plugin 'ZMQ': load failed (could not load)

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Kamal99
Posts: 15
Joined: 29 Mar 2022, 21:01

plugin 'ZMQ': load failed (could not load)

Post by Kamal99 »

Hello,

I am running Coppeliasim in headless mode from a container

Code: Select all

stdbuf -o0 -e0 xvfb-run --auto-servernum -s "-screen 0 640x480x24" /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/./coppeliaSim.sh -h /home/s3675319/grasp2grasp/Grasp2GraspUR5/simulation/armUp.ttt

When I run my python code on ubuntu20.04, not in headless mode I am able to connect without any problems. However, using the container and the command above does not work. It does not go beyond the below line of codes

Code: Select all

        client = RemoteAPIClient()
        self.sim = client.getObject('sim')
Looking at the Coppeliasim terminal I get the below output which indicates an error with loading the ZMQ plugin

Code: Select all

[CoppeliaSimClient]    loading the CoppeliaSim library...
[CoppeliaSimClient]    done.
[CoppeliaSimClient:loadinfo]   launching CoppeliaSim...
[CoppeliaSim:loadinfo]   CoppeliaSim V4.3.0., (rev. 3), flavor: 1
[CoppeliaSim:loadinfo]   Legacy machine ID: 5000-15FB-FFC4-9C8E-F7E3-970D
[CoppeliaSim:loadinfo]   Machine ID: C99E-7365-766A-0000-8112-0101
[CoppeliaSim:loadinfo]   simulator launched.
[CoppeliaSim:loadinfo]   plugin 'Assimp': loading...
[CoppeliaSim:loadinfo]   plugin 'Assimp': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'B0': loading...
[CoppeliaSim:error]   plugin 'B0': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the out$
[CoppeliaSim:loadinfo]   plugin 'BWF': loading...
[CoppeliaSim:loadinfo]   plugin 'BWF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'BubbleRob': loading...
[CoppeliaSim:loadinfo]   plugin 'BubbleRob': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-78': loading...
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-78': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-83': loading...
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-83': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'CodeEditor': loading...
[simExtCodeEditor:error]   cannot load in headless mode
[CoppeliaSim:error]   plugin 'CodeEditor': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': loading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Eigen': loading...
[CoppeliaSim:loadinfo]   plugin 'Eigen': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ExternalRenderer': loading...
[CoppeliaSim:loadinfo]   plugin 'ExternalRenderer': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'GLTF': loading...
[CoppeliaSim:loadinfo]   plugin 'Geom': loading...
[CoppeliaSim:loadinfo]   plugin 'Geom': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ICP': loading...
[CoppeliaSim:loadinfo]   plugin 'ICP': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'IGL': loading...
[CoppeliaSim:loadinfo]   plugin 'IGL': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'IK': loading...
[CoppeliaSim:loadinfo]   plugin 'IK': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'IM': loading...
[CoppeliaSim:loadinfo]   plugin 'IM': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'K3': loading...
[CoppeliaSim:loadinfo]   plugin 'K3': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'LuaCmd': loading...
[simExtLuaCmd:error]   cannot find the statusbar widget
[CoppeliaSim:error]   plugin 'LuaCmd': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'MTB': loading...
[CoppeliaSim:loadinfo]   plugin 'MTB': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Newton': loading...
[CoppeliaSim:loadinfo]   plugin 'Newton': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ODE': loading...
[CoppeliaSim:loadinfo]   plugin 'ODE': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'OMPL': loading...
[CoppeliaSim:loadinfo]   plugin 'OMPL': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'OpenGL3Renderer': loading...
[CoppeliaSim:loadinfo]   plugin 'OpenGL3Renderer': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'OpenMesh': loading...
[CoppeliaSim:loadinfo]   plugin 'OpenMesh': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'QML': loading...
[simExtQML:error]   doesn't work in headless mode
[CoppeliaSim:error]   plugin 'QML': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'Qhull': loading...
[CoppeliaSim:loadinfo]   plugin 'Qhull': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'RML2': loading...
[CoppeliaSim:loadinfo]   plugin 'RML2': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ROS': loading...
[CoppeliaSim:error]   plugin 'ROS': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the ou$
[CoppeliaSim:loadinfo]   plugin 'ROS2': loading...
[CoppeliaSim:error]   plugin 'ROS2': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the o$
[CoppeliaSim:loadinfo]   plugin 'RRS1': loading...
[CoppeliaSim:loadinfo]   plugin 'RRS1': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'RemoteApi': loading...
[simExtRemoteApi:loadinfo]   starting a remote API server on port 19997
[CoppeliaSim:loadinfo]   plugin 'RemoteApi': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Ruckig': loading...
[CoppeliaSim:loadinfo]   plugin 'SDF': loading...
[CoppeliaSim:loadinfo]   plugin 'SDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Subprocess': loading...
[CoppeliaSim:loadinfo]   plugin 'Subprocess': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'SurfRec': loading...
[CoppeliaSim:loadinfo]   plugin 'SurfRec': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'UI': loading...
[simExtUI:error]   doesn't work in headless mode
[CoppeliaSim:error]   plugin 'UI': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'URDF': loading...
[CoppeliaSim:loadinfo]   plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'URLDrop': loading...
[simExtURLDrop:error]   cannot start in headless mode
[CoppeliaSim:error]   plugin 'URLDrop': load failed (failed initialization).
[simExtURLDrop:error]   cannot start in headless mode
[CoppeliaSim:error]   plugin 'URLDrop': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'Vision': loading...
[CoppeliaSim:loadinfo]   plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'WS': loading...
[CoppeliaSim:loadinfo]   plugin 'WS': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ZMQ': loading...
[CoppeliaSim:error]   plugin 'ZMQ': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the ou$
[CoppeliaSim:loadinfo]   using the 'Geometric' plugin.
[CoppeliaSim:loadinfo]   using the 'IK' plugin.
[ZMQ remote API server@addOnScript:error]   zmqRemoteApi: the ZMQ plugin is not available
[CoppeliaSim:loadinfo]   checking for an updated CoppeliaSim version...
[CoppeliaSim:loadinfo]   This CoppeliaSim version is up-to-date.
[CoppeliaSim:loadinfo]   OpenGL: Mesa/X.org, Renderer: llvmpipe (LLVM 12.0.0, 256 bits), Version: 3.1 Mesa 21.2.6
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coppelia
Site Admin
Posts: 10375
Joined: 14 Dec 2012, 00:25

