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rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
http://wiki.ros.org/teb_local_planner
BSD 3-Clause "New" or "Revised" License
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Missing library on Kinetic #40

Closed coroiu closed 7 years ago

coroiu commented 7 years ago

Just downloaded the planner today but I cannot get it to start. Complains about not finding a library, even though the library path env variable is correctly configured

echo $LD_LIBRARY_PATH
/opt/ros/kinetic/lib

This is the error I get:

[FATAL] [1486459900.966916979, 1.800000000]: Failed to create the teb_local_planner/TebLocalPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: Failed to load library /opt/ros/kinetic/lib//libteb_local_planner.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libg2o_csparse_extension.so: cannot open shared object file: No such file or directory)

and yet the file clearly exists

ls -l /opt/ros/kinetic/lib//libteb_local_planner.so
-rw-r--r-- 1 root root 1391328 nov 26 16:49 /opt/ros/kinetic/lib//libteb_local_planner.so

The command I'm using to launch is:

roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch

but I've tried it in my own launch files and it doesn't work there either.

OS Info (screenfetch output):

                          ./+o+-       andreas@andreas-XPS-13-9350
                  yyyyy- -yyyyyy+      OS: Ubuntu 16.04 xenial
               ://+//////-yyyyyyo      Kernel: x86_64 Linux 4.4.0-62-generic
           .++ .:/++++++/-.+sss/`      Uptime: 1m
         .:++o:  /++++++++/:--:/-      Packages: 3295
        o:+o+:++.`..```.-/oo+++++/     Shell: zsh 5.1.1
       .:+o:+o/.          `+sssoo+/    Resolution: 1920x1080
  .++/+:+oo+o:`             /sssooo.   DE: Gnome 
 /+++//+:`oo+o               /::--:.   WM: GNOME Shell
 \+/+o+++`o++o               ++////.   WM Theme: Adwaita
  .++.o+++oo+:`             /dddhhh.   GTK Theme: Adapta [GTK2/3]
       .+.o+oo:.          `oddhhhh+    Icon Theme: Ultra-Flat
        \+.++o+o``-````.:ohdhhhhh+     Font: Cantarell 11
         `:o+++ `ohhhhhhhhyo++os:      CPU: Intel Core i7-6560U CPU @ 3.2GHz
           .o:`.syhhhhhhh/.oo++o`      RAM: 1250MiB / 7830MiB
               /osyyyyyyo++ooo+++/    
                   ````` +oo+++o\:    
                          `oo++.
coroiu commented 7 years ago

Somehow I fixed by updating and upgrading:

$ rosdep update
$ rosdep install teb_local_planner # no new packages, at least for me
$ sudo apt-get update
$ sudo apt-get upgrade # didn't mention any ros packages but fixed the problem none the less
$ roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch # works