moveit rviz plugin error

[sewawa]

ubuntu-16.04 ROS kinetic

when i launch: roslaunch lwr_moveit_config demo.launch
i get :
I look for opt/kinetic/lib, the file (libopencv_imgproc3.so.3.2) isn't exist. Where i can find this file, or i need to install something, apt-get install [what?]

[davetcoleman]

libopencv is outside the domain of moveit. this appears to be an issue with your particular installation or catkin workspace setup

[gortium]

Ubuntu-16.04 kinetic too
My moveit setup used to work, now i got this:

Available plugins: ompl_interface/OMPLPlanner

Maybe it is linked to the same problem ?

[v4hn]

On Thu, Mar 23, 2017 at 05:54:52PM -0700, Thierry Pouplier wrote:

Maybe it is linked to the same problem ?

I believe both errors appear because of either incomplete updates
of your system or because of broken local workspaces that have to be rebuild.
Updating your linux distribution and/or doing a complete rebuild of your relevant
workspaces usually fixes such problems.
If you updated ompl/opencv but not the moveit packages or the other way around,
or if you updated your distribution packages and they changed ABI then you get such linking errors.

[gortium]

purge ros*
update, upgrade, distro-upgrade, install ros-kinetic-desktop-full, install ros-kinetic-moveit.
build my repository, launch move_group.launch.
Still get this error.
Something most be wrong..

[v4hn]

I just did a fresh installation of ubuntu 16.04 and kinetic and do not encounter the problem there.
This is clearly a bug at your end.

libompl.so is (ttbomk) the only library installed by osrf that is not directly in /opt/ros/kinetic/lib but instead in /opt/ros/kinetic/lib/x86_64-linux-gnu.
So make sure you have the library in that path and echo $LD_LIBRARY_PATH includes /opt/ros/kinetic/lib/x86_64-linux-gnu after you sourced your workspace.

[wkoziej]

I'm not sure this issue is solved.
I have similar problem on ubuntu xenial (16.04). When I'm trying to launch generated demo I get similar error

[ERROR] [1496781514.471921465]: Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /opt/ros/kinetic/lib/libmoveit_ompl_planner_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libompl.so.12: cannot open shared object file: No such file or directory) Available plugins: ompl_interface/OMPLPlanner

So I've try to resolve this:

$ ldd /opt/ros/kinetic/lib/libmoveit_ompl_planner_plugin.so | grep not libompl.so.12 => not found

It seems to me that libompl.so.12 is only in artful version of ubuntu: https://packages.ubuntu.com/search?keywords=libompl12.

Am I wrong?
Should I create new issue?

[willcbaker]

@wkoziej @gortium I can confirm, fresh install on 16.04 was getting same error; must make sure your library path is correct as @v4hn mentioned. try cleaning your workspace and rebuilding with correct paths sourced

[wkoziej]

I wanted to try this problem on fresh ROS docker instalation. After that it showed up that my original instalation started working. OMPL library was found (not in the system directories but in the ROS libs):
ldd /opt/ros/kinetic/lib/libmoveit_ompl_planner_plugin.so | grep libom
libompl.so.12 => /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.12 (0x00007f8e92017000)
I'm confused but happy.

[xxx09]

@sewawa I have the same problem with u, I upgrade opencv (which i import cv2 in python and cv2.__version__ is 3.1.0-dev) in Synaptic to 3.2, add library path as @v4hn mentioned, and it solves the problem.

[0Nel]

I had the same Error message on Ubuntu 18.04 with ros melodic and moveIt. After searching every possible post about it and almost reinstalling ros entirely I was able to fix this issue simply with:

sudo apt-get update
sudo apt-get dist-upgrade

Hope this will resolve the issue for other users as well!
I don't think it was necessary, but it is probably a good idea to rebuild and resource your catkin workspace afterwards.

[kokokoharu]

I just did a fresh installation of ubuntu 16.04 and kinetic and do not encounter the problem there.
This is clearly a bug at your end.

libompl.so is (ttbomk) the only library installed by osrf that is _not_ directly in /opt/ros/kinetic/lib but instead in /opt/ros/kinetic/lib/x86_64-linux-gnu.
So make sure you have the library in that path and echo $LD_LIBRARY_PATH includes /opt/ros/kinetic/lib/x86_64-linux-gnu after you sourced your workspace.

This is good. I was having the similar issue and after I included /opt/ros/kinetic/lib/x86_64-linux-gnu in .bashrc, everything becomes fine.

[beevabeeva]

@0Nel Thanks! This worked for me.