# Error when lunching voxl_mpa_to_ros.launch

Source: https://forum.modalai.com/topic/3972/error-when-lunching-voxl_mpa_to_ros-launch
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2024-11-22 21:29:12 UTC by Mohammad Goli
Replies: 4 · Views: 3418

## Mohammad Goli · 2024-11-22 21:29:12 UTC

Hi,

I installed ROS on our VOXL2 machine following this guide:
https://docs.modalai.com/ros-installation-voxl2/

when I try to run the voxl_mpa_to_ros node, by running the below command, it runs roscore correctly but gives an error with the actual node:

voxl2:~/$ roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
here is the error:

/opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node: error while loading shared libraries: libyaml-cpp.so.0.5: cannot open shared object file: No such file or directory
failed to start local process: /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/home/root/.ros/log/887bafd6-a917-11ef-818d-00c0cab3a5da/voxl_mpa_to_ros_node-2.log
local launch of voxl_mpa_to_ros/voxl_mpa_to_ros_node failed
[voxl_mpa_to_ros_node-2] process has died [pid -1, exit code 127, cmd /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/home/root/.ros/log/887bafd6-a917-11ef-818d-00c0cab3a5da/voxl_mpa_to_ros_node-2.log].
log file: /home/root/.ros/log/887bafd6-a917-11ef-818d-00c0cab3a5da/voxl_mpa_to_ros_node-2*.log

I appreciate your advice on how to fix this.

Thanks

## Reply by Mohammad Goli · 2024-12-12 23:51:32 UTC

To resolve the issue with the missing shared library, I followed these steps:

**Download the YAML-CPP source code archive**:
wget https://github.com/jbeder/yaml-cpp/archive/refs/tags/yaml-cpp-0.5.3.tar.gz
Extract the archive:
tar -xvf yaml-cpp-0.5.3.tar.gz

**Navigate to the extracted directory and create a build directory:**
cd yaml-cpp-0.5.3
mkdir build
cd build

**Configure the build with CMake, enabling shared libraries and setting the installation prefix:**
cmake .. -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local

**Compile the library:**
make -j$(nproc)

**Install the compiled library:**
sudo make install

**Update the shared library cache:**
sudo ldconfig

After completing these steps, the shared library issue was resolved successfully.

However, now when I run the launch file I get the following error ( echo: write error: Broken pipe)
voxl2:/$ roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
... logging to /home/root/.ros/log/eb195fbe-b8e2-11ef-b28f-00c0cab3a5da/roslaunch-m0054-6563.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://m0054:38143/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    voxl_mpa_to_ros_node (voxl_mpa_to_ros/voxl_mpa_to_ros_node)

auto-starting new master
process[master]: started with pid [6577]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to eb195fbe-b8e2-11ef-b28f-00c0cab3a5da
process[rosout-1]: started with pid [6588]
started core service [/rosout]
process[voxl_mpa_to_ros_node-2]: started with pid [6591]

MPA to ROS app is now running

Found new interface: hires_large_color
Found new interface: hires_large_encoded
Found new interface: hires_large_grey
Found new interface: hires_small_color
Found new interface: hires_small_encoded
Found new interface: hires_small_grey
Found new interface: hires_snapshot
Found new interface: qvio_overlay
Found new interface: tracking_down_color
Found new interface: tracking_down_grey
Found new interface: tracking_down_small_color
Found new interface: tracking_down_small_encoded
Found new interface: tracking_down_small_grey
Found new interface: tracking_front
/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe
**[voxl_mpa_to_ros_node-2] process has died [pid 6591, exit code -11, cmd /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/home/root/.ros/log/eb195fbe-b8e2-11ef-b28f-00c0cab3a5da/voxl_mpa_to_ros_node-2.log].
log file: /home/root/.ros/log/eb195fbe-b8e2-11ef-b28f-00c0cab3a5da/voxl_mpa_to_ros_node-2*.log**
/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe
/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe
![Screenshot from 2024-12-12 18-46-37.png](https://forum.modalai.com/assets/uploads/files/1734047468293-screenshot-from-2024-12-12-18-46-37.png) 

I appreciate if someone can provide any help on this.

Thanks,

## Reply by Zachary Lowell 0 · 2024-12-16 16:56:00 UTC

I will take a gander at this today @Mohammad-Goli and get abck with an answer - I will say the ros1 is deprecated and we tend to support or push for ros2 - does the same issue persist with ros2?

## Reply by Mohammad Goli · 2024-12-19 18:18:36 UTC (in reply to Zachary Lowell 0)

@Zachary-Lowell-0 

All our robots are currently operating on ROS1, and we haven’t transitioned to ROS2 yet. Any help, advice, or guidance on this would be greatly appreciated. Thank you!

## Reply by teddy.zaremba · 2025-01-03 19:14:29 UTC

Hi @Mohammad-Goli, it seems like something on your VOXL is prematurely closing the file descriptor attached to the process that lists the pipes - I'm not sure what that is. I'm also not getting any errors with libyaml-cpp so that could be part of the problem. I'm running on SDK version 1.3.5, so I if were you I'd re-flash your VOXL and try the install again. 

[Flashing the VOXL guide](https://beta-docs.modalai.com/flash-system-image/)

Sorry I couldn't recreate your issue. If you're still having a problem after re-flashing, let me know what SDK you tried and I'll give it a shot on my end.