Cannot run robot_state_publisher / library 'sdformat_urdf_plugin' reported missing
Closed this issue · 16 comments
Solution to issue cannot be found in the documentation.
- I checked the documentation.
Issue
Great to have robostack available! I'm on macOS 13.5.2 (22G91). rviz2 and simple ros2 run demo_nodes_cpp talker
and ros2 run demo_nodes_cpp listener
works. I tried to run a URDF demo. I broke it down to that robot_state_publisher does not work.
(ros_env) ➜ ros2_ws ros2 launch robot_state_publisher rsp-launch-urdf-inline.py
[INFO] [launch]: All log files can be found below /Users/sascha/.ros/log/2023-09-17-11-12-08-521308-Saschas-MacBook-Pro.local-47448
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [47449]
[robot_state_publisher-1] libc++abi: terminating due to uncaught exception of type pluginlib::LibraryLoadException: Could not find library corresponding to plugin sdformat_urdf_plugin/SDFormatURDFParser. Make sure that the library 'sdformat_urdf_plugin' actually exists.
[ERROR] [robot_state_publisher-1]: process has died [pid 47449, exit code -6, cmd '/usr/local/Caskroom/mambaforge/base/envs/ros_env/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /var/folders/2s/vmgn6q6d4mdgtz8x0dn57wgw0000gn/T/launch_params_fmxnjock'].
Something named sdformat_urdf_plugin
seems to be installed:
(ros_env) ➜ ros2_ws find /usr/local/Caskroom -iname "sdformat_urdf_plugin*"
/usr/local/Caskroom/mambaforge/base/pkgs/ros-humble-sdformat-urdf-1.0.1-py310h5aa156f_3/share/sdformat_urdf/sdformat_urdf_plugin.xml
/usr/local/Caskroom/mambaforge/base/envs/ros_env/share/sdformat_urdf/sdformat_urdf_plugin.xml
(ros_env) ➜ ll /usr/local/Caskroom/mambaforge/./base/envs/ros_env/lib/libsdformat_urdf_plugin.so
-rwxrwxr-x 1 sascha admin 103K Sep 2 15:54 /usr/local/Caskroom/mambaforge/./base/envs/ros_env/lib/libsdformat_urdf_plugin.so
Would be nice to get this running!
Installed packages
(ros_env) ➜ ros2_ws mamba list
# packages in environment at /usr/local/Caskroom/mambaforge/base/envs/ros_env:
#
# Name Version Build Channel
aiohttp 3.8.5 py310h6729b98_0 conda-forge
aiosignal 1.3.1 pyhd8ed1ab_0 conda-forge
aom 3.5.0 hf0c8a7f_0 conda-forge
argcomplete 3.1.1 pyhd8ed1ab_0 conda-forge
assimp 5.2.5 hd9e13b6_0 conda-forge
async-timeout 4.0.3 pyhd8ed1ab_0 conda-forge
atk-1.0 2.38.0 h1d18e73_1 conda-forge
attrs 23.1.0 pyh71513ae_1 conda-forge
boost 1.78.0 py310h3e792ce_4 conda-forge
boost-cpp 1.78.0 h31500c2_2 conda-forge
brotli 1.1.0 h0dc2134_0 conda-forge
brotli-bin 1.1.0 h0dc2134_0 conda-forge
bullet 3.21 ha188af9_4 conda-forge
bullet-cpp 3.21 hcd8b382_4 conda-forge
bzip2 1.0.8 h0d85af4_4 conda-forge
c-ares 1.19.1 h0dc2134_0 conda-forge
c-compiler 1.6.0 h63c33a9_0 conda-forge
ca-certificates 2023.7.22 h8857fd0_0 conda-forge
cairo 1.16.0 h904041c_1014 conda-forge
catkin_pkg 0.5.2 pyhd8ed1ab_0 conda-forge
catkin_tools 0.9.4 pyhd8ed1ab_0 conda-forge
cctools 973.0.1 hd9ad811_14 conda-forge
cctools_osx-64 973.0.1 habff3f6_14 conda-forge
certifi 2023.7.22 pyhd8ed1ab_0 conda-forge
cffi 1.15.1 py310ha78151a_3 conda-forge
charset-normalizer 3.2.0 pyhd8ed1ab_0 conda-forge
clang 15.0.7 h694c41f_3 conda-forge
clang-15 15.0.7 default_hdb78580_3 conda-forge
clang_osx-64 15.0.7 h03d6864_3 conda-forge
clangxx 15.0.7 default_hdb78580_3 conda-forge
clangxx_osx-64 15.0.7 h2133e9c_3 conda-forge
cli11 2.3.2 hf0c8a7f_0 conda-forge
cmake 3.26.3 h4032537_0 conda-forge
colcon-argcomplete 0.3.3 pyhd8ed1ab_0 conda-forge
colcon-bash 0.4.2 pyhd8ed1ab_0 conda-forge
colcon-cd 0.1.1 pyhd8ed1ab_0 conda-forge
colcon-cmake 0.2.27 pyhd8ed1ab_0 conda-forge
colcon-common-extensions 0.3.0 py310h2ec42d9_1 conda-forge
colcon-core 0.12.1 pyhd8ed1ab_0 conda-forge
colcon-defaults 0.2.8 pyhd8ed1ab_0 conda-forge
colcon-devtools 0.2.2 py_0 conda-forge
colcon-library-path 0.2.1 py_0 conda-forge
colcon-metadata 0.2.5 py_0 conda-forge
colcon-output 0.2.13 pyhd8ed1ab_0 conda-forge
colcon-package-information 0.3.3 py_0 conda-forge
colcon-package-selection 0.2.10 py_0 conda-forge
colcon-parallel-executor 0.2.4 py_0 conda-forge
colcon-pkg-config 0.1.0 py_0 conda-forge
colcon-powershell 0.3.6 py_0 conda-forge
colcon-python-setup-py 0.2.7 py_0 conda-forge
colcon-recursive-crawl 0.2.1 py_0 conda-forge
colcon-ros 0.3.23 pyhd8ed1ab_0 conda-forge
colcon-test-result 0.3.8 py_0 conda-forge
colcon-zsh 0.4.0 pyhd8ed1ab_0 conda-forge
colorama 0.4.6 pyhd8ed1ab_0 conda-forge
coloredlogs 15.0.1 pyhd8ed1ab_3 conda-forge
compiler-rt 15.0.7 he1888fc_1 conda-forge
compiler-rt_osx-64 15.0.7 he1888fc_1 conda-forge
compilers 1.6.0 h694c41f_0 conda-forge
console_bridge 1.0.2 hbb4e6a2_1 conda-forge
contourpy 1.1.0 py310h88cfcbd_0 conda-forge
coreutils 9.4 h0dc2134_0 conda-forge
