Broken kobuki reference in Indigo Gazebo

asked 2014-09-23 15:39:48 -0500

Eric Schneider gravatar image

Hi,

I'm trying to run turtlebot_gazebo like so

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

After installing the desktop-full version of Indigo, installing ros-indigo-kobuki and installing turtlebot code from source (currently the only way to do so), I get the following error message:

Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_kobuki.so: libgazebo_ros_kobuki.so: cannot open shared object file: No such file or directory

I found some other questions about the turtlebot Gazebo simulation, but couldn't find any reference to this specific problem. Anyone have any ideas on what's going wrong?

Thanks!

Full Gazebo output:

’$:’roslaunch turtlebot_gazebo turtlebot_empty_world.launch
... logging to /home/eon-alone/.ros/log/65abcb52-4361-11e4-8409-a088b469cde8/roslaunch-eonalone-14-04-13312.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://eonalone-14-04:60364/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/eon-alone/c...
 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: indigo
 * /rosversion: 1.11.9
 * /use_sim_time: True

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [13327]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 65abcb52-4361-11e4-8409-a088b469cde8
process[rosout-1]: started with pid [13340]
started core service [/rosout]
process[gazebo-2]: started with pid [13364]
process[gazebo_gui-3]: started with pid [13370]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1411504636.376128371]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1411504636.377728037]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.16.58
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[spawn_turtlebot_model-4]: started with pid [13411]
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.16.58
[ INFO] [1411504636.751681761, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1411504636.801166803, 0.080000000]: Physics dynamic reconfigure ready.
process[mobile_base_nodelet_manager-5]: started with pid [13525]
process[cmd_vel_mux-6]: started with pid [13583]
process[bumper2pointcloud-7]: started with pid [13657]
process[robot_state_publisher-8]: started with pid [13711]
[ INFO] [1411504638.706474337, 1.560000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1411504638.800955247, 1.560000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_kobuki.so: libgazebo_ros_kobuki.so: cannot open shared object file: No such file or directory
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Comments

Did you install kobuki_desktop?

jihoonl gravatar imagejihoonl ( 2014-09-28 19:53:29 -0500 )edit

What is kobuki_desktop? apt-get install kobuki_desktop got nothing, and I've already done apt-get install ros-indigo-kobuki. Not sure how to get kobuki_desktop if I don't have it, or how to check whether I do...

Sorry for lack of understanding, thanks for the help :)

Eric Schneider gravatar imageEric Schneider ( 2014-09-29 00:07:49 -0500 )edit

kobuki_desktop includes kobuki_gazebo_plugin which generates libgazebo_ros_kobuki.so. Or did you follow turtlebot src installation guide? if you follow http://wiki.ros.org/turtlebot/Tutoria... , you shouldn't have any problem..

jihoonl gravatar imagejihoonl ( 2014-10-05 02:36:16 -0500 )edit