v0.18.0 ifm3d Compatibility

[cartesian-theatrics]

Hello,

v0.6.2 does not seem to be compatible with v0.18.0 of ifm3d. Is this the case? Any estimate of when we can expect a compatible release?

[theseankelly]

It's compatible -- and tested on kinetic, melodic, and noetic. I've just forgotten to update the README.

BTW we're a part of the ROS distribution for those three distros now -- $ sudo apt install ros-<distro>-ifm3d

[cartesian-theatrics]

I'm getting this now when building ifm3d-ros after upgrading the versions:

CMake Error at catkin_ws/src/ifm3d-ros/CMakeLists.txt:71 (add_library):
  Target "ifm3d_ros" links to target "Boost::system" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?

CMake Error at catkin_ws/src/ifm3d-ros/CMakeLists.txt:71 (add_library):
  Target "ifm3d_ros" links to target "Threads::Threads" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?

it appears as tho It's not available as a link target in ifm3d anymore.

[theseankelly]

What OS and ROS distro are you targeting?

How are you installing ifm3d (building from source, from the apt repository, other?)

[cartesian-theatrics]

This is with Kinetic. The issue ended up being an error in our build. It could well be on our end again, but now I'm dealing what appears to be an incorrect version of xmlrpc-c++ in ros:

[ERROR] [1594800006.741875968]: Failed to load nodelet [/camera] of type [ifm3d_ros/camera_nodelet] even after refreshing the cache: Failed to load library /opt/catkin/lib//libifm3d_ros.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /opt/catkin/lib//libifm3d_ros.so: undefined symbol: _ZTIN8xmlrpc_c18carriageParm_http0E)

I made sure that the ubuntu build dependencies are there:

$ sudo apt-get install libxmlrpc-c++8-dev
$ sudo apt-get install libgoogle-glog-dev

I'm getting lots of load errors:

└─▪ ld /opt/catkin/lib/libifm3d_ros.so
ld: warning: cannot find entry symbol _start; not setting start address
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::client_xml::client_xml(xmlrpc_c::clientXmlTransportPtr)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_int::value_int(int)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value::value(xmlrpc_c::value const&)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_array::vectorValueValue() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `girmem::autoObjectPtr::~autoObjectPtr()'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::rpc::getResult() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_limit_set'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::clientXmlTransport_curl::constrOpt::timeout(unsigned int const&)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value::~value()'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_struct::value_struct(xmlrpc_c::value)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::clientXmlTransport_curl::constrOpt::~constrOpt()'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_string::value_string(xmlrpc_c::value)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::carriageParm_http0::~carriageParm_http0()'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value::~value()'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::carriageParm_curl0::carriageParm_curl0(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `vtable for xmlrpc_c::rpcPtr'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::rpc::getFault() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_int::value_int(xmlrpc_c::value)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value::value(xmlrpc_c::value const&)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::rpc::isFinished() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::rpcPtr::rpcPtr(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, xmlrpc_c::paramList const&)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::paramList::paramList(unsigned int)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_bytestring::value_bytestring(xmlrpc_c::value)'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_string::cvalue[abi:cxx11]() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_bytestring::vectorUcharValue() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::value_struct::operator std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, xmlrpc_c::value, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, xmlrpc_c::value> > >[abi:cxx11]() const'
/opt/catkin/lib/libifm3d_ros.so: undefined reference to `xmlrpc_c::clientXmlTransportPtr::clientXmlTransportPtr(xmlrpc_c::clientXmlTransport*)'
...

[theseankelly]

Are you compiling the core ifm3d library from source or using apt? If apt, are you using the ifm-provided apt mirror (from the README) or are you using the ROS distribution version (package ros-kinetic-ifm3d-core)?

Same question for the ifm3d-ros package -- are you building the catkin package from source or are you using the ROS distribution (package ros-kinetic-ifm3d)?

[cartesian-theatrics]

Both are compiled from source.

[theseankelly]

Strange. I wonder if ifm3d is linking against a system library when it should be linking against a ros-provided version of the same library. Are you compiling ifm3d from a ROS environment (aka after souring /opt/ros/kinetic/setup.bash)?

I can try to reproduce -- would you be able to provide the output of rospack list so I can make sure I've got as similar an environment as possible?

[theseankelly]

And also the output of ldd /opt/catkin/lib/libifm3d_ros.so?

[cartesian-theatrics]

Everything is built from source, including ifm3d and ifm3d-ros. There may be something from from my local environment leaking into the build environment. libifm3d_ros.so is built by the ifm3d-ros library correct?

ldd shows it's loading the libxmlrpcpp.so in ros.