coverage 7.3.1 py310h6729b98_0 conda-forge
cppcheck 2.10.3 py310h944fa21_0 conda-forge
cppzmq 4.10.0 h478c2f3_0 conda-forge
cryptography 41.0.3 py310ha1817de_0 conda-forge
curl 7.88.1 h6df9250_1 conda-forge
cxx-compiler 1.6.0 h1c7c39f_0 conda-forge
cycler 0.11.0 pyhd8ed1ab_0 conda-forge
dartsim 6.12.2 hf8c8161_3 conda-forge
distlib 0.3.7 pyhd8ed1ab_0 conda-forge
distro 1.8.0 pyhd8ed1ab_0 conda-forge
docutils 0.20.1 py310h2ec42d9_0 conda-forge
double-conversion 3.2.0 hf0c8a7f_1 conda-forge
eigen 3.4.0 h1c7c39f_0 conda-forge
empy 3.3.4 pyh9f0ad1d_1 conda-forge
exceptiongroup 1.1.3 pyhd8ed1ab_0 conda-forge
expat 2.5.0 hf0c8a7f_1 conda-forge
fcl 0.7.0 ha3e8090_2 conda-forge
ffmpeg 5.1.2 gpl_h8b4fe81_106 conda-forge
flake8 6.1.0 pyhd8ed1ab_0 conda-forge
flann 1.9.1 h56de9e4_1011 conda-forge
fmt 9.1.0 hb8565cd_0 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 hab24e00_0 conda-forge
fontconfig 2.14.2 h5bb23bf_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
fonttools 4.42.1 py310h6729b98_0 conda-forge
foonathan-memory 0.7.2 hf0c8a7f_1 conda-forge
fortran-compiler 1.6.0 h932d759_0 conda-forge
freeimage 3.18.0 haafd79f_10 conda-forge
freetype 2.12.1 h3f81eb7_1 conda-forge
fribidi 1.0.10 hbcb3906_0 conda-forge
frozenlist 1.4.0 py310h6729b98_0 conda-forge
gdbm 1.18 h8a0c380_2 conda-forge
gdk-pixbuf 2.42.8 h3648f77_1 conda-forge
gettext 0.21.1 h8a4c099_0 conda-forge
gflags 2.2.2 hb1e8313_1004 conda-forge
gfortran 12.3.0 h2c809b3_1 conda-forge
gfortran_impl_osx-64 12.3.0 h54fd467_1 conda-forge
gfortran_osx-64 12.3.0 h18f7dce_1 conda-forge
giflib 5.2.1 hb7f2c08_3 conda-forge
gl2ps 1.4.2 h4cff582_0 conda-forge
glew 2.1.0 h046ec9c_2 conda-forge
glib 2.76.4 h7d26f99_0 conda-forge
glib-tools 2.76.4 h7d26f99_0 conda-forge
gmock 1.14.0 h694c41f_1 conda-forge
gmp 6.2.1 h2e338ed_0 conda-forge
gnutls 3.7.8 h207c4f0_0 conda-forge
graphite2 1.3.13 h2e338ed_1001 conda-forge
graphviz 7.0.5 hc51f7b9_0 conda-forge
gst-plugins-base 1.22.5 hb5d3a86_0 conda-forge
gstreamer 1.22.5 h840fbdc_0 conda-forge
gtest 1.14.0 h1c7c39f_1 conda-forge
gtk2 2.24.33 h7c1209e_2 conda-forge
gts 0.7.6 h53e17e3_4 conda-forge
harfbuzz 6.0.0 h08f8713_0 conda-forge
hdf4 4.2.15 h7aa5921_5 conda-forge
hdf5 1.12.2 nompi_h48135f9_101 conda-forge
humanfriendly 10.0 py310h2ec42d9_4 conda-forge
icu 70.1 h96cf925_0 conda-forge
idna 3.4 pyhd8ed1ab_0 conda-forge
imath 3.1.6 hbc0c0cd_1 conda-forge
importlib-metadata 6.8.0 pyha770c72_0 conda-forge
importlib_resources 6.0.1 pyhd8ed1ab_0 conda-forge
iniconfig 2.0.0 pyhd8ed1ab_0 conda-forge
isl 0.25 hb486fe8_0 conda-forge
jasper 2.0.33 h7c6fec8_1 conda-forge
jpeg 9e hb7f2c08_3 conda-forge
jsoncpp 1.9.5 h940c156_1 conda-forge
jxrlib 1.1 h35c211d_2 conda-forge
kiwisolver 1.4.5 py310h88cfcbd_0 conda-forge
krb5 1.20.1 h049b76e_0 conda-forge
lame 3.100 hb7f2c08_1003 conda-forge
lark-parser 0.12.0 pyhd8ed1ab_0 conda-forge
lcms2 2.14 h90f4b2a_0 conda-forge
ld64 609 ha91a046_14 conda-forge
ld64_osx-64 609 h0fd476b_14 conda-forge
lerc 4.0.0 hb486fe8_0 conda-forge
libabseil 20230125.3 cxx17_h000cb23_0 conda-forge
libaec 1.0.6 hf0c8a7f_1 conda-forge
libarchive 3.6.2 h6d8d9f1_0 conda-forge
libblas 3.9.0 17_osx64_openblas conda-forge
libbrotlicommon 1.1.0 h0dc2134_0 conda-forge
libbrotlidec 1.1.0 h0dc2134_0 conda-forge
libbrotlienc 1.1.0 h0dc2134_0 conda-forge
libcblas 3.9.0 17_osx64_openblas conda-forge
libccd-double 2.1 he965462_3 conda-forge
libclang 13.0.1 root_62804_h2961583_3 conda-forge
libclang-cpp15 15.0.7 default_hdb78580_3 conda-forge
libcurl 7.88.1 h6df9250_1 conda-forge
libcxx 16.0.6 hd57cbcb_0 conda-forge
libdeflate 1.14 hb7f2c08_0 conda-forge
libedit 3.1.20191231 h0678c8f_2 conda-forge
libev 4.33 haf1e3a3_1 conda-forge
libexpat 2.5.0 hf0c8a7f_1 conda-forge
libffi 3.4.2 h0d85af4_5 conda-forge
libgd 2.3.3 h1e214de_3 conda-forge
libgfortran 5.0.0 12_3_0_h97931a8_1 conda-forge
libgfortran-devel_osx-64 12.3.0 h0b6f5ec_1 conda-forge
libgfortran5 12.3.0 hbd3c1fe_1 conda-forge
libglib 2.76.4 hc62aa5d_0 conda-forge
libiconv 1.17 hac89ed1_0 conda-forge
libidn2 2.3.4 hb7f2c08_0 conda-forge
libignition-cmake2 2.16.0 hf0c8a7f_1 conda-forge
libignition-common4 4.6.1 h9877c73_1 conda-forge
libignition-fuel-tools7 7.1.0 h70e77c0_1 conda-forge
libignition-gazebo6 6.12.0 hbf0cc6e_3 conda-forge
libignition-gui6 6.6.1 hbf0cc6e_3 conda-forge
libignition-math6 6.14.0 py310hdf71610_0 conda-forge
libignition-msgs8 8.7.0 hc16761c_2 conda-forge
libignition-physics5 5.2.0 h59cd2a9_3 conda-forge
libignition-plugin1 1.3.0 h75ea093_0 conda-forge
libignition-rendering6 6.5.1 h58813d6_1 conda-forge
libignition-sensors6 6.6.0 h96d8318_5 conda-forge
libignition-tools1 1.5.0 h4425e3a_3 conda-forge
libignition-transport11 11.4.0 h361b394_2 conda-forge
