dusty-nv
commented
1 year ago @kenloumixx unfortunately I haven't seen this error before and am not sure how to fix it, I'm sorry. Does this happen with my pre-built ROS Humble container from DockerHub (listed in this table: https://github.com/dusty-nv/jetson-containers/blob/master/README.md#pre-built-container-images)
Or, I am curious if this happens for you with Foxy/Galactic, because Humble uses some newer stuff (as it's based on 22.04). Actually, I realized that my Humble container images are only for JetPack 5 (20.04) because I couldn't get it building for 18.04 on JetPack 4.
kenloumixx
Hello, I am a newbie for ROS1 and ROS2. I use Jetson Xavier AGX with Jetpack SDK 4.6.3, which supports Ubuntu 18.04. Although the upper version of Ubuntu is compatible with AGX, to simulate the final code in TX2 I have to fix the Ubuntu version as 18.04.
Using your docker container, I build ROS2 humble from source and build packages from source too.
I succeeded to build all the packages that I needed, but when I run the launch file the below error appears
Error1) The package that has just been built outputs an undefined symbol [robot_state_publisher-1]
/root/ros2_humble/install/lib/robot_state_publisher/robot_state_publisher: symbol lookup error: /root/ros2_humble/install/lib/robot_state_publisher/robot_state_publisher: undefined symbol: _ZNK12class_loader11ClassLoader14getLibraryPathB5cxx11EvWhat I did) Installed the robot state publisher package by git clone and build from source but the same error keeps occurring
Error2) Bunch of undefined symbol error occurs [component_container_isolated-3] [INFO] [1682701839.864571588]
[nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libcontroller_server_core.so [component_container_isolated-3] [ERROR] [1682701839.979859721] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libcontroller_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701839.983249149] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libmap_server_core.so [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'controller_server' of type 'nav2_controller::ControllerServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libcontroller_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [ERROR] [1682701840.003610261] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libmap_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'map_server' of type 'nav2_map_server::MapServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libmap_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.056172602] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libsmoother_server_core.so [component_container_isolated-3] [ERROR] [1682701840.083442431] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libsmoother_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.095752612] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libamcl_core.so [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'smoother_server' of type 'nav2_smoother::SmootherServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libsmoother_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [ERROR] [1682701840.116262721] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libamcl_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'amcl' of type 'nav2_amcl::AmclNode' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libamcl_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.144925078] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libplanner_server_core.so [component_container_isolated-3] [ERROR] [1682701840.150345071] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libplanner_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.162698710] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so [component_container_isolated-3] [ERROR] [1682701840.170959088] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'planner_server' of type 'nav2_planner::PlannerServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libplanner_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'lifecycle_manager_localization' of type 'nav2_lifecycle_manager::LifecycleManager' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.201203546] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libbehavior_server_core.so [component_container_isolated-3] [ERROR] [1682701840.216321887] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbehavior_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'behavior_server' of type 'behavior_server::BehaviorServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbehavior_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.229592645] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libbt_navigator_core.so [component_container_isolated-3] [ERROR] [1682701840.244705002] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbt_navigator_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'bt_navigator' of type 'nav2_bt_navigator::BtNavigator' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbt_navigator_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.254544315] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libwaypoint_follower_core.so [component_container_isolated-3] [ERROR] [1682701840.259580679] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libwaypoint_follower_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'waypoint_follower' of type 'nav2_waypoint_follower::WaypointFollower' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libwaypoint_follower_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.270849128] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libvelocity_smoother_core.so [component_container_isolated-3] [ERROR] [1682701840.278924220] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libvelocity_smoother_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'velocity_smoother' of type 'nav2_velocity_smoother::VelocitySmoother' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libvelocity_smoother_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.287915984] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so [component_container_isolated-3] [ERROR] [1682701840.292632113] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'lifecycle_manager_navigation' of type 'nav2_lifecycle_manager::LifecycleManager' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [rviz2-2] [INFO] [1682701841.784876373] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1682701841.789491699] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1682701842.142289756] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] /root/ros2_pkgs/install/lib/rviz2/rviz2: symbol lookup error: /root/ros2_pkgs/install/lib/librviz_common.so: undefined symbol: _ZNK12class_loader23MultiLibraryClassLoader27getAllAvailableClassLoadersEv [ERROR] [rviz2-2]: process has died [pid 20351, exit code 127, cmd '/root/ros2_pkgs/install/lib/rviz2/rviz2 -d /workspace/install/share/a1_robot/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2'].What I did) I had no choice but to google the issue and haven't find the answer yet.Is there any idea of how can I solve this problem? This is more related to the navigation but I think you might have seen this error so just to get some advices to solve this error. Thank you for the great work!