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start-jsk / rtmros_gazebo

gazebo simulation for rtmros robots
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RobotHardwareComp is not installed as debian #233

Closed furushchev closed 7 years ago

furushchev commented 7 years ago

In https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_general/iob/CMakeLists.txt#L26 and https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_general/iob/CMakeLists.txt#L39, RobotHardwareComp is specified to be installed, but no such library is actually installed.

$ dpkg -L ros-indigo-hrpsys-gazebo-general | grep Robot
/opt/ros/indigo/share/hrpsys_gazebo_general/config/SampleRobot.yaml
/opt/ros/indigo/share/hrpsys_gazebo_general/config/SampleRobot.conf
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/SampleRobot_gazebo.urdf
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/model.config
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/SampleRobot.urdf.xacro
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LLEG_LINK6_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK7_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RLEG_LINK4_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RLEG_LINK3_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LLEG_LINK5_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RLEG_LINK1_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK2_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK1_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LLEG_LINK1_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/WAIST_LINK0_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/WAIST_LINK2_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LLEG_LINK3_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK4_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK1_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RLEG_LINK5_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK2_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LLEG_LINK4_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RLEG_LINK6_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK3_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK6_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/WAIST_LINK1_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK7_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK4_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/WAIST_LINK3_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK6_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK3_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LARM_LINK5_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RARM_LINK5_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/RLEG_LINK2_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/meshes/LLEG_LINK2_mesh.dae
/opt/ros/indigo/share/hrpsys_gazebo_general/robot_models/SampleRobot/SampleRobot.urdf

Cc: @mmurooka

mmurooka commented 7 years ago

Thank you! If anyone knows how to fix this, please tell us.

furushchev commented 7 years ago

As far as we can see in previous issue (https://github.com/start-jsk/rtmros_gazebo/issues/35), we could solve this problem if we have this package from source. After compile, we have lib folder in hrpsys_gazebo_general package and RobotHardware.so in it, but this is not installed. The problem is hrpsys package also provides RobotHardware.so (the same name) for real robot and we expect dependee application overloads to use RobotHardware.so of this package (not of hrpsys).

furushchev commented 7 years ago

MEMO RobotHardware.so is searched according with this line https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_general/launch/robot_hrpsys_bringup.launch#L46