He does have PLUGINLIB_REGISTER_CLASS.  Doesn't that still work?

-Stu

On Tue, Aug 3, 2010 at 1:28 PM, Tully Foote <tfoote@willowgarage.com> wrote:
> That error is due to a lack of the PLUGINLIB_DECLARE_CLASS macro.
>  See http://www.ros.org/wiki/pluginlib/Troubleshooting
>
> Tully
> On Tue, Aug 3, 2010 at 11:59 AM, Stuart Glaser <sglaser@willowgarage.com>
> wrote:
>>
>> 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
>> >>
>> >>
>> > _______________________________________________
>> > ros-users mailing list
>> > ros-users@code.ros.org
>> > https://code.ros.org/mailman/listinfo/ros-users
>> >
>>
>>
>>
>> --
>> Stuart Glaser
>> sglaser -at- willowgarage -dot- com
>> www.willowgarage.com
>> _______________________________________________
>> ros-users mailing list
>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote@willowgarage.com
> (650) 475-2827
>
> _______________________________________________
> ros-users mailing list
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>
>



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