ROS 2 plugin is not loading on start up

[carlosdoblev]

Hi! I'm a newbie working with ros2 and coppeliasim, the thing is that normally i was seeing that all the plugins were load in startup but in my case it's not happening. I don't know if I have to add something or if I'm doing something wrong. If I use the line simROS2 = require('simROS2'), the plugin is load correctly, but It's not happening in start up. The only thing uncommon is that I'm using zsh. Thanks.

[carlosdoblev]

This is the screenshot of the start-up

Code: Select all

[CoppeliaSimClient]   loading the CoppeliaSim library...
[CoppeliaSimClient:loadinfo]   done.
[CoppeliaSimClient:loadinfo]   launching CoppeliaSim...
[CoppeliaSim:loadinfo]   Application directory is /home/mypc/Downloads/CoppeliaSim_Edu_V4_6_0_rev18_Ubuntu22_04
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[CoppeliaSim:loadinfo]   user settings file is /home/mypc/.CoppeliaSim/usrset.txt
[CoppeliaSim:loadinfo]   CoppeliaSim v4.6.0 (rev. 18), flavor: 1, linux
[CoppeliaSim:loadinfo]   plugin simIK0: loading...
[CoppeliaSim:loadinfo]   plugin simIK0: done.
[CoppeliaSim:loadinfo]   primary screen physical dots per inch: 123
[CoppeliaSim:loadinfo]   display scaling (guessed): 100
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[CoppeliaSim:loadinfo]   loaded the video compression library.
[CoppeliaSim:loadinfo]   if CoppeliaSim crashes now, try to install libgl1-mesa-dev on your system:
    >sudo apt install libgl1-mesa-dev
[CoppeliaSim:loadinfo]   OpenGL: Intel, Renderer: Mesa Intel(R) HD Graphics 4000 (IVB GT2), Version: 4.2 (Compatibility Profile) Mesa 23.2.1-1ubuntu3.1~22.04.2
[CoppeliaSim:loadinfo]   simulator launched.
[CoppeliaSim:loadinfo]   plugin 'BWF': loading...
[CoppeliaSim:loadinfo]   plugin 'BWF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'RemoteApi': loading...
[CoppeliaSim:loadinfo]   plugin 'RemoteApi': load succeeded.
[CoppeliaSim:loadinfo]   initializing the sandbox script...
[sandboxScript:loadinfo]   plugin simZMQ: loading...
[sandboxScript:loadinfo]   plugin simZMQ: done.
[sandboxScript:loadinfo]   plugin simSubprocess: loading...
[sandboxScript:loadinfo]   plugin simSubprocess: done.
[sandboxScript:loadinfo]   plugin simURLDrop: loading...
[sandboxScript:loadinfo]   plugin simURLDrop: done.
[CoppeliaSim:loadinfo]   sandbox script initialized.
[CoppeliaSim:loadinfo]   add-on '3D text generator.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Add-on edit.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Alias change.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Animation capture.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'B0 remote Api server.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Button action.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Collision check.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Color changer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Commander.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Contact display.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Create dummies on mesh surface.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Custom data block explorer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Define joint group.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Denavit Hartenberg creator.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Denavit Hartenberg extractor.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Distance check.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Distribute objects uniformly.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Event viewer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Events capture.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Events dump exporter.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Find midpoint.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Floor plan importer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'GLTF animation exporter.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'GLTF exporter.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Inverse Kinematics generator.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Isometric scaling.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Joint tool.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'LDraw importer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Measure distance and direction.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Mesh difference.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Mesh intersection.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Mesh subdivision.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Mesh symmetric difference.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Mesh union.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Message viewer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Minimalistic exporter.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Minimalistic importer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Motion Planning generator.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Notepad++ autocompletion.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Plugin enumerator.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Point cloud importer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Point sampler interactive.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Point sampler service.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'PyRep.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Referenced handles explorer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Referenced handles highlight.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Screenshot tool.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Script capture.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'SDF importer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Simulation stepper.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Surface reconstruction.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Translate to align vertex.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'URDF exporter.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'URDF importer.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'URL drop service.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Video recorder.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'Visualization stream.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'WS remote API server.lua' was loaded.
[CoppeliaSim:loadinfo]   add-on 'ZMQ remote API server.lua' was loaded.
[Developer tools >> Commander >> Commander@addOnScript:loadinfo]   plugin simCmd: loading...
[Developer tools >> Commander >> Commander@addOnScript:loadinfo]   plugin simCmd: done.
[Connectivity >> WebSocket remote API server@addOnScript:loadinfo]   plugin simWS: loading...
[Connectivity >> WebSocket remote API server@addOnScript:loadinfo]   plugin simWS: done.
[sandboxScript:loadinfo]   plugin simROS2: loading...
[sandboxScript:loadinfo]   plugin simROS2: done.
[/bubbleRob/graph@customizationScript:loadinfo]   plugin simUI: loading...
[/bubbleRob/graph@customizationScript:loadinfo]   plugin simUI: done.

[fferri]

That's normal.
Plugins are not loaded on startup anymore (probably since V4.5.1). Instead, are loaded on demand, by loadPlugin() or by lua modules (e.g. typically, simFoo.lua will loadPlugin('simFoo') if "Foo" is a plugin).