libopencv_core3.so.3.2 runtime error

[Ross_L]

Hello

First off, the program is amazing! I have rtabmap standalone working and am amazed with the output.

I am however having a problem getting the ros side of things to work, and hoping for some help!

1. Originally I had freenect running "OK-ish", after many hours of problems not being able to get any data. Eventually I was able to get just depthclouds, but no pointclouds. No errors came up though there were some warnings.

2. Later I installed standalone rtabmap via git, and ros via

apt-get

.

3. I originally had trouble installing rtabmap_ros with git due to catkin_make failures with the ros build in

catkin_ws/src

, which failed due to a (now familiar sounding) OpenCV 3.2 and cv-bridge library message. I tried the ROS recommended fix for that of updating my kinetic install, but it did not help. So I went for the apt-get version.

4. Now when I run any rtabmap node or even the standard freenect.launch file, I am getting no topics at all and coming up against something of an error wall. Here is a snippet, though the other errors are along the same theme:

Failed to load nodelet [/camera/depth_registered_rectify_depth] of type [image_proc/rectify] even after refreshing the cache: 
Failed to load library /opt/ros/kinetic/lib//libimage_proc.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, 
and that names are consistent between this macro and your XML. 
Error string: Could not load library (Poco exception = libopencv_core3.so.3.2: cannot open shared object file: No such file or directory)

5. Taking advice from your install instructions, I added this line to my bashrc:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu

Sadly to no avail.

6. I also tried to build the entire opencv3 library as I read this can help fix library errors, but again I was seeing a consistent build failure.

My installed opencv3 ROS version is 3.3.1. My ROS setup is sourced in my bashrc file.

I don't know if the above are all linked, but is there anything obvious I can do to get functioning freenect and rtabmap back again? I am working on a SLAM project and really need to get the data into RVIZ.

Thanks for reading!

EDIT: Sorry I forgot to say, I am using the Kinect 360!

[matlabbe]

Hi,

Make sure to upgrade all kinetic packages. It seems that freenect or image_proc is still linking on OpenCV 3.2 as now it is 3.3. If upgrading (or reinstalling) packages doesn't work, you could "hack" the situation by creating sim links of 3.2 pointing on 3.3 libraries. Normally, if you install ros-kinetic-rtabmap-ros and ros-kinetic-freenect-launch from apt-get, the rtabmap examples would run out-of-he-box.

If you build rtabmap from source, make sure to uninstall "ros-kinetic-rtabmap" and "ros-kinetic-rtabmap-ros". Also, "rtabmap" library should be built/installed outside catkin workspace, and "rtabmap_ros" inside catkin workspace (same branch name for both projects should be used).

cheers,
Mathieu

[Ross_L]

Hello there, and thank you for the response!

It seems there was a deeper issue. I installed Jetpack 3.1 on an Nvidia TX2, and apparently it has a known issue with affecting apt-get update on both the board and the host machine. Basically I thought I was updating, but I wasnt! After some tweaking I managed to get kinetic to update, and now freenect at least does work no problems. When I run 'rtabmap' from the terminal, it runs fine.

When I check my installed opencv3 ROS version, I see 3.3.1. rosversion roscpp tells me I have kinetic 1.12.12. I do not have any rtabmap "from source" files in my catkin_ws workspace.

I have sudo make uninstalled the standalone rtabmap from within rtabmap/build, and removed / reinstalled ros-kinetic-rtabmap and ros-kinetic-rtabmap-ros. However I am still getting a failure when running the ROS wiki recommended code:

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"

Errors as follows:

process[rtabmap/rgbd_odometry-1]: started with pid [6176]
/home/ross/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry: error while loading shared libraries: librealsense.so.1: cannot open shared object file: No such file or directory

process[rtabmap/rtabmap-2]: started with pid [6177]
/home/ross/catkin_ws/devel/lib/rtabmap_ros/rtabmap: error while loading shared libraries: librealsense.so.1: cannot open shared object file: No such file or directory

process[rtabmap/rtabmapviz-3]: started with pid [6178]
/home/ross/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz: error while loading shared libraries: libopencv_core3.so.3.2: cannot open shared object file: No such file or directory

