problem in Moveit Tutorials step: MoveGroup interface Tutorial

asked 2018-01-05 02:29:19 -0500

七小丘人
56 ●8 ●10 ●14

updated 2018-01-05 02:36:42 -0500

jayess
6155 ●26 ●85 ●92

My distro of ROS is kinetic. I followed the lastest moveit tutorial:

http://docs.ros.org/kinetic/api/movei...

When I run the command

 roslaunch moveit_tutorials move_group_interface_tutorial.launch

I meet the error

process[move_group_interface_tutorial-1]: started with pid [5502]
/home/qiuyilin/ROSSP/ws_moveit/devel/lib/moveit_tutorials/move_group_interface_tutorial: error while loading shared libraries: libmoveit_planning_scene_monitor.so.0.9.11: cannot open shared object file: No such file or directory
[move_group_interface_tutorial-1] process has died [pid 5502, exit code 127, cmd /home/qiuyilin/ROSSP/ws_moveit/devel/lib/moveit_tutorials/move_group_interface_tutorial __name:=move_group_interface_tutorial __log:=/home/qiuyilin/.ros/log/1c468b9c-f1ef-11e7-afc5-0028f8fda2a0/move_group_interface_tutorial-1.log].

and when I run

catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release

it shows my log space is missing.

Comments

I get the same crash in the indigo version.

Juan ( 2018-01-08 02:21:29 -0500 )edit

Got the same me too with kinetic !

Ahrimanox ( 2018-01-22 10:02:12 -0500 )edit

==I just forgot the problem and it worked after some time. Now the tutorial of moveit! also has changed.

七小丘人 ( 2019-02-26 20:57:37 -0500 )edit

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answered 2018-10-31 14:40:39 -0500

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10937 ●203 ●339 ●330 http://www.linkedin.co...

updated 2018-10-31 16:16:49 -0500

I'm sure I'm wrong about details but hopefully I got the main idea correct. @v4hn can correct me if needed.

Direct cause and potential solution

What the cited error means I think is that the mentioned .so file was sought but not found. Assuming you have MoveIt! installed by binary (e.g. via apt-get install on Ubuntu), you can check if those files are available by e.g. find /opt/ros -iname libmoveit*.

If they can't be found, install MoveIt!.
If they are there but different version number, update those libraries (e.g. on Ubuntu, apt-get dist-upgrade / apt-get install --reinstall ros-%DISTRO%-moveit).

Rationale

Binary of MoveIt! uses SONAME in order to guarantee the ABI in/compatibility between releases and provide more organized way of debugging problems that are bsed on ABI breakage (*1). As a result, applications of the library in MoveIt! need to be rebuilt whenever MoveIt! library was updated.

*1 FYI for the decison in MoveIt! to introduce SONAME, see ros-planning/moveit#273.

(Maybe) A bit more advanced error situation

The following may or may not be the case of OP, but I just experienced in my application.

The same type of error can happen in the following situation (I use MoveIt! here but it could be any library that uses SONAME solution):

On your local computer, MoveIt! remains old version, although new releases are available.
Your application depends on another library (say libA) that depends on MoveIt!, and libA on your computer is already re-built against the latest released MoveIt!.
Build your application.

I'm quite not sure how catkin and linker work, but what I see is linker tries to find the latest version of MoveIt! libs. I assume linker somehow got the version info from libA (in my case this was moveit_visual_tools, which got installed via rosdep install right before running catkin build).

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