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Error loading my rqt plugin from rqt_gui

asked 2013-10-08 17:14:48 -0500

Valts gravatar image

updated 2014-01-28 17:18:10 -0500

ngrennan gravatar image

Hello! I have written a quick rqt plugin, starting with the roscreate-qt-pkg command to create a package and then following the rqt tutorials. When trying to load the plugin in rqt_gui, I get the following error:

"Failed to load nodelet [control_centre/MyPlugin_1] of type [control_centre/MyPlugin]: Failed to load library /home/pioneer/ros_workspace/control_centre/lib/libcontrol_centre.so. Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Cannot load library: No manifest in /home/pioneer/ros_workspace/control_centre/lib/libcontrol_centre.so: control_centre__MyPlugin"

I am using ROS fuerte on Ubuntu 12.04.

My manifest.xml is the following:

<package>
...
<rosdep name="qt4"/>
<depend package="qt_build"/>
<depend package="roscpp"/>
<depend package="rqt_gui"/>
<depend package="rqt_gui_cpp"/>
<rosbuild2>
   <depend package="qt_build"/>
   <depend package="roscpp"/>
   <depend package="rqt_gui"/>
   <depend package="rqt_gui_cpp"/>
</rosbuild2>
<export>
<rqt_gui plugin="${prefix}/plugin.xml" />
</export>
</package>

My plugin.xml is the following:

<library path="lib/libcontrol_centre">
  <class name="control_centre/MyPlugin" type="control_centre::MyPlugin" base_class_type="rqt_gui_cpp::Plugin">
    <description>
      Controls for toggling various rescueneer robot features.
    </description>
    <qtgui>
      <label>Rescueneer Control Centre</label>
      <icon type="theme">system-help</icon>
      <statustip>..</statustip>
    </qtgui>
  </class>
</library>

My CMakeLists.txt is the following:

##############################################################################
# Rosbuild2
##############################################################################

if(ROSBUILD)
  include(rosbuild.cmake OPTIONAL)
  return()
endif()

##############################################################################
# CMake
##############################################################################

cmake_minimum_required(VERSION 2.4.6)
##############################################################################
# Ros Initialisation
##############################################################################

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#include_directories( ${PROJECT_SOURCE_DIR}/include/control_centre )

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE Debug)

##############################################################################
# Qt Environment
##############################################################################

rosbuild_include(qt_build qt-ros)
rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here

##############################################################################
# Sections
##############################################################################

set(CMAKE_INCLUDE_CURRENT_DIR ON)

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/control_centre/*.hpp)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

##############################################################################
# Sources
##############################################################################

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)

##############################################################################
# Binaries
##############################################################################

rosbuild_add_library(control_centre ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
rosbuild_add_executable(control_centre ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(control_centre ${QT_LIBRARIES})

And finally, my source file has the following declaration at the bottom:

PLUGINLIB_DECLARE_CLASS(control_centre, MyPlugin, control_centre::MyPlugin, rqt_gui_cpp::Plugin)

I have also compared my code to that of rqt_image_view and I can't find the difference. The code compiles and I can run it as a stand-alone application, but I can't seem to open it in rqt_gui. Thanks!

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answered 2014-09-08 18:49:59 -0500

130s gravatar image

Does the solution in this question help?

Besides that, rqt wasn't yet officially introduced in ROS fuerte and therefore you may face more problems there. Using newer ROS distro (now 2 or 3 newer generations, Hydro and Indigo, are commonly used) is recommended.

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Asked: 2013-10-08 17:14:48 -0500

Seen: 1,319 times

Last updated: Sep 08 '14