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goldleaf3i / prior-maps-exploration

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The problem with libRobotOperator.so #2

Open hocken-li opened 2 years ago

hocken-li commented 2 years ago

setting /run_id to c7416614-e189-11ec-9792-d017c20c5373 process[rosout-1]: started with pid [11386] started core service [/rosout] process[gazebo-2]: started with pid [11393] process[gazebo_gui-3]: started with pid [11398] process[spawn_turtlebot_model-4]: started with pid [11403] process[mobile_base_nodelet_manager-5]: started with pid [11404] process[cmd_vel_mux-6]: started with pid [11405] process[robot_state_publisher-7]: started with pid [11406] process[blueprint_map_server-8]: started with pid [11411] process[blueprint_map_server_coverage-9]: started with pid [11415] process[Operator-10]: started with pid [11419] process[Navigator-11]: started with pid [11431] process[GetMap-12]: started with pid [11444] process[Explore-13]: started with pid [11449] process[SetGoal-14]: started with pid [11454] process[rviz-15]: started with pid [11456] process[slam_gmapping-16]: started with pid [11468] process[logger-17]: started with pid [11471] /opt/ros/melodic/lib/nav2d_operator/operator: symbol lookup error: /opt/ros/melodic/lib/libRobotOperator.so: undefined symbol: _ZN10costmap_2d12Costmap2DROSC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERN7tf2_ros6BufferE [Operator-10] process has died [pid 11419, exit code 127, cmd /opt/ros/melodic/lib/nav2d_operator/operator cmd_vel:=cmd_vel_mux/input/teleop name:=Operator log:=/home/hocken/.ros/log/c7416614-e189-11ec-9792-d017c20c5373/Operator-10.log]. log file: /home/hocken/.ros/log/c7416614-e189-11ec-9792-d017c20c5373/Operator-10*.log

when I run: roslaunch blueprint_exploration turtlebot_expl.launch the error as above, I reinstalled "ros-Melodic-nav2D-operator" many times, but couldn't get a solution

goldleaf3i commented 2 years ago

Hi,

The issue seems to be in nav2d. have you tried to run Nav2D standalone: https://wiki.ros.org/nav2d?distro=melodic to see what happens? Is it working without being integrated in our code?

From what I recall, we used ROS kinetic, because on Melodic we experienced a strange behaviour with an external module used for exploration, probably related to Nav2D. It was working (we did not get any error as you do) but still the behaviour of the robot was strange. Evenually, we reverted to nav2d from ROS kinetic (https://github.com/skasperski/navigation_2d/tree/kinetic).

my suggestion is to try to use nav2D standalone in melodic and to try to replicate the error. If nav2d standalone works, try to install nav2d from the ROS kinetic branch.

Let me know if that works for you.

hocken-li commented 2 years ago

Thank you for your guidance! I download Nav2d on Github instead of using "apt-get install ros-melodic-nav2d". And I re-downloaded the navigation on Github. It works now! I look forward to our next communication.