symbol lookup error when launching

[farbod1277]

Hi, when I try to launch this package I get the following errors:

nvidia@nvidia-desktop:~$ ros2 launch ros2_socketcan socket_can_bridge.launch.xml 
[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2022-12-07-15-11-56-825760-nvidia-desktop-3492
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [socket_can_receiver_node_exe-1]: process started with pid [3504]
[INFO] [socket_can_sender_node_exe-2]: process started with pid [3506]
[socket_can_receiver_node_exe-1] [INFO] [1670386318.916417368] [socket_can_receiver]: interface: can0
[socket_can_receiver_node_exe-1] [INFO] [1670386318.917685827] [socket_can_receiver]: interval(s): 0.010000
[socket_can_receiver_node_exe-1] [INFO] [1670386318.917841924] [socket_can_receiver]: use bus time: 0
[socket_can_sender_node_exe-2] [INFO] [1670386318.919789173] [socket_can_sender]: interface: can0
[socket_can_sender_node_exe-2] [INFO] [1670386318.920796766] [socket_can_sender]: timeout(s): 0.010000
[socket_can_receiver_node_exe-1] /home/nvidia/ros2_ws/install/ros2_socketcan/lib/ros2_socketcan/socket_can_receiver_node_exe: symbol lookup error: /home/nvidia/ros2_ws/install/ros2_socketcan/lib/libsocket_can_receiver_node.so: undefined symbol: _ZN22rosidl_typesupport_cpp31get_message_type_support_handleIN8can_msgs3msg6Frame_ISaIvEEEEEPK29rosidl_message_type_support_tv
[ERROR] [socket_can_receiver_node_exe-1]: process has died [pid 3504, exit code 127, cmd '/home/nvidia/ros2_ws/install/ros2_socketcan/lib/ros2_socketcan/socket_can_receiver_node_exe --ros-args -r __node:=socket_can_receiver -r __ns:=/ --params-file /tmp/launch_params_d99by55u'].
[ERROR] [socket_can_sender_node_exe-2]: process has died [pid 3506, exit code 127, cmd '/home/nvidia/ros2_ws/install/ros2_socketcan/lib/ros2_socketcan/socket_can_sender_node_exe --ros-args -r __node:=socket_can_sender -r __ns:=/ --params-file /tmp/launch_params_8r0zf3cn'].
[socket_can_sender_node_exe-2] /home/nvidia/ros2_ws/install/ros2_socketcan/lib/ros2_socketcan/socket_can_sender_node_exe: symbol lookup error: /home/nvidia/ros2_ws/install/ros2_socketcan/lib/libsocket_can_sender_node.so: undefined symbol: _ZN22rosidl_typesupport_cpp31get_message_type_support_handleIN8can_msgs3msg6Frame_ISaIvEEEEEPK29rosidl_message_type_support_tv

I am running ros2 foxy on Jetpack 5.02 (ubuntu 20.04) on an industrial xavier computer. I have confirmed that my can interface is working, I've used a peak can device and checked it using a physical can bus:

nvidia@nvidia-desktop:~$ ifconfig 
can0: flags=193<UP,RUNNING,NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 53  

can1: flags=193<UP,RUNNING,NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 54  

Colcon build was also successful:

nvidia@nvidia-desktop:~/ros2_ws$ colcon build
Starting >>> ros2_socketcan
Starting >>> ros2_socketcan_msgs             
Finished <<< ros2_socketcan [4.53s]                                                                        
Finished <<< ros2_socketcan_msgs [6.18s]                  

Summary: 2 packages finished [8.55s]

Any help would be much appreciated. Let me know if you'd like more info about the issue. Thanks

[JWhitleyWork]

This appears to be a linking error related to can_msgs. Is this package installed? If so, is it from source or via apt? I recommend clearing your workspace (i.e. rm -rf build/ install/ log/) and re-building.

[farbod1277]

Hi @JWhitleyWork , thank you for your response. I had previously installed ros-foxy-can-msgs fromt apt, but it looks like I also needed to install ros-foxy-can-msgs-dbgsym for this to work correctly. After installing that and rebuilding using colcon build it all works correctly now, thanks. Closing.

[farbod1277]

Just reopening this issue as it seems it's not fixed yet. rosdep doesn't install ros-foxy-can-msgs-dbgsym only ros-foxy-can-msgs, and this caused a runtime issue with the symbol lookup.