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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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Failed to load nodelet [/obstacles_detection] of type [rtabmap_ros/obstacles_detection] even after refreshing the cache: Failed to load library /opt/ros/kinetic/lib//librtabmap_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 = librtabmap_core.so.0.11: cannot open shared object file: No such file or directory) #288

Closed B-06Rxs closed 5 years ago

B-06Rxs commented 5 years ago

hi, I have this problem after install some more dependencies in my turtle-bot.

LOGS ... logging to /home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/roslaunch-tegra-ubuntu-9677.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://172.19.113.126:58699/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) / amcl (amcl/amcl) camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) ekf_se_odom (robot_localization/ekf_localization_node) laser_filter (laser_filters/scan_to_scan_filter_chain) link_broadcaster_camera (tf/static_transform_publisher) link_broadcaster_laser (tf/static_transform_publisher) map_server (map_server/map_server) move_base (move_base/move_base) nodelet_manager (nodelet/nodelet) obstacles_detection (nodelet/nodelet) points_xyz_planner (nodelet/nodelet) robot_state_publisher (robot_state_publisher/robot_state_publisher) rplidarNode (rplidar_ros/rplidarNode) turtlebot3_core (rosserial_python/serial_node.py)

auto-starting new master process[master]: started with pid [9699] ROS_MASTER_URI=http://172.19.113.126:11311

setting /run_id to 50b67944-f7bd-11e8-ada0-00044b66a1f0 process[rosout-1]: started with pid [9712] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [9730] process[camera/driver-3]: started with pid [9731] process[camera/rgb_rectify_color-4]: started with pid [9732] process[camera/depth_rectify_depth-5]: started with pid [9739] process[camera/depth_metric_rect-6]: started with pid [9746] process[camera/depth_metric-7]: started with pid [9754] process[camera/depth_points-8]: started with pid [9760] process[camera/register_depth_rgb-9]: started with pid [9776] process[camera/points_xyzrgb_sw_registered-10]: started with pid [9788] process[camera/depth_registered_sw_metric_rect-11]: started with pid [9801] process[camera_base_link-12]: started with pid [9804] [ INFO] [1543925314.699013160]: Initializing nodelet with 4 worker threads. process[camera_base_link1-13]: started with pid [9818] process[camera_base_link2-14]: started with pid [9833] process[camera_base_link3-15]: started with pid [9849] process[turtlebot3_core-16]: started with pid [9859] [ INFO] [1543925314.796052144]: Device "2bc5/0401@1/19" found. process[robot_state_publisher-17]: started with pid [9873] process[link_broadcaster_camera-18]: started with pid [9888] process[rplidarNode-19]: started with pid [9896] process[laser_filter-20]: started with pid [9905] process[link_broadcaster_laser-21]: started with pid [9913] process[ekf_se_odom-22]: started with pid [9925] process[map_server-23]: started with pid [9938] process[amcl-24]: started with pid [9950] process[move_base-25]: started with pid [9967] process[nodelet_manager-26]: started with pid [9975] process[points_xyz_planner-27]: started with pid [9979] process[obstacles_detection-28]: started with pid [9988] Warning: USB events thread - failed to set priority. This might cause loss of data... [ INFO] [1543925315.392079047]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0 [ERROR] [1543925315.476500304]: Failed to load nodelet [/obstacles_detection] of type [rtabmap_ros/obstacles_detection] even after refreshing the cache: Failed to load library /opt/ros/kinetic/lib//librtabmap_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 = librtabmap_core.so.0.11: cannot open shared object file: No such file or directory) [ERROR] [1543925315.477945304]: The error before refreshing the cache was: Failed to load library /opt/ros/kinetic/lib//librtabmap_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 = librtabmap_core.so.0.11: cannot open shared object file: No such file or directory) [FATAL] [1543925315.488435590]: Failed to load nodelet '/obstacles_detectionof typertabmap_ros/obstacles_detectionto managernodelet_manager' [INFO] [1543925315.526998]: ROS Serial Python Node [ERROR] [1543925315.568768496]: Failed to load nodelet [/points_xyz_planner] of type [rtabmap_ros/point_cloud_xyz] even after refreshing the cache: Failed to load library /opt/ros/kinetic/lib//librtabmap_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 = librtabmap_core.so.0.11: cannot open shared object file: No such file or directory) [ERROR] [1543925315.569304447]: The error before refreshing the cache was: Failed to load library /opt/ros/kinetic/lib//librtabmap_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 = librtabmap_core.so.0.11: cannot open shared object file: No such file or directory) [FATAL] [1543925315.583190373]: Failed to load nodelet '/points_xyz_plannerof typertabmap_ros/point_cloud_xyzto managernodelet_manager' [INFO] [1543925315.586359]: Connecting to /dev/ttyACM0 at 115200 baud [obstacles_detection-28] process has died [pid 9988, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load rtabmap_ros/obstacles_detection nodelet_manager cloud:=/cloud_filtered obstacles:=/obstacles_cloud ground:=/ground_cloud name:=obstacles_detection log:=/home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/obstacles_detection-28.log]. log file: /home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/obstacles_detection-28*.log [points_xyz_planner-27] process has died [pid 9979, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load rtabmap_ros/point_cloud_xyz nodelet_manager depth/image:=/camera/depth_registered/image_raw depth/camera_info:=/camera/depth_registered/camera_info cloud:=/cloud_filtered name:=points_xyz_planner __log:=/home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/points_xyz_planner-27.log]. log file: /home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/points_xyz_planner-27*.log /home/ubuntu/pwc_robot/devel/lib/robot_localization/ekf_localization_node: symbol lookup error: /home/ubuntu/pwc_robot/devel/lib/libros_filter.so: undefined symbol: _ZlsRSoRN6XmlRpc11XmlRpcValueE RPLIDAR S/N: CAD29CC1E8839EF2C0E69EF712653705 [ INFO] [1543925315.960133820]: Firmware Ver: 1.20 [ INFO] [1543925315.960192150]: Hardware Rev: 2 [ INFO] [1543925315.961998634]: RPLidar health status : 0 [ INFO] [1543925315.985940918]: Requesting the map... [ekf_se_odom-22] process has died [pid 9925, exit code 127, cmd /home/ubuntu/pwc_robot/devel/lib/robot_localization/ekf_localization_node name:=ekf_se_odom __log:=/home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/ekf_se_odom-22.log]. log file: /home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/ekf_se_odom-22*.log [ INFO] [1543925316.065942083]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1543925316.495724887]: current scan mode: Express, max_distance: 16.0 m, Point number: 4.0K , angle_compensate: 1 [ INFO] [1543925317.431727427]: Initializing likelihood field model; this can take some time on large maps... [INFO] [1543925317.774507]: Note: publish buffer size is 1024 bytes [INFO] [1543925317.775513]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1543925317.781928]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo] [INFO] [1543925317.813980]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1543925317.821255]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1543925317.836112]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1543925317.843767]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1543925317.850874]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1543925317.857808]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [ INFO] [1543925318.541476739]: Done initializing likelihood field model. [INFO] [1543925319.243800]: Setup publisher on /tf [tf/tfMessage] [INFO] [1543925319.253677]: Note: subscribe buffer size is 1024 bytes [INFO] [1543925319.255547]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1543925319.278525]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1543925319.295845]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1543925319.308380]: Setup subscriber on reset [std_msgs/Empty] [ WARN] [1543925320.830039563]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100798 timeout was 0.1. [INFO] [1543925320.865141]: Setup TF on Odometry [odom] [INFO] [1543925320.872042]: Setup TF on IMU [imu_link] [INFO] [1543925320.877228]: Setup TF on MagneticField [mag_link] [INFO] [1543925320.881288]: Setup TF on JointState [base_link]

