plugins arent found in the asv_wave_sim/install/lib path

[kwikius]

Operating system Ubuntu22.04. After build plugins exist but aren't found in the asv_wave_sim/install/lib path, but are found if you change to the asv_wave_sim/build/gz-waves1/lib path.

There is a very similar problem in asv_sim, which I solved by switching on the symlinks executable flag for the symlinks in the install/lib directory. This didn't work so well in asv_wave_sim, some plugins still failed to load, but I did solve it by just copying the files over from asv_wave_sim/build/gz-waves1/lib path to asv_wave_sim/install/lib .

I guess it has something to do with file permissions but I don't know what

[srmainwaring]

Hi @kwikius, are you using the --merge-install flag with the colcon build? If you don't include that flag colcon will install the libraries for each package to {workspace_dir}/install/{pkg_name}/lib.

The screenshot below is from an Ubuntu 22.04.04 LTS VM showing the contents of the ./install/lib folder after a build using the commands given in the README.

So - tricky to replicate with out more details about your system and the exact commands used for the build.

[kwikius]

Hi @kwikius, are you using the --merge-install flag with the colcon build? If you don't include that flag colcon will install the libraries for each package to {workspace_dir}/install/{pkg_name}/lib.

The screenshot below is from an Ubuntu 22.04.04 LTS VM showing the contents of the ./install/lib folder after a build using the commands given in the README. ///

So - tricky to replicate with out more details about your system and the exact commands used for the build.

I have the files in .asv_wave_sim/install/lib/ but gazebo doesn't find them if I point GZ_SIM_SYSTEM_PLUGIN_PATH there, but they are found if I point GZ_SIM_SYSTEM_PLUGIN_PATH at ./asv_wave_sim/build/gz_waves1/lib/ The symlinks xxx.so and xx.so.1 look the same in each directory, but the following files have different permission flags in each directory as shown :

andy@lenovo:~/ApGzCatSim$ ls -l ./asv_wave_sim/build/gz-waves1/lib/libgz-waves1-dynamic-geometry-system.so.1.0.0

-rwxrwxr-x 1 andy andy 5458336 Feb 2 21:14 ./asv_wave_sim/build/gz-waves1/lib/libgz-waves1-dynamic-geometry-system.so.1.0.0

andy@lenovo:~/ApGzCatSim$ ls -l ./asv_wave_sim/install/lib/libgz-waves1-dynamic-geometry-system.so.1.0.0

-rw-r--r-- 1 andy andy 5458336 Feb 2 21:14 ./asv_wave_sim/install/lib/libgz-waves1-dynamic-geometry-system.so.1.0.0

[kwikius]

I forgot to answer about the build. I am on Ubuntu, didn't use a VM and copy-pasted the build commands straight from https://github.com/srmainwaring/asv_wave_sim#ubuntu-1

[srmainwaring]

Hi @kwikius, still cannot reproduce the file permission flags you are seeing. After a clean rebuild of the project workspace I see:

which has the executable flags set. The only thing I can suggest is that your user permissions may be incorrect, or you've installed some (non apt) tools using sudo? (sudo installed python pip packages perhaps?). It's very odd. If you create a small scratch colcon cmake project in a new workspace and use similar build settings do you see the same output? You could try dropping the --symlink-install flag and see if that changes anything.

I am fairly certain that this is not a bug in the project CMakeLists.txt, as the cmake settings are very standard and I cannot reproduce your file permissions on either macOS or Ubuntu. This has not been reported as an issue by other users.

[kwikius]

I don't think it is the build which is the problem. Your install/lib output flags are the same as mine.

The problem is that my version of gazebo-sim does not seem to find the dlls in asv_wave_sim/install/libs, though they exist but does find them in asv_wave_sim/build/gz-waves1/lib

Note however, that though your symlinks have executable flags set, the actual dll file they point to libgz-waves1-dynamic-geometry-system.so.1.0.0 does not, which may be the problem with gazebo finding the dlls in my version.

