Hi,

I am currently trying to execute the tutorial for: "Using SICK Laser Scanners with the sicktoolbox_wrapper" with a Sick LMS 200, in:

http://www.ros.org/wiki/sicktoolbox_wrapper/Tutorials/UsingTheSicklms

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"

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                 $exepath "$@"

I would like to know if somebody can suggest me something to fix this problem.

Kind regards,

Renato.

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