Hi Koen,

This error:

Cannot load library: No manifest in
/home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so:
MyControllerPlugin"

indicates that the library was built incorrectly.  Pluginlib searches
the library for a particular symbol in order to find the plugins, and
this error explains that it couldn't find the symbol.  Run the
following to see what plugins the library contains:

nm lib/libmy_controller_lib.so  | grep pocoBuildManifest

Is your plugin listed?

-Stu

On Tue, Aug 3, 2010 at 11:02 AM, koen buys <koen.buys@mech.kuleuven.be> wrote:
> $ cat controller_plugins.xml
> <library path="lib/libmy_controller_lib">
>  <class name="MyControllerPlugin"
>         type="my_controller_ns::MyControllerClass"
>         base_class_type="pr2_controller_interface::Controller" />
> </library>
>
>
> On 3 August 2010 18:44, Rob Wheeler <wheeler@willowgarage.com> wrote:
>> What does your controller_plugins.xml file look like?
>>
>> -R
>>
>> On Tue, Aug 3, 2010 at 7:23 AM, koen buys <koen.buys@mech.kuleuven.be>
>> wrote:
>>>
>>> Hi all,
>>>
>>> I'm trying to run the following tutorial:
>>>
>>> http://www.ros.org/wiki/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller
>>> Rxconsole is giving me the following error:
>>>
>>> "Could not load class MyControllerPlugin: Failed to load library
>>>
>>> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so.
>>> Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in
>>> the library code, and that names are consistent between this macro and
>>> your XML. Error string: Cannot load library: No manifest in
>>>
>>> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so:
>>> MyControllerPlugin"
>>>
>>> Together with the following error after:
>>>
>>> "Could not load controller 'my_controller_name' because controller
>>> type 'MyControllerPlugin' does not exist"
>>>
>>> We couldn't find the cause of it. When I did a :
>>>
>>> $ rosrun pr2_controller_manager pr2_controller_manager list-types
>>> CartesianTrajectoryController
>>> ContactObserverPlugin
>>> JTTeleopController
>>> JointGravityController
>>> JointPendulumController
>>> MyControllerPlugin
>>> SlipGripControllerPlugin
>>> SrhFakeJointCalibrationController
>>> StanfordWBCPump
>>> VelController
>>> ethercat_trigger_controllers/MultiTriggerController
>>> ethercat_trigger_controllers/ProjectorController
>>> ethercat_trigger_controllers/TriggerController
>>> ft_eval/PoseForceController
>>> ft_eval/TwistForceController
>>> joint_qualification_controllers/CheckoutController
>>> joint_qualification_controllers/CounterbalanceTestController
>>> joint_qualification_controllers/HeadPositionController
>>> joint_qualification_controllers/HysteresisController
>>> joint_qualification_controllers/JointLimitCalibrationController
>>> joint_qualification_controllers/MotorJointCalibrationController
>>> joint_qualification_controllers/WristDifferenceController
>>> pr2_calibration_controllers/CasterCalibrationController
>>> pr2_calibration_controllers/GripperCalibrationController
>>> pr2_calibration_controllers/JointCalibrationController
>>> pr2_calibration_controllers/WristCalibrationController
>>> pr2_controller_manager/TestController
>>> pr2_mechanism_controllers/CasterController
>>> pr2_mechanism_controllers/CasterControllerNode
>>> pr2_mechanism_controllers/LaserScannerTrajController
>>> pr2_mechanism_controllers/Pr2BaseController
>>> pr2_mechanism_controllers/Pr2BaseController2
>>> pr2_mechanism_controllers/Pr2GripperController
>>> pr2_mechanism_controllers/Pr2Odometry
>>> robot_mechanism_controllers/CartesianPoseController
>>> robot_mechanism_controllers/CartesianTwistController
>>> robot_mechanism_controllers/CartesianWrenchController
>>> robot_mechanism_controllers/JointEffortController
>>> robot_mechanism_controllers/JointPositionController
>>> robot_mechanism_controllers/JointSplineTrajectoryController
>>> robot_mechanism_controllers/JointTrajectoryActionController
>>> robot_mechanism_controllers/JointVelocityController
>>> rttuning_controllers/JointTuningController
>>> teleop_controllers/JinvTeleopController7
