epfl-lasa/control-libraries

Library libpinocchio.so.2.6.0 not correctly loaded

VincenzoScamarcio opened this issue · 8 comments

VincenzoScamarcio commented

Every time I launch a program that contains the robot_model library (so pinocchio is required) I receive this error:

error while loading shared libraries: libpinocchio.so.2.6.0: cannot open shared object file: No such file or directory

The workaround I found is to send these commands every time I open a new shell:

sudo find / -name libpinocchio.so.2.6.0
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/path/to/libpinocchio.so.2.6.0
export LD_LIBRARY_PATH

Or, better, to directly write the last two lines in the .bashrc file

eeberhard commented

Hm ok, it might be that a [sudo] ldconfig would help to resolve this - could you test this and let me know? Otherwise indeed you will need to reconfigure your library path each time, or move the libraries to a location on path.

VincenzoScamarcio commented

I have just tried [sudo] ldconfig. Unfortunately it does not work.

  • 👀1
domire8 commented

How did you install the control_libraries? Did you use the install.sh script or some other guide?

VincenzoScamarcio commented

Yes, I have used the install.sh script to install everything.
Now, every time I call git pull then I just follow what is written in the README file:
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j
sudo make install

domire8 commented

What OS are you on? 18.04 or 20.04? Could you provide me the package that is trying load the robot model library (possibly in a zip folder) and then the steps to reproduce your issue?

VincenzoScamarcio commented

My OS is 20.04.

Here you have my folder:
robot_ws.zip

The path to reproduce the error is this one:
'cd robot_ws'
'catkin_make'
'source devel/setup.bash'
'rosrun robot_tutorials my_robot_kinematics_control_loop'

domire8 commented

Thanks for providing that, we might have found a solution.

Could you try removing your fix in the bashrc, restart the terminal and then do the following:

  • sudo ln -s /opt/openrobots/lib/libpinocchio.so.2.6.0 /usr/local/lib
  • sudo ldconfig

...and then do the steps in the ros workspace that you described above.

Let me know if that solves your issue.

VincenzoScamarcio commented

Yes, thank you, the issue has been solved like this!

  • 🎉2