libignition-utils1 1.4.0 hb486fe8_0 conda-forge
liblapack 3.9.0 17_osx64_openblas conda-forge
liblapacke 3.9.0 17_osx64_openblas conda-forge
libllvm13 13.0.1 h64f94b2_2 conda-forge
libllvm15 15.0.7 h7001e86_1 conda-forge
libnetcdf 4.8.1 nompi_hc61b76e_106 conda-forge
libnghttp2 1.52.0 he2ab024_0 conda-forge
libode 0.16.2 h7a76584_11 conda-forge
libogg 1.3.4 h35c211d_1 conda-forge
libopenblas 0.3.23 openmp_h429af6e_0 conda-forge
libopencv 4.6.0 py310h557c7f5_8 conda-forge
libopus 1.3.1 hc929b4f_1 conda-forge
libpng 1.6.39 ha978bb4_0 conda-forge
libpq 15.3 h9dc22bb_1 conda-forge
libprotobuf 3.21.12 h7d26f99_2 conda-forge
libraw 0.20.2 h7aa5921_2 conda-forge
librsvg 2.54.4 h3d48ba6_0 conda-forge
libsdformat12 12.6.0 h885d650_1 conda-forge
libsodium 1.0.18 hbcb3906_1 conda-forge
libsqlite 3.43.0 h58db7d2_0 conda-forge
libssh2 1.11.0 hd019ec5_0 conda-forge
libtasn1 4.19.0 hb7f2c08_0 conda-forge
libtheora 1.1.1 h0d85af4_1005 conda-forge
libtiff 4.4.0 h6268bbc_5 conda-forge
libtool 2.4.7 hf0c8a7f_0 conda-forge
libunistring 0.9.10 h0d85af4_0 conda-forge
libuv 1.46.0 h0c2f820_0 conda-forge
libvorbis 1.3.7 h046ec9c_0 conda-forge
libvpx 1.11.0 he49afe7_3 conda-forge
libwebp 1.2.4 hfa4350a_0 conda-forge
libwebp-base 1.2.4 h775f41a_0 conda-forge
libxcb 1.13 h0d85af4_1004 conda-forge
libxml2 2.10.3 h201ad9d_4 conda-forge
libxslt 1.1.37 h5d22bc9_0 conda-forge
libzip 1.10.1 hc158999_0 conda-forge
libzlib 1.2.13 h8a1eda9_5 conda-forge
llvm-openmp 16.0.6 hff08bdf_0 conda-forge
llvm-tools 15.0.7 h7001e86_1 conda-forge
loguru 0.7.0 py310h2ec42d9_0 conda-forge
lxml 4.9.2 py310h0b20c97_0 conda-forge
lz4-c 1.9.4 hf0c8a7f_0 conda-forge
lzo 2.10 haf1e3a3_1000 conda-forge
make 4.3 h22f3db7_1 conda-forge
matplotlib-base 3.7.2 py310h475a17b_0 conda-forge
mccabe 0.7.0 pyhd8ed1ab_0 conda-forge
mpc 1.3.1 h81bd1dd_0 conda-forge
mpfr 4.2.0 h4f9bd69_0 conda-forge
multidict 6.0.4 py310h90acd4f_0 conda-forge
munkres 1.1.4 pyh9f0ad1d_0 conda-forge
mysql-common 8.0.33 hc6116ba_2 conda-forge
mysql-libs 8.0.33 haa61052_2 conda-forge
ncurses 6.4 hf0c8a7f_0 conda-forge
netifaces 0.11.0 py310h90acd4f_1 conda-forge
nettle 3.8.1 h96f3785_1 conda-forge
ninja 1.11.1 hb8565cd_0 conda-forge
nlohmann_json 3.11.2 hbbd2c75_0 conda-forge
nspr 4.35 hea0b92c_0 conda-forge
nss 3.92 hd6ac835_0 conda-forge
numpy 1.25.2 py310h7451ae0_0 conda-forge
octomap 1.9.8 hb8565cd_0 conda-forge
ogre 1.10.12 hd9b3965_10 conda-forge
ogre-next 2.2.6 h20040b6_0 conda-forge
openexr 3.1.5 h07d71dc_2 conda-forge
openh264 2.3.1 hf0c8a7f_2 conda-forge
openjpeg 2.5.0 h5d0d7b0_1 conda-forge
openssl 3.1.2 h8a1eda9_0 conda-forge
orocos-kdl 1.5.1 hf0c8a7f_4 conda-forge
osrf_pycommon 0.2.1 pyhd8ed1ab_0 conda-forge
p11-kit 0.24.1 h65f8906_0 conda-forge
packaging 23.1 pyhd8ed1ab_0 conda-forge
pango 1.50.14 hbd9bf65_0 conda-forge
pcl 1.12.1 h21768ba_4 conda-forge
pcre 8.45 he49afe7_0 conda-forge
pcre2 10.40 h1c4e4bc_0 conda-forge
pep517 0.13.0 pyhd8ed1ab_0 conda-forge
pillow 9.2.0 py310hffcf78b_3 conda-forge
pip 23.2.1 pyhd8ed1ab_0 conda-forge
pixman 0.40.0 hbcb3906_0 conda-forge
pkg-config 0.29.2 ha3d46e9_1008 conda-forge
pluggy 1.3.0 pyhd8ed1ab_0 conda-forge
ply 3.11 py_1 conda-forge
proj 9.1.0 hcbd9701_0 conda-forge
psutil 5.9.5 py310h90acd4f_0 conda-forge
pthread-stubs 0.4 hc929b4f_1001 conda-forge
pugixml 1.11.4 he965462_1 conda-forge
py-opencv 4.6.0 py310ha188af9_8 conda-forge
pybind11 2.11.1 py310h88cfcbd_0 conda-forge
pybind11-abi 4 hd8ed1ab_3 conda-forge
pybind11-global 2.11.1 py310h88cfcbd_0 conda-forge
pybullet 3.21 py310hcd8b382_4 conda-forge
pycairo 1.24.0 py310h0b97775_0 conda-forge
pycodestyle 2.11.0 pyhd8ed1ab_0 conda-forge
pycparser 2.21 pyhd8ed1ab_0 conda-forge
pydocstyle 6.3.0 pyhd8ed1ab_0 conda-forge
pydot 1.4.2 py310h2ec42d9_3 conda-forge
pyflakes 3.1.0 pyhd8ed1ab_0 conda-forge
pygments 2.16.1 pyhd8ed1ab_0 conda-forge
pyparsing 3.0.9 pyhd8ed1ab_0 conda-forge
pyqt 5.15.9 py310hecc045f_4 conda-forge
pyqt-builder 1.15.2 pyhd8ed1ab_0 conda-forge
pyqt5-sip 12.12.2 py310h018f80b_4 conda-forge
pytest 7.4.0 pyhd8ed1ab_0 conda-forge
pytest-cov 4.1.0 pyhd8ed1ab_0 conda-forge
pytest-repeat 0.9.1 pyhd8ed1ab_0 conda-forge
pytest-rerunfailures 12.0 pyhd8ed1ab_0 conda-forge
python 3.10.12 had23ca6_0_cpython conda-forge
python-dateutil 2.8.2 pyhd8ed1ab_0 conda-forge
python_abi 3.10 3_cp310 conda-forge
pyyaml 6.0.1 py310h6729b98_0 conda-forge
qhull 2020.2 h940c156_2 conda-forge
qt-main 5.15.8 h1d3b3f8_6 conda-forge
readline 8.2 h9e318b2_1 conda-forge
rhash 1.4.3 h0dc2134_2 conda-forge
ros-humble-action-msgs 1.2.1 py310h5aa156f_3 robostack-staging
ros-humble-action-tutorials-cpp 0.20.3 py310h5aa156f_3 robostack-staging
ros-humble-action-tutorials-interfaces 0.20.3 py310h5aa156f_3 robostack-staging
