What does your controller_plugins.xml file look like?<br><br>-R<br><br><div class="gmail_quote">On Tue, Aug 3, 2010 at 7:23 AM, koen buys <span dir="ltr"><<a href="mailto:koen.buys@mech.kuleuven.be">koen.buys@mech.kuleuven.be</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi all,<br>
<br>
I'm trying to run the following tutorial:<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>
/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>
/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 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>
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</blockquote></div><br>