[rtabmap/rgbd_odometry-1] process has died [pid 6176, exit code 127, cmd /home/ross/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry 
--delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info __name:=rgbd_odometry __
log:=/home/ross/.ros/log/0c96b322-f940-11e7-b105-382c4a71b838/rtabmap-rgbd_odometry-1.log].
log file: /home/ross/.ros/log/0c96b322-f940-11e7-b105-382c4a71b838/rtabmap-rgbd_odometry-1*.log

[rtabmap/rtabmap-2] process has died [pid 6177, exit code 127, cmd /home/ross/catkin_ws/devel/lib/rtabmap_ros/rtabmap 
--delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/
camera_info:=/camera/rgb/camera_info left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/
image_rect left/camera_info:=/stereo_camera/left/camera_info right/
camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmap __log:=/
home/ross/.ros/log/0c96b322-f940-11e7-b105-382c4a71b838/rtabmap-rtabmap-2.log].
log file: /home/ross/.ros/log/0c96b322-f940-11e7-b105-382c4a71b838/rtabmap-rtabmap-2*.log

[rtabmap/rtabmapviz-3] process has died [pid 6178, exit code 127, cmd /home/ross/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d 
~/.ros/rtabmap_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info left/
image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/
image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmapviz 
__log:=/home/ross/.ros/log/0c96b322-f940-11e7-b105-382c4a71b838/rtabmap-rtabmapviz-3.log].
log file: /home/ross/.ros/log/0c96b322-f940-11e7-b105-382c4a71b838/rtabmap-rtabmapviz-3*.log

If I can avoid using the sim link method I would prefer to. Any thoughts on troubleshooting this? I appreciate the nvidia apt-get update problem complicates the picture a little!

[matlabbe]

Hi,

The rtabmap_ros started is the one in catkin_ws (the one built from source), is it really the one you want to make it work? If so, as you updated some third party libraries, I suggest to delete everything in build directory of rtabmap library and also in the build directory of catkin. Then redo cmake/make. This would fix the wrong library version linked to and old libraries not existing anymore (like realsense).

To further debug library dependencies, use "ldd" command. If a library doesn't exist, it is a good sign that a clean cmake/make should be redone so that actual installed library version is use in the build.

Cheers,
Mathieu

[Ross_L]

Ideally I don't want to be running any that are built from source, as it seems more straightforward to run from the apt-get installed versions. Do the errors suggest I am running a built-from-source version? Perhaps my attempts to fix the nvidia-induced problem were not as successful as I thought.

I had deleted any rtabmap git folders from my catkin workspace and done catkin_make, the build was successful and there are no rtabmap folders present at all in src or in catkin_ws.

For the rtabmap version that was outside the workspace, I wanted to get rid of it completely and so ran sudo make uninstall inside the build directory (/home/ross/rtabmap/build). Should this be rebuilt if I do not aim to use the built-from-source version?

Is it possible to check which rtabmap versions I am running and which libraries it is looking for? I am relatively new to ROS and what with the nvidia problem I must apologise for being a little out of my depth!

EDIT: Righty ho, I have now deleted the build folder from home/ross/rtabmap/build, and re-run cmake.. , make and sudo make install. I deleted the catkin build folder and rebuilt it :) Sadly still the same error. How can I go about making a simlink for the libraries?

Is there a specific way to use ldd with rtabmap? If I type "ldd rtabmap" I just get ldd: ./rtabmap: not regular file


Thanks for the amazing support too!

[matlabbe]

Hi,

The error above said: "/home/ross/catkin_ws/devel/lib/rtabmap_ros/rtabmap", which is a previous rtabmap_ros built from source (it is why I thought that you were trying to use the source version). You may want to delete all rtabmap stuff in /home/ross/catkin_ws/devel as well as in /usr/local if you installed a previous rtabmap library built from source there too. That way, the rtabmap installed from apt-get will be used instead, it should be /opt/ros/kinetic/lib/rtabmap_ros/rtabmap.