>>> tff_controller/TFFController
>>> tirt/TirtController
>>>
>>> It shows up. However now:
>>>
>>> $ rosrun pr2_controller_manager pr2_controller_manager load
>>> MyControllerPlugin
>>> Error when loading MyControllerPlugin
>>>
>>> This is my manifest:
>>>
>>> <package>
>>>  <description brief="my_controller_pkg">
>>>
>>>     my_controller_pkg
>>>
>>>  </description>
>>>  <author>Koen</author>
>>>  <license>BSD</license>
>>>  <review status="unreviewed" notes=""/>
>>>  <url>http://ros.org/wiki/my_controller_pkg</url>
>>>  <depend package="pr2_controller_interface"/>
>>>  <depend package="pr2_mechanism_model"/>
>>>  <depend package="pluginlib"/>
>>>  <export>
>>>    <pr2_controller_interface plugin="${prefix}/controller_plugins.xml" />
>>>  </export>
>>> </package>
>>>
>>> This is my CMakeLists:
>>>
>>> cmake_minimum_required(VERSION 2.4.6)
>>> include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
>>>
>>> # Set the build type.  Options are:
>>> #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
>>> #  Debug          : w/ debug symbols, w/o optimization
>>> #  Release        : w/o debug symbols, w/ optimization
>>> #  RelWithDebInfo : w/ debug symbols, w/ optimization
>>> #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
>>> #set(ROS_BUILD_TYPE RelWithDebInfo)
>>>
>>> rosbuild_init()
>>>
>>> #set the default path for built executables to the "bin" directory
>>> set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
>>> #set the default path for built libraries to the "lib" directory
>>> set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
>>>
>>> #uncomment if you have defined messages
>>> #rosbuild_genmsg()
>>> #uncomment if you have defined services
>>> #rosbuild_gensrv()
>>>
>>> #common commands for building c++ executables and libraries
>>> #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
>>> #target_link_libraries(${PROJECT_NAME} another_library)
>>> #rosbuild_add_boost_directories()
>>> #rosbuild_link_boost(${PROJECT_NAME} thread)
>>> #rosbuild_add_executable(example examples/example.cpp)
>>> #target_link_libraries(example ${PROJECT_NAME})
>>> rosbuild_add_library(my_controller_lib src/my_controller_file.cpp)
>>>
>>> And this is the content of my source file:
>>>
>>> #include "my_controller_pkg/my_controller_file.h"
>>> #include <pluginlib/class_list_macros.h>
>>>
>>> using namespace my_controller_ns;
>>>
>>> /// Register controller to pluginlib
>>> PLUGINLIB_REGISTER_CLASS(MyControllerPlugin,
>>>                         my_controller_ns::MyControllerClass,
>>>                         pr2_controller_interface::Controller)
>>>
>>> /// Controller initialization in non-realtime
>>> bool MyControllerClass::init(pr2_mechanism_model::RobotState *robot,
>>>                            ros::NodeHandle &n)
>>> {
>>>  std::string joint_name;
>>>  if (!n.getParam("joint_name", joint_name))
>>>  {
>>>    ROS_ERROR("No joint given in namespace: '%s')",
>>>              n.getNamespace().c_str());
>>>    return false;
>>>  }
>>>
>>>  joint_state_ = robot->getJointState(joint_name);
>>>  if (!joint_state_)
>>>  {
>>>    ROS_ERROR("MyController could not find joint named '%s'",
>>>              joint_name.c_str());
>>>    return false;
>>>  }
>>>  return true;
>>> }
>>>
>>>
>>> /// Controller startup in realtime
>>> void MyControllerClass::starting()
>>> {
>>>  init_pos_ = joint_state_->position_;
>>> }
>>>
>>>
>>> /// Controller update loop in realtime
>>> void MyControllerClass::update()
>>> {
>>>  double desired_pos = init_pos_ + 0.5 * sin(ros::Time::now().toSec());
>>>  double current_pos = joint_state_->position_;
>>>  joint_state_->commanded_effort_ = -10 * (current_pos - desired_pos);
>>> }
>>>
>>>
>>> /// Controller stopping in realtime
>>> void MyControllerClass::stopping()
>>> {}
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users@code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
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> ros-users mailing list
> ros-users@code.ros.org
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>



-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com