└─▪ ldd /opt/catkin/lib//libifm3d_ros.so
    linux-vdso.so.1 =>  (0x00007ffcf753a000)
    libimage_transport.so => /opt/ros/kinetic/lib/libimage_transport.so (0x00007fbd08000000)
    libcv_bridge.so => /opt/ros/kinetic/lib/libcv_bridge.so (0x00007fbd07dd6000)
    libopencv_core3.so.3.3 => /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3 (0x00007fbd06e9d000)
    libnodeletlib.so => /opt/ros/kinetic/lib/libnodeletlib.so (0x00007fbd06c36000)
    libclass_loader.so => /opt/ros/kinetic/lib/libclass_loader.so (0x00007fbd06a12000)
    libroscpp.so => /opt/ros/kinetic/lib/libroscpp.so (0x00007fbd06676000)
    librosconsole.so => /opt/ros/kinetic/lib/librosconsole.so (0x00007fbd06444000)
    libroscpp_serialization.so => /opt/ros/kinetic/lib/libroscpp_serialization.so (0x00007fbd06241000)
    librostime.so => /opt/ros/kinetic/lib/librostime.so (0x00007fbd06014000)
    libconsole_bridge.so.0.2 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 (0x00007fbd05e0f000)
    libboost_system.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 (0x00007fbd05c0b000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fbd059ee000)
    libglog.so.0 => /usr/lib/x86_64-linux-gnu/libglog.so.0 (0x00007fbd057bf000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fbd0543d000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fbd05134000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fbd04f1e000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fbd04b54000)
    /lib64/ld-linux-x86-64.so.2 (0x00007fbd08586000)
    libmessage_filters.so => /opt/ros/kinetic/lib/libmessage_filters.so (0x00007fbd0494f000)
    libtinyxml2.so.2 => /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2 (0x00007fbd0473c000)
    libroslib.so => /opt/ros/kinetic/lib/libroslib.so (0x00007fbd0452a000)
    libboost_filesystem.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 (0x00007fbd04312000)
    libopencv_imgcodecs3.so.3.3 => /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3 (0x00007fbd03ce3000)
    libboost_regex.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0 (0x00007fbd039db000)
    libopencv_imgproc3.so.3.3 => /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3 (0x00007fbd010e5000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fbd00ee1000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fbd00cd9000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fbd00abf000)
    libbondcpp.so => /opt/ros/kinetic/lib/libbondcpp.so (0x00007fbd0088f000)
    libboost_thread.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 (0x00007fbd00669000)
    libPocoFoundation.so.9 => /usr/lib/libPocoFoundation.so.9 (0x00007fbd0030d000)
    libxmlrpcpp.so => /opt/ros/kinetic/lib/libxmlrpcpp.so (0x00007fbd000ee000)
    libcpp_common.so => /opt/ros/kinetic/lib/libcpp_common.so (0x00007fbcffee6000)
    libboost_chrono.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 (0x00007fbcffcde000)
    librosconsole_log4cxx.so => /opt/ros/kinetic/lib/librosconsole_log4cxx.so (0x00007fbcffac5000)
    librosconsole_backend_interface.so => /opt/ros/kinetic/lib/librosconsole_backend_interface.so (0x00007fbcff8c3000)
    liblog4cxx.so.10 => /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10 (0x00007fbcff4ec000)
    libgflags.so.2 => /usr/lib/x86_64-linux-gnu/libgflags.so.2 (0x00007fbcff2cb000)
    libunwind.so.8 => /usr/lib/x86_64-linux-gnu/libunwind.so.8 (0x00007fbcff0b0000)
    librospack.so => /opt/ros/kinetic/lib/librospack.so (0x00007fbcfee6e000)
    libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007fbcfec15000)
    libwebp.so.5 => /usr/lib/x86_64-linux-gnu/libwebp.so.5 (0x00007fbcfe9b9000)
    libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007fbcfe794000)
    libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007fbcfe51f000)
    libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007fbcfe2ca000)
    libicui18n.so.55 => /usr/lib/x86_64-linux-gnu/libicui18n.so.55 (0x00007fbcfde68000)
    libicuuc.so.55 => /usr/lib/x86_64-linux-gnu/libicuuc.so.55 (0x00007fbcfdad4000)
    libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007fbcfd8cf000)
    libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007fbcfd65f000)
    libapr-1.so.0 => /usr/lib/x86_64-linux-gnu/libapr-1.so.0 (0x00007fbcfd42d000)
    libaprutil-1.so.0 => /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0 (0x00007fbcfd206000)
    liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007fbcfcfe4000)
    libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007fbcfcdce000)
    libboost_program_options.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.58.0 (0x00007fbcfcb50000)
    libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007fbcfc5c2000)
    libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007fbcfc3b4000)
    libicudata.so.55 => /usr/lib/x86_64-linux-gnu/libicudata.so.55 (0x00007fbcfa8fd000)
    libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007fbcfa6c5000)
    libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007fbcfa49c000)
    libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007fbcfa299000)

[theseankelly]

Hey @cartesian-theatrics sorry for my terrible response time on this topic.

Yeah, libifm3d_ros.so is from the ifm3d-ros package.

I need to get set up for a repro on Kinetc -- can you confirm how you're launching the nodelet (via launch or directly via a manager?)

[cartesian-theatrics]

No worries, the problem ended being that ifm3d was being statically linked. Once I enabled building of shared libs it worked.

[theseankelly]

Weird. ifm3d should be building shared libraries by default. Was that something you explicitly configured or do we have a CMake bug?