Failed to load plugin libgazebo_naoqi_control.so #10

andres5450 · 2018-12-17T03:25:44Z

Hi!

I've followed every step in the readme file, but when i execute roslaunch gazebo_naoqi_control nao_gazebo.launch i get the following error:

**Error [Plugin.hh:149]** Failed to load plugin libgazebo_naoqi_control.so: libgazebo_naoqi_control.so: cannot open shared object file: No such file or directory
i'm using ros indigo

Greetings!

The text was updated successfully, but these errors were encountered:

costashatz · 2018-12-17T08:34:57Z

Hey!

Did you catkin_make successfully? Because if the build of the package failed, there will be no libgazebo_naoqi_control.so and thus will not work.

andres5450 · 2018-12-17T20:28:28Z

/ home / user / catkin_ws / src / I have
-gazebo_naoqi_control
-nao_gazebo
-nao_meshes_master

catkin_make in the folder catkin_ws, the following error:

it's okay? Or the folders go in another direction?

costashatz · 2018-12-17T20:42:38Z

it's okay? Or the folders go in another direction?

The packages are in the right place, but you need the NAOqi simulator SDK; it requires that you have bought a NAO (and have access to Aldebaran's software). It seems that you do not have it. If you do have it, then you need to set your environmental (or CMAKE) variables correctly: see here.

andres5450 · 2018-12-17T23:18:53Z

hi!
/ home / user / naosoftware / I have
-naoqi-sdk-2.1.4.13-linux32
-simulator-sdk-1.12.0.59-linux32
-pynaoqi-python2.7-2.1.4.13-linux32

catkin_make in the folder catkin_ws:

cmakelist.txt
# Tell Program where to find NAOqi/NAOqiSIM bin add_definitions(-DNAOQI_SDK="/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32") add_definitions(-DNAOQI_SIM_SDK="/home/diego/naosoftware/simulator-sdk-1.12.0.59-linux32")

.bashrc
source /opt/ros/indigo/setup.bash export PYTHONPATH=${PYTHONPATH}:/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32 export LD_LIBRARY_PATH="/home/diego/naosoftware/naoqi-sdk-2.1.4.13-linux32:$LD_LIBRARY_PATH" export PYTHONPATH=${PYTHONPATH}:/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32 export LD_LIBRARY_PATH="/home/diego/naosoftware/naoqi-sdk-2.1.4.13-linux32:$LD_LIBRARY_PATH" export AL_SIM_DIR=/home/diego/naosoftware/simulator-sdk-1.12.0.59-linux32 export AL_DIR=/home/diego/naosoftware/naoqi-sdk-2.1.4.13-linux32

I have no idea :/

Greetings!

costashatz · 2018-12-18T01:08:13Z

Can you give the output of ls /home/diego/naosoftware/simulator-sdk-1.12.0.59-linux32?

andres5450 · 2018-12-18T01:13:48Z

Can you give the output of ls /home/diego/naosoftware/simulator-sdk-1.12.0.59-linux32?

I can not find another sdk simulator :/

costashatz · 2018-12-18T01:16:46Z

Can you give me the output of ls /home/diego/naosoftware/simulator-sdk-1.12.0.59-linux32/include?

andres5450 · 2018-12-18T01:23:22Z

Can you give me the output of ls /home/diego/naosoftware/simulator-sdk-1.12.0.59-linux32/include?

costashatz · 2018-12-18T01:27:37Z

I think you either have an older (or newer) version of NAOqi simulator SDK (or partially installed one?). I will try to check tomorrow what version I was using and come back to you. In the mean time, can you try replacing this line by:

find_path(NAOqiSIM_INCLUDE_DIR alnaosim/alnaosim.h HINTS ${NAOqi_INCLUDE_HINTS} )

And see what happens...

andres5450 · 2018-12-18T01:46:13Z

I think you either have an older (or newer) version of NAOqi simulator SDK (or partially installed one?). I will try to check tomorrow what version I was using and come back to you. In the mean time, can you try replacing this line by:
find_path(NAOqiSIM_INCLUDE_DIR alnaosim/alnaosim.h HINTS ${NAOqi_INCLUDE_HINTS} )
And see what happens...

download the NAOqi simulator SDK http://cui.unige.ch/~agulleir/tools/NAO/Version%201.14.5/

replacing the line in FindNAOqiSIM.cmake:

