Error in loading libros_contain_gazebo_plugin.so:

[EQ163]

roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true x:=10 y:=2 world:=$(rospack find icuas23_competition)/worlds/well_lit.world

On trying to execute this command it shows multiple errors
Firstly it shows an error in the will_lit.world sdf file

Error: Non-unique names detected in type plugin in
[Err] [Server.cc:98] SDF is not valid, see errors above. This can lead to an unexpected behaviour.

Secondly
[Err] [Plugin.hh:212] Failed to load plugin libros_contain_gazebo_plugin.so: libros_contain_gazebo_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libros_contain_gazebo_plugin.so: libros_contain_gazebo_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libros_contain_gazebo_plugin.so: libros_contain_gazebo_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libros_contain_gazebo_plugin.so: libros_contain_gazebo_plugin.so: cannot open shared object file: No such file or directory

[Err] [Plugin.hh:212] Failed to load plugin libArduPilotPlugin.so: libArduPilotPlugin.so: cannot open shared object file: No such file or directory

Any kind of help shall be appreciated!!
Thank you

[fpetric]

For the well_lit.world file, I will check it out. For the libros_contain_gazebo_plugin, that is the plugin we use for evaluation and should not impact your solution.

libArduPilotPlugin.so is however of major importance, for that I will have to refer to @lmark1 to see what may be the issue.

[fpetric]

As there have been a few reports regarding missing libArduPilotPlugin or something similar that can be attributed to the same plugin missing, I have been trying to reproduce something similar on my end by cleaning the workspace and similar, but without success. I will try it next on the clean Ubuntu 20.04 machine with a clean ROS Noetic.

[lmark1]

Hello @EQ163 ,
please check that you have following (or similar) exports in your ~/.bashrc file (or some equivalent that you are using).

source /opt/ros/noetic/setup.bash
source /root/uav_ws/devel/setup.bash
source /usr/share/gazebo/setup.sh

# shell configuration
source /uav_ros_simulation/ros_packages/uav_ros_stack/miscellaneous/shell_additions/shell_scripts.sh

# Ardupilot exports
export PATH=$PATH:/root/uav_ws/src/uav_ros_simulation/firmware/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

# ardupilot_gazebo exports
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/root/uav_ws/build/ardupilot_gazebo

Make sure that the GAZEBO_PLUGIN_PATH is set to the correct path, i.e. the build folder of the ardupilot_gazebo package.
Alternatively, you can use Docker to make deployment a bit easier.

[EQ163]

Hello Sir
Thank you for replying
I have checked my bashrc file and everything seems in place

[fpetric]

@lmark1 @EQ163 maybe the issue is that the path for the gazebo plugin path should be adapted to the workspace location (i.e. if you install the stack natively, your workspace may be in the different location and you need to specifically add this export) as the gazebo plugin path should point to your_ROS_workspace/build/ardupilot_gazebo

[lmark1]

Correct path should be set here:
https://github.com/larics/uav_ros_simulation/blob/383350de8ee33d0fa6d24815a25327c934763f47/installation/install_and_setup_workspace.sh#L43

This assumes the script install_and_setup_workspace.sh is used.

If you already have an existing workspace please follow the installation instructions here:
https://github.com/larics/uav_ros_simulation#advanced