The difference between the 2 directories seems to be that in asv_wave_sim/build/gz-waves1/lib libgz-waves1-dynamic-geometry-system.so.1.0.0 has the executable flags set, but in asv_wave_sim/install/libs it does not.

Below shows the output looking at each directory after a fresh build, where you can see the different state of the flags in the .so.1.0.0 files in each directory.

andy@lenovo:~/temp/gz_test/asv_wave_sim/install/lib$ ls -l
total 67000
drwxrwxr-x 10 andy andy     4096 Feb  9 08:39 cmake
lrwxrwxrwx  1 andy andy       41 Feb  9 08:39 libgz-waves1-dynamic-geometry-system.so -> libgz-waves1-dynamic-geometry-system.so.1
lrwxrwxrwx  1 andy andy       45 Feb  9 08:39 libgz-waves1-dynamic-geometry-system.so.1 -> libgz-waves1-dynamic-geometry-system.so.1.0.0
-rw-r--r--  1 andy andy  5458344 Feb  9 08:32 libgz-waves1-dynamic-geometry-system.so.1.0.0
lrwxrwxrwx  1 andy andy       38 Feb  9 08:39 libgz-waves1-hydrodynamics-system.so -> libgz-waves1-hydrodynamics-system.so.1
lrwxrwxrwx  1 andy andy       42 Feb  9 08:39 libgz-waves1-hydrodynamics-system.so.1 -> libgz-waves1-hydrodynamics-system.so.1.0.0
-rw-r--r--  1 andy andy 11663848 Feb  9 08:33 libgz-waves1-hydrodynamics-system.so.1.0.0
lrwxrwxrwx  1 andy andy       33 Feb  9 08:39 libgz-waves1-rendering-ogre2.so -> libgz-waves1-rendering-ogre2.so.1
lrwxrwxrwx  1 andy andy       37 Feb  9 08:39 libgz-waves1-rendering-ogre2.so.1 -> libgz-waves1-rendering-ogre2.so.1.0.0
-rw-r--r--  1 andy andy  8874552 Feb  9 08:39 libgz-waves1-rendering-ogre2.so.1.0.0
lrwxrwxrwx  1 andy andy       27 Feb  9 08:39 libgz-waves1-rendering.so -> libgz-waves1-rendering.so.1
lrwxrwxrwx  1 andy andy       31 Feb  9 08:39 libgz-waves1-rendering.so.1 -> libgz-waves1-rendering.so.1.0.0
-rw-r--r--  1 andy andy  2941168 Feb  9 08:34 libgz-waves1-rendering.so.1.0.0
lrwxrwxrwx  1 andy andy       17 Feb  9 08:39 libgz-waves1.so -> libgz-waves1.so.1
lrwxrwxrwx  1 andy andy       21 Feb  9 08:39 libgz-waves1.so.1 -> libgz-waves1.so.1.0.0
-rw-r--r--  1 andy andy 27585344 Feb  9 08:31 libgz-waves1.so.1.0.0
lrwxrwxrwx  1 andy andy       36 Feb  9 08:39 libgz-waves1-waves-model-system.so -> libgz-waves1-waves-model-system.so.1
lrwxrwxrwx  1 andy andy       40 Feb  9 08:39 libgz-waves1-waves-model-system.so.1 -> libgz-waves1-waves-model-system.so.1.0.0
-rw-r--r--  1 andy andy  4318328 Feb  9 08:33 libgz-waves1-waves-model-system.so.1.0.0
lrwxrwxrwx  1 andy andy       37 Feb  9 08:39 libgz-waves1-waves-visual-system.so -> libgz-waves1-waves-visual-system.so.1
lrwxrwxrwx  1 andy andy       41 Feb  9 08:39 libgz-waves1-waves-visual-system.so.1 -> libgz-waves1-waves-visual-system.so.1.0.0
-rw-r--r--  1 andy andy  7744920 Feb  9 08:38 libgz-waves1-waves-visual-system.so.1.0.0
