Change destination of libxxx.so for WOLF and dependencies

UPDATE: In order to avoid problems in runtime to find .so files, we decided to change the destination of the libxxx.so to /usr/local/lib, this means changing CMakeFile.txt of:

• wolf core
• wolf plugins
• laser_scan_utils
• gnss_utils
• vision_utils

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I've been trying to set up wolf + ROS on my own personal computer with Linux Mint (Ubuntu 18.04) and I've come across some issues with varying degree of importance. There are some minor issues that can be solved by adjusting the compiler flags in the CMakelists.txt but I wanted to draw attention to a (potential) major issue:

The issue comes up when installing the laser plugin. As you know, the laser plugin depends on laser_scan_utils. After I compile & install the laser plugin:

path/to/laser/build: cmake ..
path/to/laser/build: make
path/to/laser/build: sudo make install

if I try to use the wolf::loader to load /usr/local/lib/iri-algorithms/libwolflaser.so I'll be met by the following error:

[trace][14:13:03] [problem.cpp L107 : autoSetup] Loading plugin /usr/local/lib/iri-algorithms/libwolflaser.so
terminate called after throwing an instance of 'std::runtime_error'
  what():  Couldn't load resource with path /usr/local/lib/iri-algorithms/libwolflaser.so
Error info: liblaser_scan_utils.so: cannot open shared object file: No such file or directory

But, if instead of doing sudo make install we just copy libwolflaser.so to /usr/local/lib/iri-algorithms then everything works. Thinking about the final user of wolf this looks like an extremely major issue but I don't know how to debug this error or have any idea as to what could cause it. I don't know either if this only happens to my personal computer, since IRI computers use ubuntu 16.04.

added bug reminder labels

@jmarti experienced the same issue on his ubuntu 18.04. He managed to solve the issue via modifying the list of paths that the linker uses to find libraries on runtime:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/iri-algorithms
sudo ldconfig

This fix seems to also work on my computer which runs Linux Mint (Ubuntu 18.04). This will do as a temporary fix but I do not like the idea of needing the modification of environment variables for wolf to work.

added help wanted label

changed the description

mentioned in issue #279 (closed)

mentioned in issue #216 (closed)

Working from home with Ubuntu 18.04 I've run into issue #216 (closed). Because that issue is related to the linking process as well, I am a bit worried because most of the testing of wolf has been with ubuntu 16.04 which virtually nobody will use to try wolf (I think), and the issue I see is that we heavily rely on the linking system to offer the plugin structure, so we will have to keep an eye out for this kind of stuff.

added To Do (release) label and removed reminder label

I added "TODO" label. It is an important issue to be dealt soon.

changed title from Issues with Ubuntu 18.04 to Change destination of libxxx.so for WOLF and dependencies

changed the description

assigned to @joanvallve

added Doing label and removed To Do (release) label

marked the checklist item laser_scan_utils as completed

marked the checklist item gnss_utils as completed

marked the checklist item vision_utils as completed

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/gnss#19 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/vision#18 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag#18 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/laser#19 (closed)