Skip to main content

Troubleshooting

Troubleshooting: Error Loading libruckig.so​

Issue​

When running the JoggingActionServer, you may encounter the following error:

[JoggingActionServer-3] <path>/install/kikobot_motion_planner/lib/kikobot_motion_planner/JoggingActionServer: error while loading shared libraries: libruckig.so: cannot open shared object file: No such file or directory

Possible Cause​

This error indicates that the libruckig.so shared library is missing or not accessible in the library path.

Solution​

Verify if libruckig.so is Installed
Run the following command to check if the library is present:

 find /usr/local/lib/ -name "libruckig.so"
  1. If the output is empty, it means the library is not installed. You may need to install or build Ruckig.

Add Ruckig to the Library Path (LD_LIBRARY_PATH)
Set the LD_LIBRARY_PATH environment variable:

 export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

To make this change permanent, add it to your .bashrc file:

 echo 'export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH' >> ~/.bashrc  
source ~/.bashrc
  1. Refresh the Dynamic Linker Cache
    Run the following command to ensure the system recognizes the new library:
 sudo ldconfig
  1. Rebuild the Project
    If the issue persists, try rebuilding the project:
 cd ~/KIKOBOT-Planner_V2  
rm -rf build install log  
colcon build  
source install/setup.bash
  1. After following these steps, reattempt running the JoggingActionServer. If the problem persists, verify the installation of libruckig.so and ensure the correct path is added to the environment variables.