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intel / ros2_object_analytics

Apache License 2.0
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OA crashing when using PCL form ros1bridge #118

Open zentala opened 4 years ago

zentala commented 4 years ago

I am trying to use ros2_object_analytics on Eloquent with realsense-ros wrapper for ROS Melodic. So I am bridging PCL from ROS Melodic to ROS Eloquent. When I am starting ros2_object_analitycs I got this:

$ /opt/robot_devkit/perception/object_analytics_node/lib/object_analytics_node/object_analytics_node --tracking --localization --ros-args -r /object_analytics/detected_objects:=/ros2_openvino_toolkit/detected_objects -r /object_analytics/rgb:=/camera/color/image_raw -r /object_analytics/pointcloud:=/camera/depth/color/points       
[INFO] [OA_Composition]: Load library libsegmenter_component.so
[INFO] [OA_Composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<object_analytics_node::segmenter::SegmenterNode>
[INFO] [OA_Composition]: Load library libtracking_component.so
[INFO] [OA_Composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<object_analytics_node::tracker::TrackingNode>
[WARN] []: No objects to publish!
[1]    14536 segmentation fault (core dumped)   --tracking --localization --ros-args -r  -r  -r

But when I am using realsense wrapper for ROS Eloquent this issue doesn't occur:

$ /opt/robot_devkit/perception/object_analytics_node/lib/object_analytics_node/object_analytics_node --tracking --localization --ros-args -r /object_analytics/detected_objects:=/ros2_openvino_toolkit/detected_objects -r /object_analytics/rgb:=/camera/color/image_raw -r /object_analytics/pointcloud:=/camera/pointcloud                                                                      
[INFO] [OA_Composition]: Load library libsegmenter_component.so
[INFO] [OA_Composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<object_analytics_node::segmenter::SegmenterNode>
[INFO] [OA_Composition]: Load library libtracking_component.so
[INFO] [OA_Composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<object_analytics_node::tracker::TrackingNode>
zentala commented 4 years ago

New debug info: I got above error when I am using bridge without any arguments (ros2 run ros1_bridge dynamic_bridge). But when I am using bridge with argument --bridge-all-topics I got error symbol lookup error: /[...]/object_analytics_node: undefined symbol: _ZNK12class_loader11ClassLoader14getLibraryPathB5cxx11Ev. Full error:

$ /opt/robot_devkit/perception/object_analytics_node/lib/object_analytics_node/object_analytics_node --tracking --localization __log_level:=debug --ros-args -r /object_analytics/detected_objects:=/ros2_openvino_toolkit/detected_objects -r /object_analytics/rgb:=/camera/color/image_raw -r /object_analytics/pointcloud:=/camera/depth/color/points
/opt/robot_devkit/perception/object_analytics_node/lib/object_analytics_node/object_analytics_node: symbol lookup error: /opt/robot_devkit/perception/object_analytics_node/lib/object_analytics_node/object_analytics_node: undefined symbol: _ZNK12class_loader11ClassLoader14getLibraryPathB5cxx11Ev
$