Error running surf_raster_planner_application.launch

[jclaros92]

I'm trying to run the surf_raster_planner_application.launch file and the node keeps crashing without any feedback. I added some print outs in the surface_raster_planner_application.cpp and noticed it keeps crashing at these lines: tool_path_planner::ProcessTool tool = loadTool(pnh); tool_path_planner::RasterToolPathPlanner planner; planner.enableConsoleDebug(console_debug_on);

I'm unsure of why the node keeps crashing after these lines. The config folder contains the tool.yaml file.

One concern I have is that when I built the noether package I got the following warnings,

**CMake Warning at /home/ros3/git_workspace/noether_test/src/noether/noether/CMakeLists.txt:43 (add_executable): Cannot generate a safe runtime search path for target surface_raster_planner_server because files in some directories may conflict with libraries in implicit directories:

runtime library [libpcl_common.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib
runtime library [libpcl_octree.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib
runtime library [libpcl_io.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib

Some of these libraries may not be found correctly.

CMake Warning at /home/ros3/git_workspace/noether_test/src/noether/noether/CMakeLists.txt:59 (add_executable): Cannot generate a safe runtime search path for target segmentation_server because files in some directories may conflict with libraries in implicit directories:

runtime library [libpcl_common.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib
runtime library [libpcl_octree.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib
runtime library [libpcl_io.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib

Some of these libraries may not be found correctly.

CMake Warning at /home/ros3/git_workspace/noether_test/src/noether/noether/CMakeLists.txt:51 (add_executable): Cannot generate a safe runtime search path for target surface_raster_planner_application because files in some directories may conflict with libraries in implicit directories:

runtime library [libpcl_common.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib
runtime library [libpcl_octree.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib
runtime library [libpcl_io.so.1.8] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
  /usr/local/lib

Some of these libraries may not be found correctly.**

Has anyone else encountered an issue when running this launch file?

[jclaros92]

I also tried running the mesh_segmenter_node.launch file and received the error shown below. It seems that its pulling from the wrong version of VTK even though I installed the 7.1 version. I must be missing something in one of my CMakeLists.txt.

/home/ros3/sample_data/sphere.stl ERROR: In /build/vtk6-VHOYAG/vtk6-6.3.0+dfsg1/IO/Geometry/vtkSTLReader.cxx, line 97 vtkSTLReader (0x55b567790840): A FileName must be specified.

ERROR: In /build/vtk6-VHOYAG/vtk6-6.3.0+dfsg1/Common/ExecutionModel/vtkExecutive.cxx, line 784

[jrgnicho]

What's the default version of PCL that's installed in your system?

[jclaros92]

PCL 1.8. I followed the Readme and installed VTK 7.1 and PCL 1.8. It seems as the VTK library installed all the *.so files in /usr/local/lib/ and the noether package is looking for them in /usr/lib/x86_64-linux-gnu/. The most confusing aspect of the errors I'm getting is that is specifically is looking for VTK 6.3 even though the CMakeLists.txt file states VTK 7.1 is required.

[jrgnicho]

During the PCL library installation did you follow the:

Locate the find package(VTK) line (close to line 362) and edit it to find_package(VTK 7.1 REQUIRED)

Step?

Also, clean your catkin workspace catkin clean -y if you haven't done so

[jclaros92]

I double checked and I did add the "VTK 7.1 REQUIRED" line. I have tried cleaning and that has not fixed my issue.

[jrgnicho]

All I can suggest is to check your PATH env variable, it may be introducing paths to alternate versions of the VTK libray