"Could not load class 'cartesian_impedance_controller/CartesianImpedanceController': Failed to load library" - libRBDyn
After a recent RBDyn upgrade, both Julian and I (on RM3) got a
[ERROR] [1668185215.278108648]: Could not load class 'cartesian_impedance_controller/CartesianImpedanceController': Failed to load library /home/mayr/Workspaces/iiwa_ros_driver_ws/devel/lib//libcartesian_impedance_controller_ros.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 = libRBDyn.so.1: cannot open shared object file: No such file or directory)
[ERROR] [1668185215.278152418]: Could not load controller 'CartesianImpedance_trajectory_controller' because controller type 'cartesian_impedance_controller/CartesianImpedanceController' does not exist.
[ERROR] [1668185215.278170026]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
when starting the controller.
A cat /etc/ld.so.conf.d/libc.conf
on RM3 gives me this:
# libc default configuration
/usr/local/lib
and an gives ldconfig -v | grep -v ^$'\t'
this:
/sbin/ldconfig.real: Can't stat /usr/local/lib/x86_64-linux-gnu: No such file or directory
/sbin/ldconfig.real: Path `/lib/x86_64-linux-gnu' given more than once
/sbin/ldconfig.real: Path `/usr/lib/x86_64-linux-gnu' given more than once
/sbin/ldconfig.real: /lib/x86_64-linux-gnu/ld-2.27.so is the dynamic linker, ignoring
/usr/lib/x86_64-linux-gnu/libfakeroot:
/usr/local/lib:
/lib/x86_64-linux-gnu:
/usr/lib/x86_64-linux-gnu:
/sbin/ldconfig.real: Can't create temporary cache file /etc/ld.so.cache~: Permission denied
/lib:
/usr/lib:
However ldd devel/lib/libcartesian_impedance_controller_ros.so
gives this:
libRBDyn.so.1 => not found