/python3.12/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
    rclpy_implementation = import_c_library('._rclpy_pybind11', package)
                           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/rolling/lib/python3.12/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
    return importlib.import_module(name, package=package)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/dheera/miniconda3/lib/python3.11/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
The C extension '/opt/ros/rolling/lib/python3.12/site-packages/_rclpy_pybind11.cpython-311-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/rolling/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions

You should check if the Python environment for ROS matches the current terminal's Python environment. I noticed your terminal is using Python 3.11, but ROS is looking for Python 3.12, which could be why it can't find the required library. This is just my guess.

would you like to kindly show your ubuntu and python version?

ros2 / rclpy