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Error 141: libgazebo_ros_control can not be found in Gazebo 2.0.0

asked 2013-10-16 08:51:36 -0600

RafBerkvens gravatar image

When running my simulation using Gazebo 2.0.0, I get the following non-critical error:

Error [Plugin.hh:141] Failed to load plugin libgazebo_ros_control.so: 
libgazebo_ros_control.so: cannot open shared object file: No such file or directory

I don't use the ROS control part of the simulation for now, so it doesn't matter too much. However, I thought I should mention it here. I think that the current ros-hydro-gazebo-ros-control package might still be linked against Gazebo 1.9.

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We are finishing the work on solving the problem with gazebo-2.0.0 and ROS. Hopefully there will be some news in few hours about how to properly install and run them together. I will update the answer as soon as the official instructions are released.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2013-10-16 09:45:54 -0600 )edit

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answered 2013-10-16 16:59:55 -0600

Jose Luis Rivero gravatar image

updated 2013-10-22 07:39:07 -0600

The error was not in your part, it was due to an unstable state of the ROS and OSRF repository. Should be fixed now.

Full instructions to install gazebo-1.9 or gazebo-2.0 (gazebo-current) were sent to the gazebo mailing list including how the integration with ROS is working.

Update 22 Oct: there is a new document about Gazebo/ROS integration which should help to fix all aspects related to gazebo and ROS.

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According to those instructions, Gazebo 1.9.2 would be installed when installing ROS. I purged all gazebo, gazebo-current, ros-hydro-desktop-full, ros-hydro-gazebo-* packages from my system and did a fresh ros-hydro-desktop-full install. It automatically selects gazebo-current. The ros-hydro-gazebo-ros-control packages can still not be installed, because they look for gazebo.

RafBerkvens gravatar imageRafBerkvens ( 2013-10-17 01:18:17 -0600 )edit

I see, you probably are running raring so it is pulling the OSRF dependencies for ros-hydro-gazebo-* (which have a greater version) which brings gazebo-current to you. I see several solutions here. Probably the easiest one is to remove OSRF repo from your apt sources unless you have a different reason to keep it. I will write some instructions to solve this problem.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2013-10-17 06:42:29 -0600 )edit

Indeed, I am running raring. I should have mentioned that, my apologies. I will try your suggestion.

RafBerkvens gravatar imageRafBerkvens ( 2013-10-17 07:58:34 -0600 )edit

answered 2013-10-21 16:15:28 -0600

Gus gravatar image

Here is how I finally solved this problem. Just a reminder, I am using ROS groovy and I tried installing gazebo_ros_pkgs to run GAZEBO 2.0, and use gazebo_ros_control plugin to control a custom robot.

The solution for me was to compile the gazebo_ros_pkgs from source as given in the tutorial here: http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages. But I then ran into a CMake Error while compiling from source, and the solution for that is given here: http://answers.gazebosim.org/question/4026/installing-gazebo-19-and-gazebo_ros_pkgs-from/.

Now I have the control plugin working nominally in GAZEBO 2.0 with ROS groovy with no errors.

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answered 2013-10-16 16:56:00 -0600

nkoenig gravatar image

This should now be resolved. Use the gazebo-current package to get gazebo version 2.0.0, use the gazebo package to the gazebo version 1.9.2.

The correct ros-*-gazebo-ros-pkgs should get automatically installed.

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Could it be that ros-hydro-gazebo-ros-control is not a package that is maintained under Gazebo 2.0.0? It still looks for gazebo when installing through the repositories.

RafBerkvens gravatar imageRafBerkvens ( 2013-10-17 01:48:27 -0600 )edit

answered 2013-10-17 16:30:02 -0600

Gus gravatar image


I am running groovy and I have the GAZEBO 2.0 running under the gazebo_ros package. I am trying to create a custom model for my robot (this is my first time modelling a robot in GAZEBO) and also apply the ROS Control to it. I am following the tutorial on This page. When I added the gazebo_ros_control plugin to my URDF I get the same error:

Error [Plugin.hh:141] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory

After a few google searches I got to this question, but I am not sure what the solution for my case is, I would really appreciate some guidance on this issue.

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You have to remove the OSRF repo from your apt sources. Go to System Settings > Software & Updates > Other Software. Look for http://packages.osrfoundation.org/gazebo/ubuntu and untick or remove that line. Then run sudo apt-get update, sudo apt-get remove gazebo-current ros-hydro-desktop-full, sudo apt-get autoremove, sudo apt-get install ros-hydro-desktop-full. Now, you should have Gazebo 1.9.2 and able to install ros-hydro-gazebo-ros-control.

RafBerkvens gravatar imageRafBerkvens ( 2013-10-18 04:53:52 -0600 )edit

Thanks for the quick response RafBerkvens. I have tried removing the OSRF repo, and going through the steps you provided. However when I try to rosinstall ros-hydro-desktop-full, I get an error: The following packages have unmet dependencies: ros-hydro-desktop-full : Depends: ros-hydro-desktop but it is not going to be installed E: Unable to correct problems, you have held broken packages. I think there is a problem with ros-hydro installation any ideas?

Gus gravatar imageGus ( 2013-10-18 14:12:17 -0600 )edit

update: I have also worked on groovy. I removed the OSRF repo, removed ros-groovy-desktop-full then reinstalled it. Then I installed gazebo ros packages following this tutorial <http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages#Testing_Gazebo_with_ROS_Integration>. I now have the package gazebo_ros running GAZEBO 2.0, but I still get the same control plugin error.

Gus gravatar imageGus ( 2013-10-18 15:12:13 -0600 )edit
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Asked: 2013-10-16 08:51:36 -0600

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Last updated: Oct 22 '13