I think the error is due to the origin of that SDK simulator, I did not find another ;/

costashatz · 2018-12-18T01:50:48Z

I think you just need to download the 64bit version.

andres5450 · 2018-12-18T02:05:03Z

I think you just need to download the 64bit version.

repeat the error ... remote connection?, maybe I'm doing something wrong

costashatz · 2018-12-18T10:51:55Z

repeat the error ... remote connection?, maybe I'm doing something wrong

I downloaded the file I linked and it has many more files in the include directory. So you are doing something wrong when downloading or extracting the file. These files should be enough for this library to work..

andres5450 · 2018-12-18T22:37:55Z

i think the problem is with NAOqiSIM_FOUND_COMPONENTS, it says that couldn't found NAOqiSIM becaouse of that. How can i hard code that path? And what is that trying to find? 'cause i have every folder that you mention in the past comments so, i've just hardcoded my naosim path and it keeps throwing me that error.

PS: i have every .h file in order to the paths

costashatz · 2018-12-18T22:41:14Z

i think the problem is with NAOqiSIM_FOUND_COMPONENTS

I do not think so.

PS: i have every .h file in order to the paths

Do an ls to the folder of include in the simulator SDK to see what the files/folders are..

andres5450 · 2018-12-18T22:48:08Z

there is the screenshot of the 64bit version, there are many more files than in the 32 bits version. What can it be?

If you have time can i meet you on discord or something?

Thanks a lot for your help!

costashatz · 2018-12-19T11:55:08Z

Can you send me the error message?

andres5450 · 2018-12-19T14:20:16Z

CMakeLists.txt
# Tell Program where to find NAOqi/NAOqiSIM bin add_definitions(-DNAOQI_SDK="/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32") add_definitions(-DNAOQI_SIM_SDK="/home/diego/naosoftware/simulator-sdk-1.14.5-linux64/include")

FindNAOqiSIM.cmake
find_path(NAOqiSIM_INCLUDE_DIR alcommon/alproxy.h HINTS ${NAOqi_INCLUDE_HINTS} )

i don't have any idea of what else i can do, i did all the possible changes i could do, that the proyects allow me but nothing works.

costashatz · 2018-12-19T14:54:11Z

Tell Program where to find NAOqi/NAOqiSIM bin add_definitions(-DNAOQI_SDK="/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32") add_definitions(-DNAOQI_SIM_SDK="/home/diego/naosoftware/simulator-sdk-1.14.5-linux64/include")

Restore these to the originals (in the CMake file).

Open a terminal and do the following:

cd ~/catkin_ws
export AL_SIM_DIR=/home/diego/naosoftware/simulator-sdk-1.14.5-linux64/
export AL_DIR=/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32/
rm -rf build
rm -rf devel
catkin_make

It could be convenient to add these lines at the end of your ~/.bashrc file (so that you don't have to re-type them everytime):

export AL_SIM_DIR=/home/diego/naosoftware/simulator-sdk-1.14.5-linux64/
export AL_DIR=/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32/

andres5450 · 2018-12-19T15:57:53Z

i did what you told me, and it didn't work, but now show a different error.

restore the original(CMakeLists.txt)
# Tell Program where to find NAOqi/NAOqiSIM bin add_definitions(-DNAOQI_SDK="$ENV{AL_DIR}") add_definitions(-DNAOQI_SIM_SDK="$ENV{AL_SIM_DIR}")

at the end of the file .bashrc this is what appears

source /opt/ros/indigo/setup.bash export PYTHONPATH=${PYTHONPATH}:/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32 export LD_LIBRARY_PATH="/home/diego/naosoftware/naoqi-sdk-2.1.4.13-linux32:$LD_LIBRARY_PATH" export AL_SIM_DIR=/home/diego/naosoftware/simulator-sdk-1.14.5-linux64/ export AL_DIR=/home/diego/naosoftware/pynaoqi-python2.7-2.1.4.13-linux32/

i open the terminal and enter the commands:

thanks for all help, i really appreciate it!

costashatz · 2018-12-19T15:59:46Z

You need boost installed: sudo apt-get install libboost-dev-all.

andres5450 · 2018-12-19T16:08:30Z

i already have installed:

costashatz · 2018-12-19T17:59:56Z

Can you do ls in the alnaosim folder?