[INFO] [1543925320.894398]: Connected to OpenCR board! [INFO] [1543925320.898051]: This core(v1.2.3) is compatible with TB3 Waffle or Waffle Pi

[INFO] [1543925320.904578]: Start Calibration of Gyro [INFO] [1543925323.424689]: Calibration End [ INFO] [1543925324.800743567]: Using plugin "static_layer" terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): Failed to load library /opt/ros/kinetic/lib//librtabmap_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 = librtabmap_core.so.0.11: cannot open shared object file: No such file or directory) [move_base-25] process has died [pid 9967, exit code -6, cmd /opt/ros/kinetic/lib/move_base/move_base scan:=/laser_scan map:=/map __name:=move_base __log:=/home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/move_base-25.log]. log file: /home/ubuntu/.ros/log/50b67944-f7bd-11e8-ada0-00044b66a1f0/move_base-25*.log

B-06Rxs commented 5 years ago

I could not find the librtabmap_core.so.0.11 under lib at all. what I found is librtabmap_core.so.0.17 instead using the locate command. hopefully adding this information might help.

matlabbe commented 5 years ago

Yes it is strange it is searching for 0.11. The default binaries are on 0.17. Can you do $ ldd /opt/ros/kinetic/lib//librtabmap_ros.so?

Try reinstall ros-kinetic-rtabmap and ros-kinetic-rtabmap-ros:

$ sudo apt remove ros-kinetic-rtabmap
$ sudo apt install ros-kinetic-rtabmap-ros
B-06Rxs commented 5 years ago

thank you, it worked now after reinstall the ros-kinetic-rtabmap.

abdulahad01 commented 2 years ago

I am facing the same issues in ros noetic, I tried reinstalling rtab. I have raised a separate issue here, please look into it link to issue