ros-humble-action-tutorials-py 0.20.3 py310h5aa156f_3 robostack-staging
ros-humble-actionlib-msgs 4.2.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-auto 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-copyright 0.12.5 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-core 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-cppcheck 0.12.5 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-cpplint 0.12.5 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-definitions 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-dependencies 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-include-directories 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-interfaces 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-libraries 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-link-flags 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-export-targets 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-flake8 0.12.5 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-gen-version-h 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-gmock 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-gtest 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-include-directories 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-libraries 1.3.3 py310h5aa156f_3 robostack-staging
ros-humble-ament-cmake-lint-cmake 0.12.5 py310h5aa156f_3 robostack-staging
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ros-humble-simulation 0.10.0 py310h5aa156f_3 robostack-staging
ros-humble-spdlog-vendor 1.3.1 py310h4c00329_3 robostack-staging
ros-humble-sqlite3-vendor 0.15.4 py310h44bd9f6_3 robostack-staging
ros-humble-sros2 0.10.4 py310h5aa156f_3 robostack-staging
ros-humble-sros2-cmake 0.10.4 py310h5aa156f_3 robostack-staging
ros-humble-statistics-msgs 1.2.1 py310h5aa156f_3 robostack-staging
ros-humble-std-msgs 4.2.3 py310h5aa156f_3 robostack-staging
ros-humble-std-srvs 4.2.3 py310h5aa156f_3 robostack-staging
ros-humble-stereo-image-proc 3.0.0 py310h15bb56e_3 robostack-staging
ros-humble-stereo-msgs 4.2.3 py310h5aa156f_3 robostack-staging
ros-humble-tango-icons-vendor 0.1.1 py310h5aa156f_3 robostack-staging
ros-humble-teleop-twist-joy 2.4.3 py310h5aa156f_3 robostack-staging
ros-humble-teleop-twist-keyboard 2.3.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2 0.25.2 py310h10e9492_3 robostack-staging
ros-humble-tf2-bullet 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-eigen 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-eigen-kdl 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-geometry-msgs 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-kdl 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-msgs 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-py 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-ros 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-ros-py 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-sensor-msgs 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-tf2-tools 0.25.2 py310h5aa156f_3 robostack-staging
ros-humble-theora-image-transport 2.5.0 py310h15bb56e_3 robostack-staging
ros-humble-tinyxml-vendor 0.8.3 py310h5aa156f_3 robostack-staging
ros-humble-tinyxml2-vendor 0.7.5 py310h5699682_3 robostack-staging
ros-humble-topic-monitor 0.20.3 py310h5aa156f_3 robostack-staging
ros-humble-tracetools 4.1.1 py310h5aa156f_3 robostack-staging
ros-humble-tracetools-image-pipeline 3.0.0 py310h5aa156f_3 robostack-staging
ros-humble-trajectory-msgs 4.2.3 py310h5aa156f_3 robostack-staging
ros-humble-turtlesim 1.4.2 py310h5aa156f_3 robostack-staging
ros-humble-uncrustify-vendor 2.0.2 py310h5aa156f_3 robostack-staging
ros-humble-unique-identifier-msgs 2.2.1 py310h5aa156f_3 robostack-staging
ros-humble-urdf 2.6.0 py310h5aa156f_3 robostack-staging
ros-humble-urdf-parser-plugin 2.6.0 py310h5aa156f_3 robostack-staging
ros-humble-urdfdom 3.0.2 py310h10e9492_3 robostack-staging
ros-humble-urdfdom-headers 1.0.6 py310h5aa156f_3 robostack-staging
ros-humble-vision-opencv 3.2.1 py310h5aa156f_3 robostack-staging
ros-humble-visualization-msgs 4.2.3 py310h5aa156f_3 robostack-staging
ros-humble-xacro 2.0.8 py310h5aa156f_3 robostack-staging
ros-humble-yaml-cpp-vendor 8.0.2 py310h5aa156f_3 robostack-staging
ros-humble-zstd-vendor 0.15.4 py310h7f7488f_3 robostack-staging
ros2-distro-mutex 0.3.0 humble robostack-staging
rosdistro 0.9.0 py310h2ec42d9_0 conda-forge
rospkg 1.5.0 pyhd8ed1ab_0 conda-forge
ruby 3.2.2 hb3742b3_0 conda-forge
sdl2 2.26.5 hf0c8a7f_0 conda-forge
setuptools 61.0.0 py310h2ec42d9_0 conda-forge
sigtool 0.1.3 h88f4db0_0 conda-forge
sip 6.7.11 py310h9e9d8ca_0 conda-forge
six 1.16.0 pyh6c4a22f_0 conda-forge
