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Can't load plugin with roslaunch

asked 2017-01-12 08:56:50 -0500

kaldo gravatar image

updated 2017-01-13 02:25:58 -0500

My world file (adapted from the tutorial) contains a plugin :

<model name="my_car">
    <plugin name="car_control" filename="car_plugin/build/libcar_plugin.so">

What works

The plugin loads and displays the expected message when I do this :

$ export GAZEBO_MODEL_PATH="$CATKIN_WS/src/tas_group_2/car_gazebo/models"
$ export GAZEBO_PLUGIN_PATH="$CATKIN_WS/src/tas_group_2/car_gazebo/plugins"
$ gazebo worlds/car.world

What doesn't

However I can't get it to launch through roslaunch with :

$ roslaunch car_gazebo car.launch

and I get te following error :

[Err] [Plugin.hh:165] Failed to load plugin car_plugin/build/libcar_plugin.so: car_plugin/build/libcar_plugin.so: cannot open shared object file: No such file or directory

My files contain : package.xml (car_gazebo) :

<?xml version="1.0"?>

        <gazebo_ros gazebo_model_path="${prefix}/models"/>
        <gazebo_ros gazebo_plugin_path="${prefix}/plugins"/>

car.launch :

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find car_gazebo)/worlds/car.world" />
    <arg name="verbose" value="true" />

My question

I thought the two methods where equivalent. Because I specified the environment variables in the <export> tag.

<gazebo_ros gazebo_model_path="${prefix}/models"/> allowed gazebo to find my model, while <gazebo_ros gazebo_plugin_path="${prefix}/plugins"/> doesn't help find my plugin. How come?

Any idea how to get the plugin to work with the roslaunch command?


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When you say Gazebo displays no error, do you mean you're running it with the `--verbose` flag and no error messages come up? If the plugin is not loaded, you should get an error...

chapulina gravatar imagechapulina ( 2017-01-12 11:17:47 -0500 )edit

Thanks for the input! I have modified the launch file to run in verbose mode, and an error came up! I have edited the question.

kaldo gravatar imagekaldo ( 2017-01-12 12:08:45 -0500 )edit

2 Answers

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answered 2017-01-24 01:14:40 -0500

kaldo gravatar image

As a workaround, I set the GAZEBO_PLUGIN_PATH directly in my launch file, adding an <env> tag at the beginning :

  <!-- Set up env variable so plugin are found -->
  <env name="GAZEBO_PLUGIN_PATH" value="$(find car_gazebo)/plugins"/>
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answered 2018-06-15 14:09:25 -0500

The correct tag is actually plugin_path, not gazebo_plugin_path (this seems inconsistent and should probably be changed). Try this instead:

<gazebo_ros plugin_path="${prefix}/plugins"/>
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Asked: 2017-01-12 08:56:50 -0500

Seen: 1,041 times

Last updated: Jan 24 '17