"Can't load library: /home/pi/src/Firmware/Tools/jMAVSim/out/production/libgluegen-rt.so"

Question

"Can't load library: /home/pi/src/Firmware/Tools/jMAVSim/out/production/libgluegen-rt.so"

3efischer opened this issue 5 years ago · comments

I followed these instructions:
https://github.com/PX4/jMAVSim/blob/master/README.md

On running it with
java -djava.ext.dirs= -jar jmavsim_run.jar

I get the following error:

Options parsed, starting Sim.
Starting GUI...
3D [dev] 1.6.0-pre12-daily-experimental daily

Exception in thread "main" java.lang.reflect.InvocationTargetException
	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.lang.reflect.Method.invoke(Method.java:498)
	at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.UnsatisfiedLinkError: Can't load library: /home/pi/src/Firmware/jMAVSim/out/production/libgluegen-rt.so
	at java.lang.ClassLoader.loadLibrary(ClassLoader.java:1827)
	at java.lang.Runtime.load0(Runtime.java:809)
	at java.lang.System.load(System.java:1086)
	at com.jogamp.common.jvm.JNILibLoaderBase.loadLibraryInternal(JNILibLoaderBase.java:596)
	at com.jogamp.common.jvm.JNILibLoaderBase.access$000(JNILibLoaderBase.java:63)
	at com.jogamp.common.jvm.JNILibLoaderBase$DefaultAction.loadLibrary(JNILibLoaderBase.java:95)
	at com.jogamp.common.jvm.JNILibLoaderBase.loadLibrary(JNILibLoaderBase.java:459)
	at com.jogamp.common.os.DynamicLibraryBundle$GlueJNILibLoader.loadLibrary(DynamicLibraryBundle.java:421)
	at com.jogamp.common.os.Platform$1.run(Platform.java:317)
	at java.security.AccessController.doPrivileged(Native Method)
	at com.jogamp.common.os.Platform.<clinit>(Platform.java:287)
	at com.jogamp.opengl.GLProfile.<clinit>(GLProfile.java:146)
	at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:83)
	at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:66)
	at java.security.AccessController.doPrivileged(Native Method)
	at jogamp.opengl.ThreadingImpl.<clinit>(ThreadingImpl.java:66)
	at com.jogamp.opengl.Threading.disableSingleThreading(Threading.java:164)
	at javax.media.j3d.JoglPipeline.initialize(JoglPipeline.java:130)
	at javax.media.j3d.Pipeline.createPipeline(Pipeline.java:92)
	at javax.media.j3d.MasterControl.loadLibraries(MasterControl.java:837)
	at javax.media.j3d.VirtualUniverse.<clinit>(VirtualUniverse.java:274)
	at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:155)
	at me.drton.jmavsim.Simulator.<init>(Simulator.java:170)
	at me.drton.jmavsim.Simulator.main(Simulator.java:793)
	... 5 more

charles-blouin · Answer 1 · Fri Mar 01 2019 23:58:10 GMT+0800 (China Standard Time)

I have the same error on a Raspberry Pi with Raspbian stretch.

Stephen Meier · Answer 2 · Sun Jul 14 2019 03:18:09 GMT+0800 (China Standard Time)

I also cannot load this lib, Firmware/jMAVSim/out/production/libgluegen-rt.so, when running make px4_sitl jmavsim on the Pinebook.

Nick Corti · Answer 3 · Fri Oct 04 2019 02:38:59 GMT+0800 (China Standard Time)

Also having this same error when running make px4_sitl jmavsim, anyone managed to resolve?

laxmanbobby · Answer 4 · Tue Jan 19 2021 08:57:48 GMT+0800 (China Standard Time)

@efischer91 have you managed to resolve this? I am experiencing the same issue on Ubuntu 18.04 on a Jetson Nano

Evelyn Fischer · Answer 5 · Tue Jan 19 2021 19:06:02 GMT+0800 (China Standard Time)

@efischer91 have you managed to resolve this? I am experiencing the same issue on Ubuntu 18.04 on a Jetson Nano

Unfortunately no.

alan0054 · Answer 6 · Fri Jun 04 2021 00:33:04 GMT+0800 (China Standard Time)

I have the same error...
I operate at Raspberry Pi 3B board and use Ubuntu mate 18.04
Passed 2 years.. No one can even help us?....

alan0054 · Answer 7 · Sat Jun 12 2021 03:19:33 GMT+0800 (China Standard Time)

I have the same error...
I operate at Raspberry Pi 3B board and use Ubuntu mate 18.04
Passed 2 years.. No one can even help us?....