snowballstemmer 2.2.0 pyhd8ed1ab_0 conda-forge
spdlog 1.11.0 ha64ae7f_1 conda-forge
sqlite 3.43.0 h2b0dec6_0 conda-forge
svt-av1 1.4.1 hf0c8a7f_0 conda-forge
swig 4.1.1 h62f31c0_1 conda-forge
tapi 1100.0.11 h9ce4665_0 conda-forge
tbb 2021.10.0 h1c7c39f_0 conda-forge
tbb-devel 2021.10.0 h1c7c39f_0 conda-forge
tinyxml 2.6.2 h65a07b1_2 conda-forge
tinyxml2 9.0.0 he49afe7_2 conda-forge
tk 8.6.12 h5dbffcc_0 conda-forge
toml 0.10.2 pyhd8ed1ab_0 conda-forge
tomli 2.0.1 pyhd8ed1ab_0 conda-forge
typing-extensions 4.7.1 hd8ed1ab_0 conda-forge
typing_extensions 4.7.1 pyha770c72_0 conda-forge
tzdata 2023c h71feb2d_0 conda-forge
uncrustify 0.74.0 h96cf925_0 conda-forge
unicodedata2 15.0.0 py310h90acd4f_0 conda-forge
urdfdom 3.1.1 hd1da41a_0 conda-forge
urdfdom_headers 1.1.0 h1b54a9f_0 conda-forge
utfcpp 3.2.4 h694c41f_0 conda-forge
vtk 9.2.2 qt_py310hea5b068_205 conda-forge
wheel 0.41.2 pyhd8ed1ab_0 conda-forge
wslink 1.11.2 pyhd8ed1ab_0 conda-forge
x264 1!164.3095 h775f41a_2 conda-forge
x265 3.5 hbb4e6a2_3 conda-forge
xorg-kbproto 1.0.7 h35c211d_1002 conda-forge
xorg-libice 1.0.10 h0d85af4_0 conda-forge
xorg-libsm 1.2.3 h0d85af4_1000 conda-forge
xorg-libx11 1.8.4 hb7f2c08_0 conda-forge
xorg-libxau 1.0.11 h0dc2134_0 conda-forge
xorg-libxaw 1.0.14 h0d85af4_1 conda-forge
xorg-libxdmcp 1.1.3 h35c211d_0 conda-forge
xorg-libxext 1.3.4 hb7f2c08_2 conda-forge
xorg-libxmu 1.1.3 h0d85af4_0 conda-forge
xorg-libxpm 3.5.16 h0dc2134_0 conda-forge
xorg-libxrandr 1.5.2 h0d85af4_1 conda-forge
xorg-libxrender 0.9.10 h0d85af4_1003 conda-forge
xorg-libxt 1.3.0 h0dc2134_0 conda-forge
xorg-randrproto 1.5.0 h0d85af4_1001 conda-forge
xorg-renderproto 0.11.1 h0d85af4_1002 conda-forge
xorg-xextproto 7.3.0 hb7f2c08_1003 conda-forge
xorg-xproto 7.0.31 h35c211d_1007 conda-forge
xz 5.2.6 h775f41a_0 conda-forge
yaml 0.2.5 h0d85af4_2 conda-forge
yaml-cpp 0.7.0 hf0c8a7f_2 conda-forge
yarl 1.9.2 py310h6729b98_0 conda-forge
zeromq 4.3.4 he49afe7_1 conda-forge
zipp 3.16.2 pyhd8ed1ab_0 conda-forge
zlib 1.2.13 h8a1eda9_5 conda-forge
zstd 1.5.5 h829000d_0 conda-forge
zziplib 0.13.69 h5dbffcc_1 conda-forge
Environment info
(ros_env) ➜ ros2_ws mamba info
__ __ __ __
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/ \/ \/ \/ \
███████████████/ /██/ /██/ /██/ /████████████████████████
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/ / \_/ \_/ \_/ \ o \__,
/ _/ \_____/ `
|/
███╗ ███╗ █████╗ ███╗ ███╗██████╗ █████╗
████╗ ████║██╔══██╗████╗ ████║██╔══██╗██╔══██╗
██╔████╔██║███████║██╔████╔██║██████╔╝███████║
██║╚██╔╝██║██╔══██║██║╚██╔╝██║██╔══██╗██╔══██║
██║ ╚═╝ ██║██║ ██║██║ ╚═╝ ██║██████╔╝██║ ██║
╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝╚═════╝ ╚═╝ ╚═╝
mamba (1.4.2) supported by @QuantStack
GitHub: https://github.com/mamba-org/mamba
Twitter: https://twitter.com/QuantStack
█████████████████████████████████████████████████████████████
active environment : ros_env
active env location : /usr/local/Caskroom/mambaforge/base/envs/ros_env
shell level : 2
user config file : /Users/sascha/.condarc
populated config files : /usr/local/Caskroom/mambaforge/base/.condarc
/usr/local/Caskroom/mambaforge/base/envs/ros_env/.condarc
conda version : 23.3.1
conda-build version : not installed
python version : 3.10.12.final.0
virtual packages : __archspec=1=x86_64
__osx=13.5.2=0
__unix=0=0
base environment : /usr/local/Caskroom/mambaforge/base (writable)
conda av data dir : /usr/local/Caskroom/mambaforge/base/etc/conda
conda av metadata url : None
channel URLs : https://conda.anaconda.org/robostack-staging/osx-64
https://conda.anaconda.org/robostack-staging/noarch
https://conda.anaconda.org/conda-forge/osx-64
https://conda.anaconda.org/conda-forge/noarch
package cache : /usr/local/Caskroom/mambaforge/base/pkgs
/Users/sascha/.conda/pkgs
envs directories : /usr/local/Caskroom/mambaforge/base/envs
/Users/sascha/.conda/envs
platform : osx-64
user-agent : conda/23.3.1 requests/2.31.0 CPython/3.10.12 Darwin/22.6.0 OSX/13.5.2
UID:GID : 501:20
netrc file : None
offline mode : False
/cc @traversaro - I remember a similar issue previously, can you remember what the solution was?
/cc @traversaro - I remember a similar issue previously, can you remember what the solution was?
I can't remember any similar issue, sorry!
Oh, any suggestions how to debug? Can you reproduce the error?
I tried on another MacBook
(ros_env) ➜ ~ ros2 launch robot_state_publisher rsp-launch-urdf-inline.py
[INFO] [launch]: All log files can be found below /Users/sascha/.ros/log/2023-09-18-21-09-02-749612-Saschas-MacBook-Pro-Early-2013.local-93358
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [93360]
[robot_state_publisher-1] Warning: link 'base_link' material 'blue' undefined.
