Error Loading libhalsim_guid.so on Linux AArch64

[dustinlieu]

I get the following error when trying to simulate a blank CPP project. It seems like the simulation is running, but the Sim GUI doesn't start.

HAL Extensions: Attempting to load: libhalsim_guid.so
HAL Extensions: Load failed: /home/person/robotics/1538-2025/build/install/frcUserProgram/linuxarm64/debug/lib/libhalsim_guid.so.debug: object file has no dynamic section
Trying modified name: libhalsim_guid.so.debug
HAL Extensions: Failed to load library: lib/home/person/robotics/1538-2025/build/install/frcUserProgram/linuxarm64/debug/lib/libhalsim_guid.so.debug.so: cannot open shared object file: No such file or directory

********** Robot program starting **********
Not loading CameraServerShared
NT: Listening on NT3 port 1735, NT4 port 5810

********** Robot program startup complete **********

Checking the library with readelf indeed shows that there is no dynamic section.

[person@fedora ~]$ readelf -d /home/person/robotics/1538-2025/build/install/frcUserProgram/linuxarm64/debug/lib/libh
alsim_guid.so.debug

There is no dynamic section in this file.

Hash of libhalsim_guid.so.debug

[person@fedora ~]$ sha256sum /home/person/robotics/1538-2025/build/install/frcUserProgram/linuxarm64/debug/lib/libhalsim_guid.so.debug
b1d923ca7101a742bd2b8a6b051f3869d4ee5c0c9821a3c644053e50294a5039  /home/person/robotics/1538-2025/build/install/frcUserProgram/linuxarm64/debug/lib/libhalsim_guid.so.debug

To Reproduce
Steps to reproduce the behavior:

1. Create a new CPP project
2. Simulate robot code with Sim GUI option

Expected behavior
The Sim GUI should open.

Desktop (please complete the following information):

• OS: Linux
• Project Information:

WPILib Information:
Project Version: 2025.1.1
VS Code Version: 1.96.2
WPILib Extension Version: 2025.1.1
C++ Extension Version: 1.23.2
Java Extension Version: 1.38.0
Java Debug Extension Version: 0.58.1
Java Dependencies Extension Version 0.24.1
Java Version: 17
Java Location: /home/person/wpilib/2025/jdk
Vendor Libraries:
    WPILib-New-Commands (1.0.0)

[ThadHouse]

Uh... That's very bizzare, and definitely not the library that should be being loaded.

Are you seeing this on a Raspberry Pi? Are you running this from VS Code? If you're running it from VS Code, can you send the terminal output from the terminal that pops up. I'm curious why its trying those libraries.

[ThadHouse]

Ok, I found it.

https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/simulation/SimulationExtension.java#L213

This is a bug in gradlerio due to a difference in how we do libraries on arm platforms vs intel desktop platforms.

We need to be filtering out any .so.debug libraries found in there.

[dustinlieu]

Are you seeing this on a Raspberry Pi? Are you running this from VS Code? If you're running it from VS Code, can you send the terminal output from the terminal that pops up. I'm curious why its trying those libraries.

I'm running this on a Apple Silicon device running Linux.

Yes, I'm running it from VS Code, but the output I pasted in the original post is all I see. In the other tabs I just see "Build Successful" and the gdb output.

[ThadHouse]

Yeah. I'm good, I see what the problem is. We'll look at getting it fixed. Nobody had ever really ran arm64 linux before.