Rviz motion_planning Error: Failed to load library

asked 2014-10-06 22:44:06 -0500

sara
35 ●4 ●5 ●8

updated 2014-10-06 22:50:12 -0500

Hi all,

I am following through the Moveit! Industrial Robot Tutorial and got stuck.

when I add motion planning or any from the moveit_ros_visualization folder, it will show the same error:

MotionPlanning The class required for this display, 'moveit_rviz_plugin/MotionPlanning', could not be loaded.

Error: Failed to load library /opt/ros/hydro/lib/libmoveit_motion_planning_rviz_plugin.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 = liborocos-kdl.so.1.3: cannot open shared object file: No such file or directory)

However, the libmoveit_motion_planning_rviz_plugin.so is right in its place.

How can I solve this?

This is the screenshot

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answered 2014-10-06 23:23:52 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

It looks like the MoveIt plugin for Rviz depends on a particular version of the Orocos KDL library that isn't present.

I would start by making sure that all of your packages are up to date:

sudo apt-get update
sudo apt-get dist-upgrade

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See also moveit_ros/issues/482.

gvdhoorn ( 2014-10-07 03:36:08 -0500 )edit

Do you have an alternate solution for this? http://answers.ros.org/question/263585/rviz-motion-planning-error-failed-to-load-motion-planning-plugin-library/

Anonymous ( 2017-06-09 14:51:19 -0500 )edit

Nope. It looks like the plugin is compiled against packages that use OpenCV 2.4, and can't be used with a different version.

ahendrix ( 2017-06-09 16:41:06 -0500 )edit

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answered 2021-10-30 07:38:37 -0500

shabelson
1 ●1 ●2 ●1

I had Similar problem on ROS_MELODIC , ubuntu 18.04.

From What I read - moveit uses opencv 3.2. if there is collision between opencv versions it can cause it. The file he is searching for is an OpenCV 3.2 dynamic library (compiled file with a lot of fun inside...)

My solution -

I had OpenCV 2.4 and 4.5 on my machine. once I removed those I still saw under "pkg-config --modversion opencv" - OpenCV 3.2 (I think there were left over from ros opencv .so files)

I completely cleaned the other opencv versions (many tuts online) - which caused the removal of parts of rviz, moveit etc.
I reinstalled ros, moveit etc...

I WISH - I'd knew if there is a possibility to run moveit while other OpenCV versions are installed....

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