With ROS2 a 2 is missing in the called lib name

[torydebra]

The problem I have here is that with ROS2, the robot interface fails to load the librobotinterface2, since it looks for librobotinterface2_ros.so, while the library is called librobotinterface2_ros2.so (so Cartesio run in the "visual_only" mode)

For now I have solved with std::string robot_type = "ros2"; which I imagine would cause the dual problem with ROS1.

xbot2_interface/src/robotinterface2.cpp

Lines 39 to 58 in 80754b0

	std::string robot_type = "ros";
	opt.get_parameter("robot_type", robot_type);
	bool ignore_type_from_env = false;
	opt.get_parameter("ignore_type_from_env", ignore_type_from_env);
	const char * robot_type_env = getenv("XBOT2IFC_ROBOT_TYPE");
	if(robot_type_env && !ignore_type_from_env)
	{
	robot_type = robot_type_env;
	}
	auto rob = CallFunction<RobotInterface*>(
	"librobotinterface2_" + robot_type + ".so",
	"xbot2_create_robot_plugin_" + robot_type,
	std::move(mdl)
	);

I do not know which is the exact intention, and if an external arg is necessary, since in the ros2 folder the cpp/hpp are called robotinterface2_ros (without the 2 suffix), but then in the cmake the name is robotinterface2_ros2

@alaurenzi

[alaurenzi]

I'd say that the intention is to have a default value that is good for ros2 (and so your fix is correct), and then have the possibility to change it via (i) env variable as you see in the code, or (ii) the config options class (opt.set_parameter<std::string>("robot_type", "whatever"))

You can open a small PR with the fix!

[torydebra]

Ok, now I see, with that getenv we could set the variable in the cmake acording to the ros/ros2 compilation flags.

BTW, I do not know what happened, but since today it is ok even without my hardcoded modification. It seems that now it looks for librobotinterface2_xbot2rt.so which is present and gives no problem at all