[robot_state_publisher-1] at line 84 in /Users/runner/mambaforge/conda-bld/ros-humble-urdfdom-0_1675646167591/work/ros-humble-urdfdom/src/work/urdf_parser/src/model.cpp
[robot_state_publisher-1] Warning: link 'base_link' material 'blue' undefined.
[robot_state_publisher-1] at line 84 in /Users/runner/mambaforge/conda-bld/ros-humble-urdfdom-0_1675646167591/work/ros-humble-urdfdom/src/work/urdf_parser/src/model.cpp
[robot_state_publisher-1] [INFO] [1695064143.029658101] [robot_state_publisher]: got segment base_link
and it seems to work there.
It is running macOS Big Sur 11.7.9 (20G1426).
Is one of them an intel, and the other one apple silicon?
No, both Intel.
I can run it on the new machine. So I close this until it bugs someone else.
Sorry to reopen the issue so quickly again ... It started bugging me again and now I can reproduce it!
The bug appears after installing ros-humble-desktop-full
. It works fine if I only install ros-humble-desktop
.
To start from scratch, I completely deleted miniconda
and deleted build
, log
and install
in the workspace.
I installed ros-humble-desktop
and compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools
with mamba
.
Then, it was possible to compile and run the example.
I then again removed build
, log
and install
in the workspace, installed ros-humble-desktop-full
, did a mamba deactivate && mamba activate ros_env
. After that, I am back at the error mentioned.
Any idea how the installation of ros-humble-desktop-full
can break it?
(ros_env) ➜ ros2_ws mamba install ros-humble-desktop-full
Looking for: ['ros-humble-desktop-full']
conda-forge/osx-64 Using cache
conda-forge/noarch Using cache
robostack-staging/osx-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.10.*
Transaction
Prefix: /usr/local/Caskroom/miniconda/base/envs/ros_env
Updating specs:
- ros-humble-desktop-full
- ca-certificates
- certifi
- openssl
Package Version Build Channel Size
─────────────────────────────────────────────────────────────────────────────────────────────────────────────
Install:
─────────────────────────────────────────────────────────────────────────────────────────────────────────────
+ octomap 1.9.8 hb8565cd_0 conda-forge 205kB
+ libode 0.16.2 h7a76584_11 conda-forge 491kB
+ libabseil 20230125.3 cxx17_h000cb23_0 conda-forge 1MB
+ urdfdom_headers 1.1.0 h1b54a9f_0 conda-forge 19kB
+ cli11 2.3.2 hf0c8a7f_0 conda-forge 75kB
+ gdbm 1.18 h8a0c380_2 conda-forge 134kB
+ swig 4.1.1 h62f31c0_1 conda-forge 1MB
+ libccd-double 2.1 he965462_3 conda-forge 33kB
+ gflags 2.2.2 hb1e8313_1004 conda-forge 95kB
+ libsodium 1.0.18 hbcb3906_1 conda-forge 529kB
+ ogre-next 2.2.6 h20040b6_0 conda-forge 3MB
+ lzo 2.10 haf1e3a3_1000 conda-forge Cached
+ urdfdom 3.1.1 hd1da41a_0 conda-forge 93kB
+ libignition-utils1 1.4.0 hb486fe8_0 conda-forge 26kB
+ ruby 3.2.2 hb3742b3_0 conda-forge 8MB
+ ogre 1.10.12 hd9b3965_10 conda-forge 121MB
+ fcl 0.7.0 h699cf62_3 conda-forge 1MB
+ zeromq 4.3.5 h93d8f39_0 conda-forge 294kB
+ libarchive 3.6.2 h6d8d9f1_0 conda-forge 723kB
+ libignition-common4 4.6.1 h9877c73_1 conda-forge 521kB
+ libignition-tools1 1.5.0 h4425e3a_3 conda-forge 34kB
+ dartsim 6.12.2 hf8c8161_3 conda-forge 16MB
+ cppzmq 4.10.0 h478c2f3_0 conda-forge 29kB
+ libsdformat12 12.6.0 h1fb05c2_2 conda-forge 734kB
+ libignition-plugin1 1.3.0 h75ea093_0 conda-forge 85kB
+ libignition-msgs8 8.7.0 hc16761c_2 conda-forge 870kB
+ libignition-rendering6 6.5.1 h58813d6_1 conda-forge 4MB
+ libignition-physics5 5.2.0 h59cd2a9_3 conda-forge 537kB
+ libignition-fuel-tools7 7.1.0 h70e77c0_1 conda-forge 251kB
+ libignition-transport11 11.4.0 h361b394_2 conda-forge 512kB
+ libignition-sensors6 6.6.0 h96d8318_5 conda-forge 369kB
+ libignition-gui6 6.6.1 hbf0cc6e_3 conda-forge 679kB
+ libignition-gazebo6 6.12.0 hbf0cc6e_3 conda-forge 10MB
+ ros-humble-vision-opencv 3.2.1 py310h5aa156f_3 robostack-staging 12kB
+ ros-humble-xacro 2.0.8 py310h5aa156f_3 robostack-staging 78kB
+ ros-humble-ros-gz-interfaces 0.244.9 py310h5aa156f_3 robostack-staging 303kB
+ ros-humble-compressed-image-transport 2.5.0 py310h5aa156f_3 robostack-staging 169kB
+ ros-humble-theora-image-transport 2.5.0 py310h15bb56e_3 robostack-staging 321kB
+ ros-humble-compressed-depth-image-transport 2.5.0 py310h5aa156f_3 robostack-staging 156kB
+ ros-humble-depth-image-proc 3.0.0 py310h15bb56e_3 robostack-staging 326kB
+ ros-humble-image-rotate 3.0.0 py310h15bb56e_3 robostack-staging 84kB
+ ros-humble-camera-calibration 3.0.0 py310h5aa156f_3 robostack-staging 97kB
+ ros-humble-camera-calibration-parsers 3.1.5 py310h5aa156f_3 robostack-staging 68kB
+ ros-humble-pcl-ros 2.4.0 py310hab2fab7_3 robostack-staging 82kB
+ ros-humble-filters 2.1.0 py310hc887327_3 robostack-staging 72kB
+ ros-humble-tracetools-image-pipeline 3.0.0 py310h5aa156f_3 robostack-staging 18kB
+ ros-humble-sdformat-urdf 1.0.1 py310h5aa156f_3 robostack-staging 88kB
+ ros-humble-ros-gz-sim 0.244.9 py310he7a2e77_3 robostack-staging 183kB
+ ros-humble-ros-gz-bridge 0.244.9 py310h5aa156f_3 robostack-staging 2MB
+ ros-humble-ros-ign-interfaces 0.244.9 py310h5aa156f_3 robostack-staging 266kB
+ ros-humble-image-transport-plugins 2.5.0 py310h5aa156f_3 robostack-staging 12kB
+ ros-humble-camera-info-manager 3.1.5 py310h5aa156f_3 robostack-staging 46kB
+ ros-humble-image-view 3.0.0 py310hc887327_3 robostack-staging 311kB
+ ros-humble-perception-pcl 2.4.0 py310h5aa156f_3 robostack-staging 13kB
+ ros-humble-laser-filters 2.0.5 py310h5aa156f_3 robostack-staging 813kB
