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ethz-asl / rotors_simulator

RotorS is a UAV gazebo simulator
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undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev #661

Closed SunggooJung closed 2 years ago

SunggooJung commented 3 years ago

I'm trying to use RotorS for system ID purpose but it show the errors like below. Have any idea?

$ roslaunch rotors_gazebo mav.launch ... logging to /home/sg/.ros/log/a06429c2-7b24-11eb-aaac-a85e45e6c65b/roslaunch-sg-10146.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

redefining global property: pi when processing file: /home/sg/catkin_ws/src/rotors_simulator/rotors_description/urdf/component_snippets.xacro included from: /home/sg/catkin_ws/src/rotors_simulator/rotors_description/urdf/firefly_base.xacro started roslaunch server http://sg:36581/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) /firefly/ spawn_firefly (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [10159] ROS_MASTER_URI=http://localhost:11311

setting /run_id to a06429c2-7b24-11eb-aaac-a85e45e6c65b process[rosout-1]: started with pid [10170] started core service [/rosout] process[gazebo-2]: started with pid [10173] process[gazebo_gui-3]: started with pid [10182] process[firefly/spawn_firefly-4]: started with pid [10187] [ INFO] [1614668281.515324299]: Finished loading Gazebo ROS API Plugin. [ INFO] [1614668281.516312139]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1614668281.542289940]: Finished loading Gazebo ROS API Plugin. [ INFO] [1614668281.543125175]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1614668281.765485, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1614668281.770620, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1614668282.815874700]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1614668282.827225844]: Physics dynamic reconfigure ready. [INFO] [1614668282.974797, 0.000000]: Calling service /gazebo/spawn_urdf_model [INFO] [1614668283.090899, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity gzserver: symbol lookup error: /home/sg/catkin_ws/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev [gazebo-2] process has died [pid 10173, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -u -e ode /home/sg/catkin_ws/src/rotors_simulator/rotors_gazebo/worlds/basic.world name:=gazebo log:=/home/sg/.ros/log/a06429c2-7b24-11eb-aaac-a85e45e6c65b/gazebo-2.log]. log file: /home/sg/.ros/log/a06429c2-7b24-11eb-aaac-a85e45e6c65b/gazebo-2.log [firefly/spawn_firefly-4] process has finished cleanly log file: /home/sg/.ros/log/a06429c2-7b24-11eb-aaac-a85e45e6c65b/firefly-spawn_firefly-4.log

jlack1987 commented 3 years ago

I have the same issue, is there a workaround or anything?

Zyhlibrary commented 2 years ago

I found the reason. You just need to copy the Actuators.pb.cc and Actuators.pb.h to rotors_gazebo_plugins, and add it to your cmakelist.txt where you generate the librotors_gazebo_multirotor_base_plugin.so.
add_library(rotors_gazebo_multirotor_base_plugin SHARED src/gazebo_multirotor_base_plugin.cpp src/Actuators.pb.cc)

SunggooJung commented 2 years ago

@jlack1987 fixed this issue. Thanks!

jlack1987 commented 2 years ago

I fixed it and MR'd the fix but it hasn't been merged yet. Probably shouldn't close until the MR has been merged https://github.com/ethz-asl/rotors_simulator/pull/667

xiaoshengjianan commented 1 year ago

How did you fix it? @SunggooJung

jlack1987 commented 1 year ago

I fixed it in that MR but it was never merged. Somebody needs to merge this to fix. Been awhile now, I suspect this code is not maintained anymore