drwxrwxr-x  2 andy andy     4096 Feb  9 08:39 pkgconfig
andy@lenovo:~/temp/gz_test/asv_wave_sim/install/lib$ cd ../
andy@lenovo:~/temp/gz_test/asv_wave_sim/install$ cd ../
andy@lenovo:~/temp/gz_test/asv_wave_sim$ cd build/gz-waves1/lib
andy@lenovo:~/temp/gz_test/asv_wave_sim/build/gz-waves1/lib$ ls -l
total 77800
-rw-rw-r-- 1 andy andy 10954744 Feb  9 08:26 libgtest.a
-rw-rw-r-- 1 andy andy   108742 Feb  9 08:31 libgtest_main.a
lrwxrwxrwx 1 andy andy       41 Feb  9 08:32 libgz-waves1-dynamic-geometry-system.so -> libgz-waves1-dynamic-geometry-system.so.1
lrwxrwxrwx 1 andy andy       45 Feb  9 08:32 libgz-waves1-dynamic-geometry-system.so.1 -> libgz-waves1-dynamic-geometry-system.so.1.0.0
-rwxrwxr-x 1 andy andy  5458344 Feb  9 08:32 libgz-waves1-dynamic-geometry-system.so.1.0.0
lrwxrwxrwx 1 andy andy       38 Feb  9 08:33 libgz-waves1-hydrodynamics-system.so -> libgz-waves1-hydrodynamics-system.so.1
lrwxrwxrwx 1 andy andy       42 Feb  9 08:33 libgz-waves1-hydrodynamics-system.so.1 -> libgz-waves1-hydrodynamics-system.so.1.0.0
-rwxrwxr-x 1 andy andy 11663848 Feb  9 08:33 libgz-waves1-hydrodynamics-system.so.1.0.0
lrwxrwxrwx 1 andy andy       33 Feb  9 08:39 libgz-waves1-rendering-ogre2.so -> libgz-waves1-rendering-ogre2.so.1
lrwxrwxrwx 1 andy andy       37 Feb  9 08:39 libgz-waves1-rendering-ogre2.so.1 -> libgz-waves1-rendering-ogre2.so.1.0.0
-rwxrwxr-x 1 andy andy  8874552 Feb  9 08:39 libgz-waves1-rendering-ogre2.so.1.0.0
lrwxrwxrwx 1 andy andy       27 Feb  9 08:34 libgz-waves1-rendering.so -> libgz-waves1-rendering.so.1
lrwxrwxrwx 1 andy andy       31 Feb  9 08:34 libgz-waves1-rendering.so.1 -> libgz-waves1-rendering.so.1.0.0
-rwxrwxr-x 1 andy andy  2941168 Feb  9 08:34 libgz-waves1-rendering.so.1.0.0
lrwxrwxrwx 1 andy andy       17 Feb  9 08:31 libgz-waves1.so -> libgz-waves1.so.1
lrwxrwxrwx 1 andy andy       21 Feb  9 08:31 libgz-waves1.so.1 -> libgz-waves1.so.1.0.0
-rwxrwxr-x 1 andy andy 27585344 Feb  9 08:31 libgz-waves1.so.1.0.0
lrwxrwxrwx 1 andy andy       36 Feb  9 08:33 libgz-waves1-waves-model-system.so -> libgz-waves1-waves-model-system.so.1
lrwxrwxrwx 1 andy andy       40 Feb  9 08:33 libgz-waves1-waves-model-system.so.1 -> libgz-waves1-waves-model-system.so.1.0.0
-rwxrwxr-x 1 andy andy  4318328 Feb  9 08:33 libgz-waves1-waves-model-system.so.1.0.0
lrwxrwxrwx 1 andy andy       37 Feb  9 08:38 libgz-waves1-waves-visual-system.so -> libgz-waves1-waves-visual-system.so.1
lrwxrwxrwx 1 andy andy       41 Feb  9 08:38 libgz-waves1-waves-visual-system.so.1 -> libgz-waves1-waves-visual-system.so.1.0.0
-rwxrwxr-x 1 andy andy  7744920 Feb  9 08:38 libgz-waves1-waves-visual-system.so.1.0.0

[kwikius]

Closing this. I think it may have been a problem with my installation