To use ldd, use the full path of the program or library, like:

$ ldd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap
	linux-vdso.so.1 =>  (0x00007ffe1a461000)
	libroscpp.so => /opt/ros/kinetic/lib/libroscpp.so (0x00007f06e398e000)
	librosconsole.so => /opt/ros/kinetic/lib/librosconsole.so (0x00007f06e375c000)
	libboost_system.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 (0x00007f06e3558000)
	libnodeletlib.so => /opt/ros/kinetic/lib/libnodeletlib.so (0x00007f06e32f1000)
	librtabmap_core.so.0.11 => /opt/ros/kinetic/lib/x86_64-linux-gnu/librtabmap_core.so.0.11 (0x00007f06e2b68000)
	librtabmap_utilite.so.0.11 => /opt/ros/kinetic/lib/x86_64-linux-gnu/librtabmap_utilite.so.0.11 (0x00007f06e2949000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f06e25c7000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f06e23b1000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f06e1fe7000)
	libroscpp_serialization.so => /opt/ros/kinetic/lib/libroscpp_serialization.so (0x00007f06e1de4000)
	librostime.so => /opt/ros/kinetic/lib/librostime.so (0x00007f06e1bb6000)
	libxmlrpcpp.so => /opt/ros/kinetic/lib/libxmlrpcpp.so (0x00007f06e1997000)
	libcpp_common.so => /opt/ros/kinetic/lib/libcpp_common.so (0x00007f06e178f000)
	libboost_thread.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 (0x00007f06e1569000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f06e134c000)
	libboost_filesystem.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 (0x00007f06e1134000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f06e0e2b000)
	librosconsole_log4cxx.so => /opt/ros/kinetic/lib/librosconsole_log4cxx.so (0x00007f06e0c12000)
	librosconsole_backend_interface.so => /opt/ros/kinetic/lib/librosconsole_backend_interface.so (0x00007f06e0a10000)
	liblog4cxx.so.10 => /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10 (0x00007f06e0639000)
	libboost_regex.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0 (0x00007f06e0331000)
	libbondcpp.so => /opt/ros/kinetic/lib/libbondcpp.so (0x00007f06e0101000)
	libtinyxml2.so.2 => /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2 (0x00007f06dfeee000)
	libclass_loader.so => /opt/ros/kinetic/lib/libclass_loader.so (0x00007f06dfcca000)
	libroslib.so => /opt/ros/kinetic/lib/libroslib.so (0x00007f06dfab8000)
	libconsole_bridge.so.0.2 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 (0x00007f06df8b3000)
	libopencv_xfeatures2d3.so.3.3 => /opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.3 (0x00007f06df3f4000)
	libpcl_common.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_common.so.1.7 (0x00007f06df13a000)
	libpcl_kdtree.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so.1.7 (0x00007f06dee07000)
	libpcl_search.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_search.so.1.7 (0x00007f06dea17000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f06de7fd000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f06de5f9000)
	libpcl_io.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_io.so.1.7 (0x00007f06de18a000)
	libpcl_sample_consensus.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.7 (0x00007f06dd53b000)
	libpcl_filters.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_filters.so.1.7 (0x00007f06dcc18000)
	libpcl_features.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_features.so.1.7 (0x00007f06db0a8000)
	libpcl_segmentation.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so.1.7 (0x00007f06da49a000)
	libpcl_surface.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_surface.so.1.7 (0x00007f06d9e54000)
	libfreenect.so.0.5 => /opt/ros/kinetic/lib/libfreenect.so.0.5 (0x00007f06d9c45000)
	liboctomap.so.1.8 => /opt/ros/kinetic/lib/liboctomap.so.1.8 (0x00007f06d99fd000)
	liboctomath.so.1.8 => /opt/ros/kinetic/lib/liboctomath.so.1.8 (0x00007f06d97f6000)
	libopencv_calib3d3.so.3.3 => /opt/ros/kinetic/lib/libopencv_calib3d3.so.3.3 (0x00007f06d9472000)
	libopencv_video3.so.3.3 => /opt/ros/kinetic/lib/libopencv_video3.so.3.3 (0x00007f06d8f01000)
