> I have installed OGRE by downloading the following packages:
>
> "$ sudo apt-get install blender-ogrexml libogre-dev libogremain-1.6.1
> libogremain-1.6.1-dbg ogre-doc ogre-tools ogre-tools-dbg libceguiogre-dev
> libceguiogrerenderer-1.6.1 libceguiogrerenderer-1.6.1-dbg"
>

Did you install these for use yourself?  The boxturtle install shouldn't be
using them even if they're installed.  I just installed boxturtle alongside
ogre 1.6.1 on a Karmic box and it works fine.  What happens if you uninstall
those versions of ogre?


>
> Then, I executed the roscore and obtained data streaming by the the
> sicklms. My problem comes when I want to run the rviz as I get the following
> error:
>
> $ rosrun rviz rviz -d `rospack find sicktoolbox_wrapper`/sick_test.vcg
> Failed to initialize Ogre: OGRE EXCEPTION(7:InternalErrorException): Could
> not load dynamic library Plugin_CgProgramManager.  System Error:
> Plugin_CgProgramManager.so: cannot open shared object file: No such file or
> directory in DynLib::load at OgreDynLib.cpp (line 80)
>
> I copied the files:
>
>
> /opt/ros/boxturtle/stacks/visualization_common/ogre/build/ogre-v1-6-3/PlugIns/CgProgramManager/src/.libs/Plugin_CgProgramManager.so
>
> /opt/ros/boxturtle/stacks/visualization_common/ogre/build/ogre-v1-6-3/PlugIns/CgProgramManager/src/.libs/Plugin_CgProgramManager.la
>
>
> into the "/usr/local/OGRE/" directory. Then, I got a new error from GL:
>
> $ rosrun rviz rviz -d `rospack find sicktoolbox_wrapper`/sick_test.vcg
> [ INFO] 1271860552.314539000: Loading general config from
> [/home/sscrovers/.rviz/config]
> [ INFO] 1271860552.314829000: Loading display config from
> [/home/sscrovers/.rviz/display_config]
> rviz: OgreGLSupport.cpp:57: virtual void
> Ogre::GLSupport::initialiseExtensions(): Assertion `pcVer && "Problems
> getting GL version string using glGetString"' failed.
> /opt/ros/boxturtle/ros/bin/rosrun: line 35:  3930 Aborted
> $exepath "$@"
>

This usually implies you're running either: a) without a graphics card that
supports hardware acceleration, or b) with the wrong drivers.  See
http://www.ros.org/wiki/rviz/Troubleshooting#OpenGL-related_crashes

Josh