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如何修复 roscore 加载共享库时的错误：libroscpp.so ​

前天折腾了一下在 X3pi 上安装 ROS Noetic 时，遇到的一个问题，在 roscore 加载共享库时出错，之前没遇到过，记录一下。

问题描述 ​

在执行 roscore 时，出现了如下错误：

bash
$ roscore
....
process[rosout-1]: started with pid [9673]
[rosout-1] process has died [pid 9673, exit code 127, cnd /opt/ros/noetic/lib/rosout/rosout nane =rosout_ log:=/hone/ouc/.ros/log/0753254-d0a1-11ea8ecb-1c1b6d253d41/rosout-1*.log].
log file: /hone/ouc/.ros/log/0753254-d0a1-11ea8ecb-1c1b6d253d41/rosout-1*.log
[ rosout-1] restarting process
/opt/ros/noetic/lib/rosout/rosout: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory
$ roscore
....
process[rosout-1]: started with pid [9673]
[rosout-1] process has died [pid 9673, exit code 127, cnd /opt/ros/noetic/lib/rosout/rosout nane =rosout_ log:=/hone/ouc/.ros/log/0753254-d0a1-11ea8ecb-1c1b6d253d41/rosout-1*.log].
log file: /hone/ouc/.ros/log/0753254-d0a1-11ea8ecb-1c1b6d253d41/rosout-1*.log
[ rosout-1] restarting process
/opt/ros/noetic/lib/rosout/rosout: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory

问题分析 ​

根据错误提示，应该是 libroscpp.so 加载失败。

1. 检查共享库是否存在 ​

shell
find /opt/ros -name "libroscpp.so"
find /opt/ros -name "libroscpp.so"

输出：

shell
/opt/ros/noetic/lib/libroscpp.so
/opt/ros/noetic/lib/libroscpp.so

发现共享库存在，说明共享库的路径是正确的，接下来就需要查看一下环境变量是否正确了。

2. 检查环境变量是否正确 ​

shell
echo $LD_LIBRARY_PATH
echo $LD_LIBRARY_PATH

输出：

shell
/opt/ros/noetic/lib
/opt/ros/noetic/lib

发现环境变量是正确的，这就奇怪了。

解决方案 ​

参考文章error while loading shared libraries: libroscpp.so: cannot open shared object file

1.添加路径到配置文件 ​

shell
sudo cat /etc/ld.so.conf
sudo cat /etc/ld.so.conf

然后将共享库的路径添加到配置文件中：

shell
include /etc/ld.so.conf.d/*.conf
/opt/ros/noetic/lib
include /etc/ld.so.conf.d/*.conf
/opt/ros/noetic/lib

然后 ESC，输入:wq 保存并退出。

2. 重新加载配置文件 ​

shell
sudo ldconfig
sudo ldconfig

再次运行 roscore 即可成功。