Also what is your cpu, os etc?

andres5450 · 2018-12-19T18:34:18Z

ls in the alnaosim folder:

andres5450 · 2018-12-20T00:01:21Z

i follow this tutorial https://stackoverflow.com/questions/5389853/doesnt-compile-if-included-boost-thread-in-linux-ubuntu10-10

now this is the new error message:

effective this file alnaosim_camera_definitions.h is not found in alnaosim:

costashatz · 2018-12-20T07:38:19Z

I have a feeling that this nao sdk is either incomplete or corrupt (i.e., files missing etc.). A few months ago I tried the code with the official sdk and there was no issue.

andres5450 · 2018-12-20T14:37:20Z

where i found the official sdk?, i donwloaded choregraphe and c++ naoqi sdk this official page https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb/robot/nao-2?sort_by=weight&sort_order=ASC, but i didn't found sdk simulator :c

andres5450 · 2018-12-20T15:42:39Z

i downloaded simulator-sdk-2.1.2.17-linux32 this official page https://community.ald.softbankrobotics.com/en/resources/software/former-nao-versions-simulators

compile catkin_make successful!!!!:

roslaunch gazebo_naoqi_control nao_gazebo.launch error:

costashatz · 2018-12-20T16:08:06Z

Great news! Please refer to the ROS documentation for these issues: http://wiki.ros.org/roslaunch

Most probably you haven't sourced the correct bashrc file or something..

andres5450 · 2018-12-20T19:10:09Z

i've executed the source /devel/setup.bash command show up to command at tabular roslaunch gazebo_naoqi_control nao_gazebo.launch.

executed `roslaunch gazebo_naoqi_control nao_gazebo.launch

NAO figure doesn't show, but in the gazebo view option when i click joints, center of mass, contacts it show the next thing. The only problem is that NAO doesn't visualize.

costashatz · 2018-12-20T19:52:18Z

You need the official NAO meshes (not just the package). Have a look here..

andres5450 · 2018-12-22T19:26:36Z

Hello!!!

i can get the Nao model in gazebo, but nao does not move :c

I followed the instructions of the video. I think maybe I get the wrong port, but still do not know how to change it.

andres5450 · 2019-01-03T04:39:06Z

I have the same problem, try to change the port in the files model.xacro and nao.xacro, but I have the same error. Any solution please :c

Greetings!

ghost · 2019-04-26T02:55:51Z

Hello!!!

i can get the Nao model in gazebo, but nao does not move :c

I followed the instructions of the video. I think maybe I get the wrong port, but still do not know how to change it.

Hi!
when I run Choregraphe to simulate Nao walk, the model does not move. Any solution?

costashatz · 2019-04-26T07:18:00Z

Are you sure that you have the right ports? Also, did you follow all the instructions in the video?

When you say it does not move, what do you mean? Does it fall? Or it just stays there? Can you show us a video of the behavior?

andres5450 · 2019-05-01T20:49:25Z

Hi!
Make the connection, but NAO does not walk.

costashatz · 2019-05-01T23:13:25Z

Hi!
Make the connection, but NAO does not walk.

https://drive.google.com/open?id=13JIsxjZour6FWln9lHYEyhTRjjoKLHTe

This is working as expected. Everything is correctly done!

The reason NAO is falling is because the PID values are not properly tuned: see #3 ... You can play with the values in this file: https://github.com/costashatz/nao_gazebo/blob/master/gazebo_naoqi_control/config/gazebo_ros_control_params.yaml

Here's a link on how to tune PID values: https://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops

If you find good ones, please do not hesitate to share them..

andres5450 · 2019-05-01T23:38:44Z

Hi!
Make the connection, but NAO does not walk.
https://drive.google.com/open?id=13JIsxjZour6FWln9lHYEyhTRjjoKLHTe

This is working as expected. Everything is correctly done!

The reason NAO is falling is because the PID values are not properly tuned: see #3 ... You can play with the values in this file: https://github.com/costashatz/nao_gazebo/blob/master/gazebo_naoqi_control/config/gazebo_ros_control_params.yaml

Here's a link on how to tune PID values: https://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops

If you find good ones, please do not hesitate to share them..

I will play with the PID values, and if I find an improvement I will not hesitate to upload it, thanks for everything and very good work!

Failed to load plugin libgazebo_naoqi_control.so #10

Failed to load plugin libgazebo_naoqi_control.so #10

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