That error is due to a lack of the PLUGINLIB_DECLARE_CLASS macro. See <meta http-equiv="content-type" content="text/html; charset=utf-8"><a href="http://www.ros.org/wiki/pluginlib/Troubleshooting">http://www.ros.org/wiki/pluginlib/Troubleshooting</a><br>
<br><div>Tully</div><div><br><div class="gmail_quote">On Tue, Aug 3, 2010 at 11:59 AM, Stuart Glaser <span dir="ltr"><<a href="mailto:sglaser@willowgarage.com">sglaser@willowgarage.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi Koen,<br>
<br>
This error:<br>
<div class="im"><br>
Cannot load library: No manifest in<br>
/home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so:<br>
MyControllerPlugin"<br>
<br>
</div>indicates that the library was built incorrectly. Pluginlib searches<br>
the library for a particular symbol in order to find the plugins, and<br>
this error explains that it couldn't find the symbol. Run the<br>
following to see what plugins the library contains:<br>
<br>
nm lib/libmy_controller_lib.so | grep pocoBuildManifest<br>
<br>
Is your plugin listed?<br>
<br>
-Stu<br>
<div><div></div><div class="h5"><br>
On Tue, Aug 3, 2010 at 11:02 AM, koen buys <<a href="mailto:koen.buys@mech.kuleuven.be">koen.buys@mech.kuleuven.be</a>> wrote:<br>
> $ cat controller_plugins.xml<br>
> <library path="lib/libmy_controller_lib"><br>
> <class name="MyControllerPlugin"<br>
> type="my_controller_ns::MyControllerClass"<br>
> base_class_type="pr2_controller_interface::Controller" /><br>
> </library><br>
><br>
><br>
> On 3 August 2010 18:44, Rob Wheeler <<a href="mailto:wheeler@willowgarage.com">wheeler@willowgarage.com</a>> wrote:<br>
>> What does your controller_plugins.xml file look like?<br>
>><br>
>> -R<br>
>><br>
>> On Tue, Aug 3, 2010 at 7:23 AM, koen buys <<a href="mailto:koen.buys@mech.kuleuven.be">koen.buys@mech.kuleuven.be</a>><br>
>> wrote:<br>
>>><br>
>>> Hi all,<br>
>>><br>
>>> I'm trying to run the following tutorial:<br>
>>><br>
>>> <a href="http://www.ros.org/wiki/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller" target="_blank">http://www.ros.org/wiki/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller</a><br>
>>> Rxconsole is giving me the following error:<br>
>>><br>
>>> "Could not load class MyControllerPlugin: Failed to load library<br>
>>><br>
>>> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so.<br>
>>> Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in<br>
>>> the library code, and that names are consistent between this macro and<br>
>>> your XML. Error string: Cannot load library: No manifest in<br>
>>><br>
>>> /home/kbuys/ros/private-kul-ros-pkg/ros_controller_tutorials/my_controller_pkg/lib/libmy_controller_lib.so:<br>
>>> MyControllerPlugin"<br>
>>><br>
>>> Together with the following error after:<br>
>>><br>
>>> "Could not load controller 'my_controller_name' because controller<br>
>>> type 'MyControllerPlugin' does not exist"<br>
>>><br>
>>> We couldn't find the cause of it. When I did a :<br>
>>><br>
>>> $ rosrun pr2_controller_manager pr2_controller_manager list-types<br>
>>> CartesianTrajectoryController<br>
>>> ContactObserverPlugin<br>
>>> JTTeleopController<br>
>>> JointGravityController<br>
>>> JointPendulumController<br>
>>> MyControllerPlugin<br>
>>> SlipGripControllerPlugin<br>
>>> SrhFakeJointCalibrationController<br>
>>> StanfordWBCPump<br>
>>> VelController<br>
>>> ethercat_trigger_controllers/MultiTriggerController<br>
>>> ethercat_trigger_controllers/ProjectorController<br>
>>> ethercat_trigger_controllers/TriggerController<br>
>>> ft_eval/PoseForceController<br>
>>> ft_eval/TwistForceController<br>
>>> joint_qualification_controllers/CheckoutController<br>
>>> joint_qualification_controllers/CounterbalanceTestController<br>
>>> joint_qualification_controllers/HeadPositionController<br>
>>> joint_qualification_controllers/HysteresisController<br>
>>> joint_qualification_controllers/JointLimitCalibrationController<br>
>>> joint_qualification_controllers/MotorJointCalibrationController<br>
>>> joint_qualification_controllers/WristDifferenceController<br>
>>> pr2_calibration_controllers/CasterCalibrationController<br>
>>> pr2_calibration_controllers/GripperCalibrationController<br>
>>> pr2_calibration_controllers/JointCalibrationController<br>
>>> pr2_calibration_controllers/WristCalibrationController<br>
>>> pr2_controller_manager/TestController<br>
>>> pr2_mechanism_controllers/CasterController<br>
>>> pr2_mechanism_controllers/CasterControllerNode<br>
>>> pr2_mechanism_controllers/LaserScannerTrajController<br>
>>> pr2_mechanism_controllers/Pr2BaseController<br>
>>> pr2_mechanism_controllers/Pr2BaseController2<br>
>>> pr2_mechanism_controllers/Pr2GripperController<br>
>>> pr2_mechanism_controllers/Pr2Odometry<br>
>>> robot_mechanism_controllers/CartesianPoseController<br>
>>> robot_mechanism_controllers/CartesianTwistController<br>
>>> robot_mechanism_controllers/CartesianWrenchController<br>
>>> robot_mechanism_controllers/JointEffortController<br>
>>> robot_mechanism_controllers/JointPositionController<br>
>>> robot_mechanism_controllers/JointSplineTrajectoryController<br>