	libopencv_features2d3.so.3.3 => /opt/ros/kinetic/lib/libopencv_features2d3.so.3.3 (0x00007f06d8c2c000)
	libopencv_videoio3.so.3.3 => /opt/ros/kinetic/lib/libopencv_videoio3.so.3.3 (0x00007f06d8a01000)
	libopencv_imgcodecs3.so.3.3 => /opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.3 (0x00007f06d83ec000)
	libopencv_imgproc3.so.3.3 => /opt/ros/kinetic/lib/libopencv_imgproc3.so.3.3 (0x00007f06d574b000)
	libopencv_core3.so.3.3 => /opt/ros/kinetic/lib/libopencv_core3.so.3.3 (0x00007f06d48e5000)
	libvtkCommonCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so.6.2 (0x00007f06d43b7000)
	libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f06d4195000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f06e3d28000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f06d3f8d000)
	libapr-1.so.0 => /usr/lib/x86_64-linux-gnu/libapr-1.so.0 (0x00007f06d3d5b000)
	libaprutil-1.so.0 => /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0 (0x00007f06d3b34000)
	libicui18n.so.55 => /usr/lib/x86_64-linux-gnu/libicui18n.so.55 (0x00007f06d36d2000)
	libicuuc.so.55 => /usr/lib/x86_64-linux-gnu/libicuuc.so.55 (0x00007f06d333e000)
	libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007f06d3139000)
	libPocoFoundation.so.9 => /usr/lib/libPocoFoundation.so.9 (0x00007f06d2ddd000)
	librospack.so => /opt/ros/kinetic/lib/librospack.so (0x00007f06d2b9b000)
	libpcl_octree.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_octree.so.1.7 (0x00007f06d27a6000)
	libboost_iostreams.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.58.0 (0x00007f06d258d000)
	libboost_chrono.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 (0x00007f06d2385000)
	libpcl_io_ply.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_io_ply.so.1.7 (0x00007f06d212f000)
	libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f06d1f0a000)
	libvtkIOPLY-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOPLY-6.2.so.6.2 (0x00007f06d1cef000)
	libvtkIOMPIParallel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOMPIParallel-6.2.so.6.2 (0x00007f06d1ac8000)
	libvtkIOMPIImage-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOMPIImage-6.2.so.6.2 (0x00007f06d189f000)
	libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007f06d1687000)
	libOpenNI.so.0 => /usr/lib/libOpenNI.so.0 (0x00007f06d140b000)
	libvtkIOGeometry-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOGeometry-6.2.so.6.2 (0x00007f06d10c3000)
	libvtkImagingCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkImagingCore-6.2.so.6.2 (0x00007f06d0ce6000)
	libvtkIOLegacy-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOLegacy-6.2.so.6.2 (0x00007f06d0a3d000)
	libvtkIOImage-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOImage-6.2.so.6.2 (0x00007f06d06d6000)
	libvtkIOCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOCore-6.2.so.6.2 (0x00007f06d045f000)
	libvtkCommonExecutionModel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-6.2.so.6.2 (0x00007f06d01b1000)
	libvtkCommonDataModel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-6.2.so.6.2 (0x00007f06cfc42000)
	libqhull.so.7 => /usr/lib/x86_64-linux-gnu/libqhull.so.7 (0x00007f06cf9e8000)
	libvtkFiltersModeling-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersModeling-6.2.so.6.2 (0x00007f06cf76b000)
	libvtkFiltersCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersCore-6.2.so.6.2 (0x00007f06cf1ad000)
	libopencv_flann3.so.3.3 => /opt/ros/kinetic/lib/libopencv_flann3.so.3.3 (0x00007f06cef5b000)
	libavcodec-ffmpeg.so.56 => /usr/lib/x86_64-linux-gnu/libavcodec-ffmpeg.so.56 (0x00007f06cdb2f000)
	libavformat-ffmpeg.so.56 => /usr/lib/x86_64-linux-gnu/libavformat-ffmpeg.so.56 (0x00007f06cd731000)
	libavutil-ffmpeg.so.54 => /usr/lib/x86_64-linux-gnu/libavutil-ffmpeg.so.54 (0x00007f06cd4c2000)
	libswscale-ffmpeg.so.3 => /usr/lib/x86_64-linux-gnu/libswscale-ffmpeg.so.3 (0x00007f06cd233000)
	libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f06ccfda000)
