Ros2 Humble on Docker and CoppeliaSim 4.4.0

[formica]

Hi all,
how can I interface a docker image of Ros2 (humble) with CoppeliaSim 4.4.0 on Ubuntu 22.10?
I see that libsimExtRos2.so is already in the main directory of CoppeliaSim... so, should I compile something?

Regards
formica

[fferri]

No, normally you don't need to compile anything (unless you need to add support for more ROS 2 interfaces).

You should only take care of getting the two boxes to talk with each other (e.g. by configuring network, supplying a configuration for your ROS middleware of choice, etc...).

[formica]

I don't have two containers. Ros2 is in a container while CoppeliaSim is on my host machine. So I suppose to expose ros2 to my ubuntu machine.
Any hint?

At this moment, after launching the ros2/osrf container, I obtain this error:

[CoppeliaSim:loadinfo] plugin 'ROS2': loading...
error: library ( /home/formica/CoppeliaSim/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libsimExtROS2.so ) load: "Cannot load library /home/formica/CoppeliaSim/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libsimExtROS2.so: (libstd_srvs__rosidl_typesupport_cpp.so: cannot open shared object file: No such file or directory)"
[CoppeliaSim:error] plugin 'ROS2': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.

[fferri]

Before the command executing coppeliaSim you need to source ROS 2 environment (e.g. source /opt/ros/...)

[Valenorf]

you can have a look here:

https://github.com/giulioturrisi/Differ ... rive-Robot

[formica]

Using Giulio Turrisi git repo I'm not able to load the ROS2 plugin interface

This is the error:

Code: Select all

[CoppeliaSim:error]   plugin 'ROS2Interface': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.

Using libLoadErrorCheck.sh all dependencies seems to be satisfied.

Any idea?

[coppelia]

That is strange, it should load in that case. Are you sure that you have sourced the ROS environment?

Cheers

[formica]

Yes, it's sourced.
No way.

[coppelia]

Using libLoadErrorCheck.sh all dependencies seems to be satisfied.

Did you appropriately modify the file libLoadErrorCheck.sh? If yes, that is starting to sound like a mystery to me...
Cheers

[formica]

This is the output for 'ldd libsimExtROS2Interface.so.
Every lib seems to be satisfied:

Code: Select all

	linux-vdso.so.1 (0x00007ffef03ac000)
	libstd_srvs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libstd_srvs__rosidl_typesupport_cpp.so (0x000014a7a7c0e000)
	libexample_interfaces__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libexample_interfaces__rosidl_typesupport_cpp.so (0x000014a7a7bfe000)
	libimage_transport.so => /opt/ros/humble/lib/x86_64-linux-gnu/libimage_transport.so (0x000014a7a7b27000)
	librclcpp.so => /opt/ros/humble/lib/librclcpp.so (0x000014a7a720d000)
	libsensor_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_cpp.so (0x000014a7a7b1a000)
	librcutils.so => /opt/ros/humble/lib/librcutils.so (0x000014a7a7b02000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x000014a7a7adc000)
	libtf2_ros.so => /opt/ros/humble/lib/libtf2_ros.so (0x000014a7a7a41000)
	libtf2_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_cpp.so (0x000014a7a7a39000)
	librclcpp_action.so => /opt/ros/humble/lib/librclcpp_action.so (0x000014a7a71ec000)
	librcl_action.so => /opt/ros/humble/lib/librcl_action.so (0x000014a7a71d9000)
	liblibstatistics_collector.so => /opt/ros/humble/lib/liblibstatistics_collector.so (0x000014a7a71d2000)
	librcl.so => /opt/ros/humble/lib/librcl.so (0x000014a7a7194000)
	libstatistics_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_cpp.so (0x000014a7a718f000)
	libtracetools.so => /opt/ros/humble/lib/libtracetools.so (0x000014a7a718a000)
	libgeometry_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_cpp.so (0x000014a7a717f000)
	libstd_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_cpp.so (0x000014a7a7172000)
	libbuiltin_interfaces__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so (0x000014a7a716d000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x000014a7a6f43000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x000014a7a6f23000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000014a7a6cfb000)
	/lib64/ld-linux-x86-64.so.2 (0x000014a7a7c16000)
	librosidl_typesupport_cpp.so => /opt/ros/humble/lib/librosidl_typesupport_cpp.so (0x000014a7a6cf5000)
	libaction_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_cpp.so (0x000014a7a6ced000)
	libmessage_filters.so => /opt/ros/humble/lib/libmessage_filters.so (0x000014a7a6ce8000)
	librmw.so => /opt/ros/humble/lib/librmw.so (0x000014a7a6cdc000)
	libament_index_cpp.so => /opt/ros/humble/lib/libament_index_cpp.so (0x000014a7a6cd1000)
	libclass_loader.so => /opt/ros/humble/lib/libclass_loader.so (0x000014a7a6cbe000)
	librcpputils.so => /opt/ros/humble/lib/librcpputils.so (0x000014a7a6cb0000)
	libconsole_bridge.so.1.0 => /lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 (0x000014a7a6ca8000)
	libtinyxml2.so.9 => /lib/x86_64-linux-gnu/libtinyxml2.so.9 (0x000014a7a6c90000)
	librcl_interfaces__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_cpp.so (0x000014a7a6c85000)
	librcl_yaml_param_parser.so => /opt/ros/humble/lib/librcl_yaml_param_parser.so (0x000014a7a6c79000)
	librosgraph_msgs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_cpp.so (0x000014a7a6c74000)
	librmw_implementation.so => /opt/ros/humble/lib/librmw_implementation.so (0x000014a7a6c65000)
	librcl_logging_interface.so => /opt/ros/humble/lib/librcl_logging_interface.so (0x000014a7a6c60000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x000014a7a6b79000)
	libtf2.so => /opt/ros/humble/lib/libtf2.so (0x000014a7a6b5a000)
	librcl_logging_spdlog.so => /opt/ros/humble/lib/librcl_logging_spdlog.so (0x000014a7a6b53000)
	librcl_interfaces__rosidl_typesupport_c.so => /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_c.so (0x000014a7a6b48000)
	librcl_interfaces__rosidl_generator_c.so => /opt/ros/humble/lib/librcl_interfaces__rosidl_generator_c.so (0x000014a7a6b2c000)
	librosidl_runtime_c.so => /opt/ros/humble/lib/librosidl_runtime_c.so (0x000014a7a6b21000)
	libyaml.so => /opt/ros/humble/lib/libyaml.so (0x000014a7a6aff000)
	libspdlog.so.1 => /lib/x86_64-linux-gnu/libspdlog.so.1 (0x000014a7a6a82000)
	librosidl_typesupport_c.so => /opt/ros/humble/lib/librosidl_typesupport_c.so (0x000014a7a6a7c000)
	libbuiltin_interfaces__rosidl_generator_c.so => /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_generator_c.so (0x000014a7a6a77000)
	libfmt.so.8 => /lib/x86_64-linux-gnu/libfmt.so.8 (0x000014a7a6a56000)