Re: plugin 'ZMQ': load failed (could not load)

Post by coppelia »

Hello,

I suspect the problem to be directly linked to the container. Can you confirm that starting CoppeliaSim in headless mode not in a container works fine?

What output do you get if you edit libLoadErrorCheck.sh and replace libcoppeliaSim.so with libsimExtZMQ.so in the last line, then run libLoadErrorCheck.sh?

Cheers
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Kamal99
Posts: 15
Joined: 29 Mar 2022, 21:01

Re: plugin 'ZMQ': load failed (could not load)

Post by Kamal99 »

Hello,

The ./libLoadErrorCheck.sh response, please see below
run from within the container


Code: Select all

/home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libcoppeliaSim.so: /lib/x86_64-linux-gnu/libm.so.6: version `GLIBC_2.29' not found (required by /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libcoppeliaSim.so)
/home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libcoppeliaSim.so: /lib/x86_64-linux-gnu/libm.so.6: version `GLIBC_2.29' not found (required by /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/liblua5.3.so.0)
	linux-vdso.so.1 (0x00007ffddd377000)
	liblua5.3.so.0 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/liblua5.3.so.0 (0x00007fce20541000)
	libqscintilla2_qt5.so.13 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libqscintilla2_qt5.so.13 (0x00007fce1ef96000)
	libQt5OpenGL.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5OpenGL.so.5 (0x00007fce1ed3f000)
	libQt5Widgets.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5Widgets.so.5 (0x00007fce1e4f0000)
	libQt5Gui.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5Gui.so.5 (0x00007fce1dca3000)
	libQt5Network.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5Network.so.5 (0x00007fce1d8fc000)
	libQt5SerialPort.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5SerialPort.so.5 (0x00007fce1d6e3000)
	libQt5Core.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5Core.so.5 (0x00007fce1cf4a000)
	libGL.so.1 => /usr/lib/x86_64-linux-gnu/libGL.so.1 (0x00007fce1ccbe000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fce1ca9f000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fce1c716000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fce1c378000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fce1c160000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fce1bd6f000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fce1bb6b000)
	libQt5PrintSupport.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libQt5PrintSupport.so.5 (0x00007fce1b8f9000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fce1b6dc000)
	libicui18n.so.56 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libicui18n.so.56 (0x00007fce1b243000)
	libicuuc.so.56 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libicuuc.so.56 (0x00007fce1ae8b000)
	libicudata.so.56 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libicudata.so.56 (0x00007fce194a8000)
	libgthread-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgthread-2.0.so.0 (0x00007fce192a6000)
	libglib-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007fce18f8f000)
	/lib64/ld-linux-x86-64.so.2 (0x00007fce20357000)
	libGLX.so.0 => /usr/lib/x86_64-linux-gnu/libGLX.so.0 (0x00007fce18d5e000)
	libGLdispatch.so.0 => /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0 (0x00007fce18aa8000)
	libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007fce18836000)
	libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007fce184fe000)
	libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007fce182d6000)
	libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007fce180d2000)
	libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007fce17ecc000)
	libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007fce17cb7000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fce17aaf000)
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coppelia
Site Admin
Posts: 10375
Joined: 14 Dec 2012, 00:25

Re: plugin 'ZMQ': load failed (could not load)

Post by coppelia »

I think you haven't edited the file as instructed above. The ZeroMQ plugin is not dependent on Qt.

Cheers
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Kamal99
Posts: 15
Joined: 29 Mar 2022, 21:01

Re: plugin 'ZMQ': load failed (could not load)

Post by Kamal99 »

You are right, sorry it wasn't clear in the terminal.

Code: Select all

Singularity> ./libLoadErrorCheck.sh
	linux-vdso.so.1 (0x00007ffe222f9000)
	libboost_regex.so.1.71.0 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libboost_regex.so.1.71.0 (0x00007f17cb7ae000)
	libzmq.so.5 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libzmq.so.5 (0x00007f17cb515000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f17cb32c000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f17cb311000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f17cb11f000)
	libicui18n.so.66 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libicui18n.so.66 (0x00007f17cae20000)
	libicuuc.so.66 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libicuuc.so.66 (0x00007f17cac38000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f17cac15000)
	libsodium.so.23 => not found
	libpgm-5.2.so.0 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libpgm-5.2.so.0 (0x00007f17ca9c9000)
	libnorm.so.1 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libnorm.so.1 (0x00007f17ca699000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f17ca68f000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f17ca53e000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f17cb967000)
	libicudata.so.66 => /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/libicudata.so.66 (0x00007f17c8a7d000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f17c8a77000)
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Kamal99
Posts: 15
Joined: 29 Mar 2022, 21:01

Re: plugin 'ZMQ': load failed (could not load)

Post by Kamal99 »

Hello

apt install libsodium-dev solved the problems

Thank you!
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martin
Posts: 44
Joined: 15 Mar 2016, 10:38

Re: plugin 'ZMQ': load failed (could not load)

Post by martin »

Thanks a lot for posting the solution. It was very helpful for me.
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