hey guys ! I find the solution !!!
https://jogamp.org/deployment/archive/rc/v2.4.0-rc-20200104/apk/
Download the gluegen file that matches your device.
My workstation is RPi 3B, so I download the aarch64 version.
After unzip copy "libgluegen_rt.so" file from "gluegen-2.4-b938-20210111-linux-aarch64\gluegen-2.4-b938-20210111-linux-aarch64\lib" to your missing file's folder.(In this path, if there is no matching folder, try to use the command "mkdir + folder name" to generate a new folder to continue copying)

netuserjun · Answer 8 · Wed Aug 25 2021 14:27:20 GMT+0800 (China Standard Time)

I have the same error...
I operate at Raspberry Pi 3B board and use Ubuntu mate 18.04
Passed 2 years.. No one can even help us?....

hey guys ! I find the solution !!!
https://jogamp.org/deployment/archive/rc/v2.4.0-rc-20200104/apk/
Download the gluegen file that matches your device.
My workstation is RPi 3B, so I download the aarch64 version.
After unzip copy "libgluegen_rt.so" file from "gluegen-2.4-b938-20210111-linux-aarch64\gluegen-2.4-b938-20210111-linux-aarch64\lib" to your missing file's folder.(In this path, if there is no matching folder, try to use the command "mkdir + folder name" to generate a new folder to continue copying)

I did exactly as your way, but I got another problem.

The error is changed from 'Can't load library' to 'invalid ELF header'.
If you solved this problem, please let me know..
Thanks.

RobotDev · Answer 9 · Wed Feb 22 2023 00:53:37 GMT+0800 (China Standard Time)

I am building jMAVSim for linux/aarch64. I was able to get past most of the libgluegen_rt issues by downloading the aarch64 jar files from the following location:

https://jogamp.org/deployment/archive/rc/v2.4.0/jar/

However, while it gets past the initial error indicating that it can't find libraries, with a different one as follows:

Exception in thread "main" java.lang.reflect.InvocationTargetException
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:568)
	at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.UnsatisfiedLinkError: Couldn't load library 'gluegen_rt' generically including [], nor as [/usr/java/packages/lib/libgluegen_rt.so, /usr/lib64/libgluegen_rt.so, /lib64/libgluegen_rt.so, /usr/lib/libgluegen_rt.so, /usr/lib/libgluegen_rt.so, /home/umex/Documents/tools/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/libgluegen_rt.so, /home/umex/Documents/tools/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/natives/linux-aarch64/libgluegen_rt.so]
	at com.jogamp.common.jvm.JNILibLoaderBase.loadLibraryInternal(JNILibLoaderBase.java:634)
	at com.jogamp.common.jvm.JNILibLoaderBase.access$000(JNILibLoaderBase.java:64)
	at com.jogamp.common.jvm.JNILibLoaderBase$DefaultAction.loadLibrary(JNILibLoaderBase.java:107)
	at com.jogamp.common.jvm.JNILibLoaderBase.loadLibrary(JNILibLoaderBase.java:488)
	at com.jogamp.common.os.DynamicLibraryBundle$GlueJNILibLoader.loadLibrary(DynamicLibraryBundle.java:427)
	at com.jogamp.common.os.Platform$1.run(Platform.java:321)
	at com.jogamp.common.util.SecurityUtil.doPrivileged(SecurityUtil.java:80)
	at com.jogamp.common.os.Platform.<clinit>(Platform.java:290)
	at com.jogamp.opengl.GLProfile.<clinit>(GLProfile.java:154)
	at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:83)
	at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:66)
	at com.jogamp.common.util.SecurityUtil.doPrivileged(SecurityUtil.java:80)
	at jogamp.opengl.ThreadingImpl.<clinit>(ThreadingImpl.java:66)
	at com.jogamp.opengl.Threading.disableSingleThreading(Threading.java:164)
	at javax.media.j3d.JoglPipeline.initialize(JoglPipeline.java:129)
	at javax.media.j3d.Pipeline.createPipeline(Pipeline.java:92)
	at javax.media.j3d.MasterControl.loadLibraries(MasterControl.java:858)
	at javax.media.j3d.VirtualUniverse.<clinit>(VirtualUniverse.java:267)
	at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:194)
	at me.drton.jmavsim.Simulator.<init>(Simulator.java:193)
	at me.drton.jmavsim.Simulator.main(Simulator.java:944)

The .so files are there... and I can see them copied during the build, however, I still get the error. I am hoping this is just a classpath issue, but I am not sure what the next step would be to fix this.

RobotDev · Answer 10 · Wed Feb 22 2023 01:18:09 GMT+0800 (China Standard Time)

Update on the above, the aarch64 jar files are there... but I don't see the .so files in the ./out/production or ./out/production/natives folder. There is no natives folder. I am not sure how the make file generates this folder and why it's not doing it for the aarch64 so files.