+ ros-humble-image-proc 3.0.0 py310h15bb56e_3 robostack-staging 93kB
+ ros-humble-ros-ign-gazebo 0.244.9 py310h5aa156f_3 robostack-staging 23kB
+ ros-humble-ros-gz-image 0.244.9 py310h5aa156f_3 robostack-staging 52kB
+ ros-humble-ros-ign-bridge 0.244.9 py310h5aa156f_3 robostack-staging 22kB
+ ros-humble-image-publisher 3.0.0 py310h5aa156f_3 robostack-staging 109kB
+ ros-humble-image-common 3.1.5 py310h5aa156f_3 robostack-staging 12kB
+ ros-humble-stereo-image-proc 3.0.0 py310h15bb56e_3 robostack-staging 332kB
+ ros-humble-ros-ign-image 0.244.9 py310h5aa156f_3 robostack-staging 20kB
+ ros-humble-ros-gz-sim-demos 0.244.9 py310h5aa156f_3 robostack-staging 38kB
+ ros-humble-image-pipeline 3.0.0 py310h5aa156f_3 robostack-staging 13kB
+ ros-humble-simulation 0.10.0 py310h5aa156f_3 robostack-staging 14kB
+ ros-humble-ros-ign-gazebo-demos 0.244.9 py310h5aa156f_3 robostack-staging 19kB
+ ros-humble-perception 0.10.0 py310h5aa156f_3 robostack-staging 14kB
+ ros-humble-desktop-full 0.10.0 py310h5aa156f_3 robostack-staging 15kB
Downgrade:
─────────────────────────────────────────────────────────────────────────────────────────────────────────────
- bullet-cpp 3.24 hcd8b382_0 conda-forge Cached
+ bullet-cpp 3.21 hcd8b382_4 conda-forge 43MB
- pybullet 3.24 py310hcd8b382_0 conda-forge Cached
+ pybullet 3.21 py310hcd8b382_4 conda-forge 67MB
- bullet 3.24 ha188af9_0 conda-forge Cached
+ bullet 3.21 ha188af9_4 conda-forge 9kB
Summary:
Install: 69 packages
Downgrade: 3 packages
Total download: 288MB
I can break it down to the installation of ros-humble-sdformat-urdf
. Adding this package breaks!
mamba install --yes ros-humble-sdformat-urdf
Looking for: ['ros-humble-sdformat-urdf']
conda-forge/osx-64 Using cache
conda-forge/noarch Using cache
robostack-staging/osx-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.10.*
Transaction
Prefix: /usr/local/Caskroom/miniconda/base/envs/ros_env
Updating specs:
- ros-humble-sdformat-urdf
- ca-certificates
- certifi
- openssl
Package Version Build Channel Size
─────────────────────────────────────────────────────────────────────────────────────
Install:
─────────────────────────────────────────────────────────────────────────────────────
+ urdfdom_headers 1.1.0 h1b54a9f_0 conda-forge 19kB
+ gts 0.7.6 h53e17e3_4 conda-forge 281kB
+ cli11 2.3.2 hf0c8a7f_0 conda-forge 75kB
+ gdbm 1.18 h8a0c380_2 conda-forge 134kB
+ urdfdom 3.1.1 hd1da41a_0 conda-forge 93kB
+ libignition-utils1 1.4.0 hb486fe8_0 conda-forge 26kB
+ ruby 3.2.2 hb3742b3_0 conda-forge 8MB
+ libignition-common4 4.6.1 h9877c73_1 conda-forge 521kB
+ libignition-tools1 1.5.0 h4425e3a_3 conda-forge 34kB
+ libsdformat12 12.6.0 h1fb05c2_2 conda-forge 734kB
+ ros-humble-sdformat-urdf 1.0.1 py310h5aa156f_3 robostack-staging 88kB
Summary:
Install: 11 packages
Total download: 10MB
─────────────────────────────────────────────────────────────────────────────────────
urdfdom_headers 18.5kB @ 83.7kB/s 0.2s
urdfdom 93.4kB @ 391.9kB/s 0.2s
cli11 74.6kB @ 277.6kB/s 0.3s
libignition-utils1 26.4kB @ 62.1kB/s 0.2s
gdbm 134.2kB @ 291.4kB/s 0.5s
gts 281.0kB @ 549.2kB/s 0.5s
libignition-common4 521.1kB @ 866.8kB/s 0.4s
libignition-tools1 33.6kB @ 53.7kB/s 0.1s
ros-humble-sdformat-urdf 88.4kB @ 139.2kB/s 0.4s
libsdformat12 734.4kB @ 803.0kB/s 0.5s
ruby 8.1MB @ 2.4MB/s 2.9s
Downloading and Extracting Packages:
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
ament_append_unique_value:14: command not found: ament_zsh_to_array
/usr/local/Caskroom/miniconda/base/envs/ros_env/setup.sh:120: command not found: ament_zsh_to_array
I cannot reproduce it with Linux (using lima on macOS):
(ros_env) sascha@lima-default:/tmp/ros2_ws$ mamba deactivate && mamba activate ros_env
(ros_env) sascha@lima-default:/tmp/ros2_ws$ colcon build --symlink-install --packages-select urdf_tutorial_r2d2
Starting >>> urdf_tutorial_r2d2
--- stderr: urdf_tutorial_r2d2
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
---
Finished <<< urdf_tutorial_r2d2 [3.11s]
Summary: 1 package finished [3.68s]
1 package had stderr output: urdf_tutorial_r2d2
(ros_env) sascha@lima-default:/tmp/ros2_ws$ source install/setup.bash
(ros_env) sascha@lima-default:/tmp/ros2_ws$ ros2 launch urdf_tutorial_r2d2 demo_launch.py
[INFO] [launch]: All log files can be found below /home/sascha.linux/.ros/log/2023-10-22-20-53-55-219162-lima-default-24149
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [24150]
[INFO] [state_publisher-2]: process started with pid [24152]
[robot_state_publisher-1] [INFO] [1698008035.363621336] [robot_state_publisher]: got segment axis
[robot_state_publisher-1] [INFO] [1698008035.364168310] [robot_state_publisher]: got segment body
[robot_state_publisher-1] [INFO] [1698008035.364574001] [robot_state_publisher]: got segment box
[robot_state_publisher-1] [INFO] [1698008035.364911223] [robot_state_publisher]: got segment head
[robot_state_publisher-1] [INFO] [1698008035.365335660] [robot_state_publisher]: got segment leg1
[robot_state_publisher-1] [INFO] [1698008035.365869315] [robot_state_publisher]: got segment leg2
[robot_state_publisher-1] [INFO] [1698008035.366214504] [robot_state_publisher]: got segment rod
[state_publisher-2] OpenBLAS WARNING - could not determine the L2 cache size on this system, assuming 256k
[state_publisher-2] [INFO] [1698008035.602978474] [state_publisher]: state_publisher started
