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In my case sourcing the Ros distro's setup.bash helped.

The default sourcing command for linux (using bash) and your distro is: source /opt/ros/melodic/setup.bash

I have tested this on Noetic (my own distro). Probably the linking went fine, but the classloader was unable to find and load the shared library (libxmlrpcpp.so). The other answer suggesting installing the libxmlrpcpp-dev package installs it to a location already on your path. It didn't fully solve my problem, because more libraries are missing.

In my case sourcing the Ros distro's setup.bash helped. I am guessing that you need to source after you change to the root user. If you are using sudo your can also use sudo -E to preserve the environment.

The default sourcing command for linux (using bash) and your distro is: is:

 sudo su # change to root user even if root doesn't have a password
source /opt/ros/melodic/setup.bash

In my case I simply forgot to source the environment. There were no elevated nodes involved. As I cannot test your case specifically I will describe what solved it for me. I have tested this on Noetic (my own distro). Probably the The linking went fine, but the classloader was unable to find and load the shared library (libxmlrpcpp.so). That's the same error as in your case. The other answer suggesting suggests installing the libxmlrpcpp-dev package installs package. This will install it to a location already on your path. path (for all users). It didn't fully solve my problem, because more libraries are missing.