@kyrofa I finally fixed all the new snapcraft changes to get slam toolbox released before ROSCon.
It turns out because of pluginlib, I need to release in classic confinement for technical reason I don’t understand behind the scenes of snapcraft. I have users that are trying to use this right now and this is a blocker to their deployment of robot assets. I’m not able to get access to the libraries I need in strict confinement on run-time though it builds fine.
What happens is the usual pluginlib “do you have any plugins?” errors. To make pluginlib work inside the snap I needed to manually set the library paths for blas and lapack, so my guess is whatever the issue with strict that classic doesn’t have is related to accessing those libraries.
Failed to create solver_plugins::CeresSolver, is it registered and built? Exception: Failed to load library /snap/slam-toolbox-melodic/x1/opt/ros/melodic/lib/libceres_solver_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = liblapack.so.3: cannot open shared object file: No such file or directory).
I don’t see this when compiled in classic or devmode. No errors on compile time.