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1698008043.180156511] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 24150]
[INFO] [state_publisher-2]: process has finished cleanly [pid 24152]
(ros_env) sascha@lima-default:/tmp/ros2_ws$ mamba install --yes ros-humble-sdformat-urdf
Looking for: ['ros-humble-sdformat-urdf']
conda-forge/linux-64 Using cache
conda-forge/noarch Using cache
robostack-staging/linux-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.10.*
Transaction
Prefix: /home/sascha.linux/miniconda3/envs/ros_env
Updating specs:
- ros-humble-sdformat-urdf
- ca-certificates
- certifi
- openssl
Package Version Build Channel Size
─────────────────────────────────────────────────────────────────────────────────────
Install:
─────────────────────────────────────────────────────────────────────────────────────
+ urdfdom_headers 1.1.0 h924138e_0 conda-forge 18kB
+ cli11 2.3.2 hcb278e6_0 conda-forge 75kB
+ gdbm 1.18 h0a1914f_2 conda-forge 195kB
+ urdfdom 3.1.1 h8a9b4ce_0 conda-forge 114kB
+ libignition-utils1 1.4.0 h27087fc_0 conda-forge 28kB
+ ruby 3.2.2 hff50039_0 conda-forge 8MB
+ libignition-common4 4.6.1 hedc608d_1 conda-forge 673kB
+ libignition-tools1 1.5.0 h1caa08d_3 conda-forge 37kB
+ libsdformat12 12.6.0 h51aba99_2 conda-forge 897kB
+ ros-humble-sdformat-urdf 1.0.1 py310h7c61026_3 robostack-staging 137kB
Summary:
Install: 10 packages
Total download: 10MB
─────────────────────────────────────────────────────────────────────────────────────
urdfdom_headers 18.4kB @ 16.4kB/s 1.1s
urdfdom 113.7kB @ 99.7kB/s 1.1s
libignition-utils1 27.9kB @ 24.2kB/s 1.2s
gdbm 194.8kB @ 165.4kB/s 1.2s
cli11 75.0kB @ 62.0kB/s 1.2s
libsdformat12 897.4kB @ 670.0kB/s 0.2s
libignition-common4 672.7kB @ 491.9kB/s 0.2s
libignition-tools1 37.1kB @ 26.1kB/s 0.3s
ruby 8.2MB @ 4.8MB/s 0.6s
ros-humble-sdformat-urdf 136.8kB @ 67.7kB/s 0.8s
Downloading and Extracting Packages:
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
(ros_env) sascha@lima-default:/tmp/ros2_ws$ mamba deactivate && mamba activate ros_env
(ros_env) sascha@lima-default:/tmp/ros2_ws$ rm -rf build install log
(ros_env) sascha@lima-default:/tmp/ros2_ws$ colcon build --symlink-install --packages-select urdf_tutorial_r2d2
Starting >>> urdf_tutorial_r2d2
--- stderr: urdf_tutorial_r2d2
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
---
Finished <<< urdf_tutorial_r2d2 [3.39s]
Summary: 1 package finished [3.98s]
1 package had stderr output: urdf_tutorial_r2d2
(ros_env) sascha@lima-default:/tmp/ros2_ws$ source install/setup.bash
(ros_env) sascha@lima-default:/tmp/ros2_ws$ ros2 launch urdf_tutorial_r2d2 demo_launch.py
[INFO] [launch]: All log files can be found below /home/sascha.linux/.ros/log/2023-10-22-20-54-50-800224-lima-default-26219
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [26220]
[INFO] [state_publisher-2]: process started with pid [26222]
[robot_state_publisher-1] [INFO] [1698008090.921886105] [robot_state_publisher]: got segment axis
[robot_state_publisher-1] [INFO] [1698008090.921985781] [robot_state_publisher]: got segment body
[robot_state_publisher-1] [INFO] [1698008090.921993005] [robot_state_publisher]: got segment box
[robot_state_publisher-1] [INFO] [1698008090.921997224] [robot_state_publisher]: got segment head
[robot_state_publisher-1] [INFO] [1698008090.922020312] [robot_state_publisher]: got segment leg1
[robot_state_publisher-1] [INFO] [1698008090.922023841] [robot_state_publisher]: got segment leg2
[robot_state_publisher-1] [INFO] [1698008090.922027280] [robot_state_publisher]: got segment rod
[state_publisher-2] OpenBLAS WARNING - could not determine the L2 cache size on this system, assuming 256k
[state_publisher-2] [INFO] [1698008091.137399029] [state_publisher]: state_publisher started
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1698008093.510333282] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 26220]
[INFO] [state_publisher-2]: process has finished cleanly [pid 26222]
(ros_env) sascha@lima-default:/tmp/ros2_ws$
The solution seems to be
ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib
in /usr/local/Caskroom/miniconda/base/envs/ros_env/lib
Info from here: ArduPilot/ardupilot_gz#21
Might it be possible to add this as a patch to robostack?
Good debugging!
@traversaro - do you think it's better to do set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib")
or to create a symlink such that both ".so" and ".dylib" are created?
Quick reminder @traversaro
@traversaro - do you think it's better to do
set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib")
or to create a symlink such that both ".so" and ".dylib" are created?
I guess that libsdformat_urdf_plugin.so
ends with .so
on macOS instead of .dylib
as it is a MODULE
, see https://github.com/ros/sdformat_urdf/blob/ddf83ed07e5fa5aeaea1aa2609ba3d2a03102f20/sdformat_urdf/CMakeLists.txt#L72 , so if we want it to end with .dylib
I guess we need to simply change MODULE
to SHARED
in https://github.com/ros/sdformat_urdf/blob/ddf83ed07e5fa5aeaea1aa2609ba3d2a03102f20/sdformat_urdf/CMakeLists.txt#L72 , as done for the similar urdf parser plugin in https://github.com/ros2/urdf/blob/1d257eb6a3fa34593c0da67f5d16cd0155d7d91b/urdf/CMakeLists.txt#L58 . I opened a PR upstream for this in ros/sdformat_urdf#22 .
Note that the root issue is ros/pluginlib#200 .
Thanks a lot @traversaro! I've added your patch here so this is being resolved in the next rebuild: 285d379
This should be fixed with the latest packages - please let us know if not.