RobotDev · Answer 11 · Wed Feb 22 2023 02:40:59 GMT+0800 (China Standard Time)

Another update... after copying the right jar files from the jogamp website, the build.xml file needs to be updated (...still learning here). Specifically here:

<attribute name="Rsrc-Class-Path" value="./ annotations.jar gluegen-rt-natives-linux-amd64.jar 
gluegen-rt-natives-linux-aarch64.jar gluegen-rt-natives-linux-i586.jar gluegen-rt-natives-macosx-universal.jar
gluegen-rt-natives-windows-amd64.jar gluegen-rt-natives-windows-i586.jar gluegen-rt.jar j3dcore.jar j3dutils.jar
joal-natives-linux-amd64.jar joal-natives-linux-aarch64.jar joal-natives-linux-i586.jar 
joal-natives-macosx-universal.jar joal-natives-windows-amd64.jar joal-natives-windows-i586.jar joal.jar 
jogl-all-natives-linux-amd64.jar jogl-all-natives-linux-aarch64.jar jogl-all-natives-linux-i586.jar 
jogl-all-natives-macosx-universal.jar jogl-all-natives-windows-amd64.jar jogl-all-natives-windows-i586.jar 
jogl-all.jar jssc.jar vecmath.jar"/>

and here:

<zipfileset dir="lib" includes="gluegen-rt-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="joal-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="jogl-all-natives-linux-aarch64.jar"/>

after the above updates, run a make clean and then make px4_sitl_default jmavsim and the simulator GUI will work just fine.

ai-zeus-hub · Answer 12 · Sat Mar 25 2023 06:34:53 GMT+0800 (China Standard Time)

Hey @cryptik, I followed your steps above (I'm also using px4) by doing:

Downloading jars:

cd PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/lib/
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal-natives-linux-aarch64.jar

Modifying the build.xml file (here is the snippet you referenced):

    <target name="create_run_jar" depends="compile" description="Creates standalone runnable JAR file including dependencies.">
        <jar destfile="${build.dir}/jmavsim_run.jar">
            <manifest>
                <attribute name="Main-Class" value="org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader"/>
                <attribute name="Rsrc-Main-Class" value="me.drton.jmavsim.Simulator"/>
                <attribute name="Class-Path" value="."/>
                <attribute name="Rsrc-Class-Path" value="./ annotations.jar gluegen-rt-natives-linux-amd64.jar gluegen-rt-natives-linux-aarch64.jar gluegen-rt-natives-linux-i586.jar gluegen-rt-natives-macosx-universal.jar gluegen-rt-natives-windows-amd64.jar gluegen-rt-natives-windows-i586.jar gluegen-rt.jar j3dcore.jar j3dutils.jar joal-natives-linux-amd64.jar joal-natives-linux-aarch64.jar joal-natives-linux-i586.jar joal-natives-macosx-universal.jar joal-natives-windows-amd64.jar joal-natives-windows-i586.jar joal.jar jogl-all-natives-linux-amd64.jar jogl-all-natives-linux-aarch64.jar jogl-all-natives-linux-i586.jar jogl-all-natives-macosx-universal.jar jogl-all-natives-windows-amd64.jar jogl-all-natives-windows-i586.jar jogl-all.jar jssc.jar vecmath.jar"/>
            </manifest>
            <fileset dir="${classes.dir}"/>
            <zipfileset src="jar-in-jar-loader.zip"/>
            <zipfileset dir="lib" includes="annotations.jar"/>
            <zipfileset dir="lib" includes="gluegen-rt.jar"/>
            <zipfileset dir="lib" includes="j3dcore.jar"/>
            <zipfileset dir="lib" includes="j3dutils.jar"/>
            <zipfileset dir="lib" includes="joal.jar"/>
            <zipfileset dir="lib" includes="jogl-all.jar"/>
            <zipfileset dir="lib" includes="jssc.jar"/>
            <zipfileset dir="lib" includes="vecmath.jar"/>
            <zipgroupfileset dir="lib" includes="forms_rt.jar"/>

            <!-- OS-specific jars (can exclude any you don't need) -->
            <zipfileset dir="lib" includes="gluegen-rt-natives-linux-aarch64.jar"/>
            <zipfileset dir="lib" includes="joal-natives-linux-aarch64.jar"/>
            <zipfileset dir="lib" includes="jogl-all-natives-linux-aarch64.jar"/>

Followed by a clean build:

cd PX4-Autopilot/
make clean
make px4_sitl_default jmavsim

However, I then run in to a separate error:

INFO  [dataman] data manager file './dataman' size is 7866640 bytes
etc/init.d-posix/rcS: 39: [: Illegal number: 
INFO  [init] jMAVSim simulator
INFO  [simulator_mavlink] using TCP on remote host localhost port 4560
WARN  [simulator_mavlink] Please ensure port 4560 is not blocked by a firewall.
INFO  [simulator_mavlink] Resolved host 'localhost' to address: 127.0.0.1
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
Buildfile: /home/austinriffle/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/build.xml

make_dirs:

compile:

create_run_jar:

copy_res:

BUILD SUCCESSFUL
Total time: 0 seconds
Options parsed, starting Sim.
Starting GUI...
Exception in thread "main" java.lang.reflect.InvocationTargetException
        at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
        at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
        at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
        at java.base/java.lang.reflect.Method.invoke(Method.java:567)
        at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.InternalError: XXX0 profile[2]: GL2 -> profileImpl GL3bc !!! not mapped 
        at com.jogamp.opengl.GLProfile.computeProfileMap(GLProfile.java:2098)
        at com.jogamp.opengl.GLProfile.initProfilesForDeviceCritical(GLProfile.java:1976)
        at com.jogamp.opengl.GLProfile.initProfilesForDevice(GLProfile.java:1895)
        at com.jogamp.opengl.GLProfile.initProfilesForDefaultDevices(GLProfile.java:1861)
        at com.jogamp.opengl.GLProfile.access$000(GLProfile.java:80)
        at com.jogamp.opengl.GLProfile$1.run(GLProfile.java:239)
        at java.base/java.security.AccessController.doPrivileged(AccessController.java:312)
        at com.jogamp.opengl.GLProfile.initSingleton(GLProfile.java:225)
        at com.jogamp.opengl.GLProfile.getProfileMap(GLProfile.java:2324)
        at com.jogamp.opengl.GLProfile.get(GLProfile.java:1042)
        at com.jogamp.opengl.GLProfile.get(GLProfile.java:1071)
        at com.jogamp.opengl.GLProfile.getMaxFixedFunc(GLProfile.java:824)
        at javax.media.j3d.JoglPipeline.initialize(JoglPipeline.java:131)
        at javax.media.j3d.Pipeline.createPipeline(Pipeline.java:92)
        at javax.media.j3d.MasterControl.loadLibraries(MasterControl.java:858)
        at javax.media.j3d.VirtualUniverse.<clinit>(VirtualUniverse.java:267)
        at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:194)
        at me.drton.jmavsim.Simulator.<init>(Simulator.java:193)
        at me.drton.jmavsim.Simulator.main(Simulator.java:944)
        ... 5 more

Did you (or anyone else for that matter) encounter this java.lang.InternalError error, and have any advice for a solution?

ai-zeus-hub · Answer 13 · Mon Mar 27 2023 02:10:20 GMT+0800 (China Standard Time)

As info, if anyone else runs into the above error, I resolved it by doing:

export LIBGL_ALWAYS_SOFTWARE=1

according to here:

https://groups.google.com/g/jaamsim-users/c/tJW48U0Vi9k?pli=1

There's probably a way to fix it with a driver update or something similar that will allow us to leverage hardware, but for now this works. If I find another solution I will update.

ai-zeus-hub · Answer 14 · Mon Mar 27 2023 02:27:40 GMT+0800 (China Standard Time)

Actually, updating the following jar's resolve the issue correctly:

wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal.jar

xj peng · Answer 15 · Tue May 09 2023 18:15:38 GMT+0800 (China Standard Time)

Actually, updating the following jar's resolve the issue correctly:

wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal.jar

Download the latest build versions of ·gluegen, joal, and jogl and replace them.
Here are the links:

Unzip these three compressed files,

replace the relevant JAR files in the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/lib/"
add the relevant libraries to the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/".

Now you should be able to run it without any issues.

bingqi · Answer 16 · Sun Jul 30 2023 15:15:01 GMT+0800 (China Standard Time)

Thanks above @ ALL In addition to the steps of @1qingfeng-1. Since my ubuntu run on the CPU of the Mac M series, there are the following changes Used in
/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/build.xml:

<zipfileset dir="lib" includes="gluegen-rt-natives-linux-aarch64.jar"/> 
<zipfileset dir="lib" includes="joal-natives-linux-aarch64.jar"/> 
<zipfileset dir="lib" includes="jogl-all-natives-linux-aarch64.jar"/>

The corresponding resources are as follows:

wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all-natives-linux-aarch64.jar 
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt-natives-linux-aarch64.jar 
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal-natives-linux-aarch64.jar.jar

JasonStepan · Answer 17 · Tue Sep 05 2023 16:16:59 GMT+0800 (China Standard Time)

Actually, updating the following jar's resolve the issue correctly:
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal.jar
Download the latest build versions of ·gluegen, joal, and jogl and replace them. Here are the links:

https://jogamp.org/chuck/view/fwd/job/gluegen/952/

https://jogamp.org/chuck/view/fwd/job/joal/670/

https://jogamp.org/chuck/view/fwd/job/jogl/1519/

Unzip these three compressed files,

replace the relevant JAR files in the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/lib/"

add the relevant libraries to the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/".

Now you should be able to run it without any issues.

It did work for me.