Setting IGN_GAZEBO_SYSTEM_PLUGIN_PATH to $CONDA_PREFIX/lib is required for ur_simulation_gz to work fine

[traversaro]

See #344 .

[mebbaid]

In fact, playing around it is mainly export LD_LIBRARY_PATH=$CONDA_PREFIX/lib:$LD_LIBRARY_PATH !
gazebo and rviz run but the controls are the ones giving issue it seems

[traversaro]

Ah, interesting. LD_LIBRARY_PATH should definitely be avoided. If you do not set it, what is the error that you get?

[mebbaid]

gz starts but the robot is uncontrolled so perhaps the control plugin. Sifting through the log i see

[ign gazebo-5] [Err] [SystemLoader.cc:94] Failed to load system plugin [libign_ros2_control-system.so] : couldn't find shared library.

Ok, this discards my previous comment.

In fact, playing around it is mainly export LD_LIBRARY_PATH=$CONDA_PREFIX/lib:$LD_LIBRARY_PATH !

We definitely need to set IGN_GAZEBO_SYSTEM_PLUGIN_PATH

[traversaro]

So is setting IGN_GAZEBO_SYSTEM_PLUGIN_PATH is enough? I guess that ign-gazebo should automatically add $CONDA_PREFIX\lib to the search path, but apparently that is not happening. I just checked with jazzy/gz-sim, and indeed ros2 launch ur_simulation_gz ur_sim_control.launch.py works fine (module a different issue of a missing filelock dependency that I will track separately). So I guess this was solved by all the work in relocatability in gazebosim/gz-sim#626 . If setting IGN_GAZEBO_SYSTEM_PLUGIN_PATH is enough, I would just set it in the ign-gazebo activation script, and call it a day (even if I guess this would required a ros-humble full rebuild, but in the meanwhile setting manually IGN_GAZEBO_SYSTEM_PLUGIN_PATH will probably be a sufficient workaround.

[mebbaid]

yeah setting manually $IGN_GAZEBO_SYSTEM_PLUGIN_PATH is enough. I can close this issue if you want.

[traversaro]

yeah setting manually $IGN_GAZEBO_SYSTEM_PLUGIN_PATH is enough. I can close this issue if you want.

No thanks, let's keep it open until the issue is solved out of the box, thanks!

[Tobias-Fischer]

@traversaro - what is the plan here? Shall we add an activation script to ign-gazebo?

[traversaro]

@traversaro - what is the plan here? Shall we add an activation script to ign-gazebo?

Yes, I did not do that, but I think that could be ideal to solve this.