	libwebp.so.5 => /usr/lib/x86_64-linux-gnu/libwebp.so.5 (0x00007f06ccd7e000)
	libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f06ccb0a000)
	libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007f06cc8b5000)
	libvtksys-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtksys-6.2.so.6.2 (0x00007f06cc670000)
	libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007f06cc438000)
	libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f06cc20f000)
	libicudata.so.55 => /usr/lib/x86_64-linux-gnu/libicudata.so.55 (0x00007f06ca758000)
	libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f06ca4e8000)
	libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007f06ca2d2000)
	libboost_program_options.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 (0x00007f06ca054000)
	libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007f06c9ac6000)
	libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f06c98b6000)
	libvtkCommonMisc-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonMisc-6.2.so.6.2 (0x00007f06c96a0000)
	libmpi.so.12 => /usr/lib/libmpi.so.12 (0x00007f06c93ca000)
	libmpi_cxx.so.1 => /usr/lib/libmpi_cxx.so.1 (0x00007f06c91af000)
	libvtkParallelCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkParallelCore-6.2.so.6.2 (0x00007f06c8f60000)
	libvtkParallelMPI-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkParallelMPI-6.2.so.6.2 (0x00007f06c8d3b000)
	libvtkCommonTransforms-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-6.2.so.6.2 (0x00007f06c8b0c000)
	libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007f06e3ebc000)
	libjsoncpp.so.1 => /usr/lib/x86_64-linux-gnu/libjsoncpp.so.1 (0x00007f06c88db000)
	libvtkCommonSystem-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonSystem-6.2.so.6.2 (0x00007f06c86c7000)
	libvtkCommonMath-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonMath-6.2.so.6.2 (0x00007f06c84a5000)
	libvtkmetaio-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkmetaio-6.2.so.6.2 (0x00007f06c8210000)
	libvtkDICOMParser-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkDICOMParser-6.2.so.6.2 (0x00007f06c7ff8000)
	libvtkFiltersSources-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersSources-6.2.so.6.2 (0x00007f06c7d32000)
	libvtkFiltersGeneral-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersGeneral-6.2.so.6.2 (0x00007f06c7807000)
	libswresample-ffmpeg.so.1 => /usr/lib/x86_64-linux-gnu/libswresample-ffmpeg.so.1 (0x00007f06c75ea000)
	libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007f06c73ce000)
	libzvbi.so.0 => /usr/lib/x86_64-linux-gnu/libzvbi.so.0 (0x00007f06c7143000)
	libxvidcore.so.4 => /usr/lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007f06c6e2f000)
	libx265.so.79 => /usr/lib/x86_64-linux-gnu/libx265.so.79 (0x00007f06c6210000)
	libx264.so.148 => /usr/lib/x86_64-linux-gnu/libx264.so.148 (0x00007f06c5e6c000)
	libwavpack.so.1 => /usr/lib/x86_64-linux-gnu/libwavpack.so.1 (0x00007f06c5c43000)
	libvpx.so.3 => /usr/lib/x86_64-linux-gnu/libvpx.so.3 (0x00007f06c581f000)
	libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007f06c5576000)
	libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007f06c534a000)
	libtwolame.so.0 => /usr/lib/x86_64-linux-gnu/libtwolame.so.0 (0x00007f06c5127000)
	libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007f06c4ee8000)
	libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007f06c4cce000)
	libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007f06c4ab5000)
	libsnappy.so.1 => /usr/lib/x86_64-linux-gnu/libsnappy.so.1 (0x00007f06c48ad000)
	libshine.so.3 => /usr/lib/x86_64-linux-gnu/libshine.so.3 (0x00007f06c46a0000)
	libschroedinger-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libschroedinger-1.0.so.0 (0x00007f06c43cb000)
	libopus.so.0 => /usr/lib/x86_64-linux-gnu/libopus.so.0 (0x00007f06c4181000)
	libopenjpeg.so.5 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.5 (0x00007f06c3f5e000)
	libmp3lame.so.0 => /usr/lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007f06c3ce9000)
