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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Undefined Symbol Issue : librtabmap_util_plugins.so: undefined symbol #1100

Closed BytePaul closed 5 months ago

BytePaul commented 5 months ago

I am new to using RTABMAP. I would appreciate your input on this issue.

I keep getting the following issue : librtabmap_util_plugins.so: undefined symbol

Following is the output of the roslaunch command

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [5285] process[rtabmap/rgbd_sync-2]: started with pid [5286] process[rtabmap/rtabmap-3]: started with pid [5287] process[rtabmap/rtabmap_viz-4]: started with pid [5288] process[move_base-5]: started with pid [5290] process[rviz-6]: started with pid [5295] [ INFO] [1704995482.612311611]: Initializing nodelet with 12 worker threads. [ INFO] [1704995482.754017912]: Starting node... [ INFO] [1704995482.783862640]: Initializing nodelet with 12 worker threads. [ WARN] [1704995482.828191708, 65.247000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 65.247 timeout was 0.1. [ INFO] [1704995482.875662184, 65.297000000]: /rtabmap/rgbd_sync: approx_sync = true [ INFO] [1704995482.875900640, 65.297000000]: /rtabmap/rgbd_sync: approx_sync_max_interval = 0.000000 [ INFO] [1704995482.876018101, 65.297000000]: /rtabmap/rgbd_sync: queue_size = 10 [ INFO] [1704995482.876138858, 65.298000000]: /rtabmap/rgbd_sync: depth_scale = 1.000000 [ INFO] [1704995482.876221641, 65.298000000]: /rtabmap/rgbd_sync: decimation = 1 [ INFO] [1704995482.876302157, 65.298000000]: /rtabmap/rgbd_sync: compressed_rate = 0.000000 [ INFO] [1704995482.886863459, 65.307000000]: /rtabmap/rgbd_sync subscribed to (approx sync): /camera/rgb/image_raw \ /camera/depth/image_raw \ /camera/rgb/camera_info /home/paul/catkin_ws/devel/lib/rtabmap_slam/rtabmap: symbol lookup error: /home/paul/catkin_ws/devel/lib/librtabmap_util_plugins.so: undefined symbol: _ZN7rtabmap13OccupancyGridC1EPKNS_14LocalGridCacheERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESA_St4lessISA_ESaISt4pairIKSA_SA_EEE [ INFO] [1704995482.903820214]: Starting node... [rtabmap/rtabmap-3] process has died [pid 5287, exit code 127, cmd /home/paul/catkin_ws/devel/lib/rtabmap_slam/rtabmap -d move_base:=/move_base scan:=/scan odom:=/odom rgbd_image:=rgbd_image grid_map:=/map name:=rtabmap log:=/home/paul/.ros/log/bf52919e-b0a9-11ee-82f8-91264e8526c5/rtabmap-rtabmap-3.log]. log file: /home/paul/.ros/log/bf52919e-b0a9-11ee-82f8-91264e8526c5/rtabmap-rtabmap-3*.log [ INFO] [1704995483.028380273]: rtabmap_viz: Using configuration from "/home/paul/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/rgbd_gui.ini" libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1704995484.118719021, 66.527000000]: rtabmap_viz: Reading parameters from the ROS server... [ INFO] [1704995484.120159332, 66.528000000]: rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.

matlabbe commented 5 months ago

You may have multiple rtabmap_util installed. Make sure to remove the binaries if you built it form source:

sudo apt remove ros-noetic-rtabmap*
BytePaul commented 5 months ago

You may have multiple rtabmap_util installed. Make sure to remove the binaries if you built it form source:

sudo apt remove ros-noetic-rtabmap*

It worked I uninstalled using the above command and then reinstalled the dependencies using sudo apt install ros-noetic-rtabmap*.