>>> robot_mechanism_controllers/JointTrajectoryActionController<br>
>>> robot_mechanism_controllers/JointVelocityController<br>
>>> rttuning_controllers/JointTuningController<br>
>>> teleop_controllers/JinvTeleopController7<br>
>>> tff_controller/TFFController<br>
>>> tirt/TirtController<br>
>>><br>
>>> It shows up. However now:<br>
>>><br>
>>> $ rosrun pr2_controller_manager pr2_controller_manager load<br>
>>> MyControllerPlugin<br>
>>> Error when loading MyControllerPlugin<br>
>>><br>
>>> This is my manifest:<br>
>>><br>
>>> <package><br>
>>> <description brief="my_controller_pkg"><br>
>>><br>
>>> my_controller_pkg<br>
>>><br>
>>> </description><br>
>>> <author>Koen</author><br>
>>> <license>BSD</license><br>
>>> <review status="unreviewed" notes=""/><br>
>>> <url><a href="http://ros.org/wiki/my_controller_pkg" target="_blank">http://ros.org/wiki/my_controller_pkg</a></url><br>
>>> <depend package="pr2_controller_interface"/><br>
>>> <depend package="pr2_mechanism_model"/><br>
>>> <depend package="pluginlib"/><br>
>>> <export><br>
>>> <pr2_controller_interface plugin="${prefix}/controller_plugins.xml" /><br>
>>> </export><br>
>>> </package><br>
>>><br>
>>> This is my CMakeLists:<br>
>>><br>
>>> cmake_minimum_required(VERSION 2.4.6)<br>
>>> include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)<br>
>>><br>
>>> # Set the build type. Options are:<br>
>>> # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage<br>
>>> # Debug : w/ debug symbols, w/o optimization<br>
>>> # Release : w/o debug symbols, w/ optimization<br>
>>> # RelWithDebInfo : w/ debug symbols, w/ optimization<br>
>>> # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries<br>
>>> #set(ROS_BUILD_TYPE RelWithDebInfo)<br>
>>><br>
>>> rosbuild_init()<br>
>>><br>
>>> #set the default path for built executables to the "bin" directory<br>
>>> set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)<br>
>>> #set the default path for built libraries to the "lib" directory<br>
>>> set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)<br>
>>><br>
>>> #uncomment if you have defined messages<br>
>>> #rosbuild_genmsg()<br>
>>> #uncomment if you have defined services<br>
>>> #rosbuild_gensrv()<br>
>>><br>
>>> #common commands for building c++ executables and libraries<br>
>>> #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)<br>
>>> #target_link_libraries(${PROJECT_NAME} another_library)<br>
>>> #rosbuild_add_boost_directories()<br>
>>> #rosbuild_link_boost(${PROJECT_NAME} thread)<br>
>>> #rosbuild_add_executable(example examples/example.cpp)<br>
>>> #target_link_libraries(example ${PROJECT_NAME})<br>
>>> rosbuild_add_library(my_controller_lib src/my_controller_file.cpp)<br>
>>><br>
>>> And this is the content of my source file:<br>
>>><br>
>>> #include "my_controller_pkg/my_controller_file.h"<br>
>>> #include <pluginlib/class_list_macros.h><br>
>>><br>
>>> using namespace my_controller_ns;<br>
>>><br>
>>> /// Register controller to pluginlib<br>
>>> PLUGINLIB_REGISTER_CLASS(MyControllerPlugin,<br>
>>> my_controller_ns::MyControllerClass,<br>
>>> pr2_controller_interface::Controller)<br>
>>><br>
>>> /// Controller initialization in non-realtime<br>
>>> bool MyControllerClass::init(pr2_mechanism_model::RobotState *robot,<br>
>>> ros::NodeHandle &n)<br>
>>> {<br>
>>> std::string joint_name;<br>
>>> if (!n.getParam("joint_name", joint_name))<br>
>>> {<br>
>>> ROS_ERROR("No joint given in namespace: '%s')",<br>
>>> n.getNamespace().c_str());<br>
>>> return false;<br>
>>> }<br>
>>><br>
>>> joint_state_ = robot->getJointState(joint_name);<br>
>>> if (!joint_state_)<br>
>>> {<br>
>>> ROS_ERROR("MyController could not find joint named '%s'",<br>
>>> joint_name.c_str());<br>
>>> return false;<br>
>>> }<br>
>>> return true;<br>
>>> }<br>
>>><br>
>>><br>
>>> /// Controller startup in realtime<br>
>>> void MyControllerClass::starting()<br>
>>> {<br>
>>> init_pos_ = joint_state_->position_;<br>
>>> }<br>
>>><br>
>>><br>
>>> /// Controller update loop in realtime<br>
>>> void MyControllerClass::update()<br>
>>> {<br>
>>> double desired_pos = init_pos_ + 0.5 * sin(ros::Time::now().toSec());<br>
>>> double current_pos = joint_state_->position_;<br>
>>> joint_state_->commanded_effort_ = -10 * (current_pos - desired_pos);<br>
>>> }<br>
>>><br>
>>><br>
>>> /// Controller stopping in realtime<br>
>>> void MyControllerClass::stopping()<br>
>>> {}<br>
>>> _______________________________________________<br>
>>> ros-users mailing list<br>
>>> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
>>> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>><br>
>><br>
> _______________________________________________<br>
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><br>
<br>
<br>
<br>
</div></div><font color="#888888">--<br>
Stuart Glaser<br>
sglaser -at- willowgarage -dot- com<br>
<a href="http://www.willowgarage.com" target="_blank">www.willowgarage.com</a><br>
</font><div><div></div><div class="h5">_______________________________________________<br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>
</div>