	libgsm.so.1 => /usr/lib/x86_64-linux-gnu/libgsm.so.1 (0x00007f06c3adb000)
	libcrystalhd.so.3 => /usr/lib/x86_64-linux-gnu/libcrystalhd.so.3 (0x00007f06c38c0000)
	liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f06c369e000)
	libssh-gcrypt.so.4 => /usr/lib/x86_64-linux-gnu/libssh-gcrypt.so.4 (0x00007f06c3455000)
	librtmp.so.1 => /usr/lib/x86_64-linux-gnu/librtmp.so.1 (0x00007f06c3239000)
	libmodplug.so.1 => /usr/lib/x86_64-linux-gnu/libmodplug.so.1 (0x00007f06c2eae000)
	libgme.so.0 => /usr/lib/x86_64-linux-gnu/libgme.so.0 (0x00007f06c2c60000)
	libbluray.so.1 => /usr/lib/x86_64-linux-gnu/libbluray.so.1 (0x00007f06c2a17000)
	libgnutls.so.30 => /usr/lib/x86_64-linux-gnu/libgnutls.so.30 (0x00007f06c26e7000)
	libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007f06c24d9000)
	libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007f06c22d6000)
	libibverbs.so.1 => /usr/lib/libibverbs.so.1 (0x00007f06c20c7000)
	libopen-rte.so.12 => /usr/lib/libopen-rte.so.12 (0x00007f06c1e4d000)
	libopen-pal.so.13 => /usr/lib/libopen-pal.so.13 (0x00007f06c1bb0000)
	libvtkCommonComputationalGeometry-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-6.2.so.6.2 (0x00007f06c1972000)
	libsoxr.so.0 => /usr/lib/x86_64-linux-gnu/libsoxr.so.0 (0x00007f06c170d000)
	libnuma.so.1 => /usr/lib/x86_64-linux-gnu/libnuma.so.1 (0x00007f06c1502000)
	libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007f06c12f9000)
	liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007f06c1079000)
	libgcrypt.so.20 => /lib/x86_64-linux-gnu/libgcrypt.so.20 (0x00007f06c0d98000)
	libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007f06c0b4e000)
	libhogweed.so.4 => /usr/lib/x86_64-linux-gnu/libhogweed.so.4 (0x00007f06c091b000)
	libnettle.so.6 => /usr/lib/x86_64-linux-gnu/libnettle.so.6 (0x00007f06c06e5000)
	libgmp.so.10 => /usr/lib/x86_64-linux-gnu/libgmp.so.10 (0x00007f06c0465000)
	libxml2.so.2 => /usr/lib/x86_64-linux-gnu/libxml2.so.2 (0x00007f06c00aa000)
	libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007f06bfe67000)
	libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f06bfbbd000)
	libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007f06bf959000)
	libidn.so.11 => /usr/lib/x86_64-linux-gnu/libidn.so.11 (0x00007f06bf726000)
	libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007f06bf513000)
	libhwloc.so.5 => /usr/lib/x86_64-linux-gnu/libhwloc.so.5 (0x00007f06bf2d9000)
	libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007f06bf0c5000)
	libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007f06bedf3000)
	libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007f06bebc4000)
	libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007f06be9c0000)
	libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007f06be7b5000)
	libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f06be5ad000)
	libltdl.so.7 => /usr/lib/x86_64-linux-gnu/libltdl.so.7 (0x00007f06be3a3000)
	libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007f06be19f000)
	libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f06bdf84000)

cheers,
Mathieu

[Ross_L]

Alright, fingers crossed - I think that cracked it! Deleting the remnants from devel and local seemed  to do the trick! Why does roslaunch continue to use whats in the devel folder even though there are other versions present? Interesting.

Do you have a beer donation paypal fund I can contribute to to say thanks, and give a little back for the great program? EDIT: NVM I found it. Beer money on the way!

Cheers!

[matlabbe]

Hi,

Thanks for the beer!

When ROS searches for a package, it looks in catkin_ws/devel first, then after /opt/ros/kinetic. It is because if the workspace is setup like in ROS tutorial, they make you "source" the setup.bash in catkin_ws/devel, which put the catkin_ws paths before those of /opt/ros/kinetic. If you source only /opt/ros/kinetic/setup.bash, the whole catkin_ws will be ignored.

cheers,
Mathieu