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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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symbol lookup error;undefined symbo #673

Open hocken-li opened 3 years ago

hocken-li commented 3 years ago

When I perform: "roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true"

there is error:

/opt/ros/indigo/lib/rtabmap_ros/rtabmap: symbol lookup error: /opt/ros/indigo/lib/x86_64-linux-gnu/librtabmap_core.so.0.17: undefined symbol: _ZN3pcl6search6KdTreeINS_11PointXYZRGBEE16setSortedResultsEb

I install pcl1.7 by : sudo apt-get install libpcl-all

install rtabmap_ros by: sudo apt-get install ros-indigo-rtabmap-ros

I run these in ubuntu14.04, what can I do to solve the problem?

matlabbe commented 3 years ago

I don't have a machine to test on Indigo anymore (this ubuntu and ros distros are EOL), the only thing I can test is with the docker image ros:indigo-perception:

$ docker run -it --rm ros:indigo-perception
# apt update && apt install ros-indigo-rtabmap-ros -y
# source /opt/ros/indigo/setup.bash
# roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false

... logging to /root/.ros/log/dd5d5e02-3dbb-11ec-bc69-0242ac110002/roslaunch-dfc252353c3b-17813.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://dfc252353c3b:41403/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id: 
 * /rtabmap/rgbd_odometry/ground_truth_frame_id: 
 * /rtabmap/rgbd_odometry/guess_frame_id: 
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)

auto-starting new master
process[master]: started with pid [17824]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dd5d5e02-3dbb-11ec-bc69-0242ac110002
process[rosout-1]: started with pid [17837]
started core service [/rosout]
process[rtabmap/rgbd_odometry-2]: started with pid [17854]
libdc1394 error: Failed to initialize libdc1394
[ INFO] [1636063764.220355894]: Initializing nodelet with 12 worker threads.
[ INFO] [1636063764.381266356]: Odometry: frame_id               = camera_link
[ INFO] [1636063764.381289514]: Odometry: odom_frame_id          = odom
[ INFO] [1636063764.381298985]: Odometry: publish_tf             = true
[ INFO] [1636063764.381309222]: Odometry: wait_for_transform     = true
[ INFO] [1636063764.381333546]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1636063764.381369925]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1636063764.381382189]: Odometry: ground_truth_frame_id  = 
[ INFO] [1636063764.381418218]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1636063764.381437824]: Odometry: config_path            = 
[ INFO] [1636063764.381466647]: Odometry: publish_null_when_lost = true
[ INFO] [1636063764.381499530]: Odometry: guess_frame_id         = 
[ INFO] [1636063764.381511987]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1636063764.381528774]: Odometry: guess_min_rotation     = 0.000000
process[rtabmap/rtabmap-3]: started with pid [17855]
libdc1394 error: Failed to initialize libdc1394
[ INFO] [1636063764.507689841]: Starting node...
[ INFO] [1636063764.545768321]: Initializing nodelet with 12 worker threads.
[ INFO] [1636063764.705449520]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1636063764.705473590]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1636063764.705483374]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1636063764.705499332]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1636063764.705520217]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1636063764.705540226]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1636063764.705554744]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1636063764.705567543]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1636063764.724625073]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1636063764.769004075]: rtabmap: frame_id      = camera_link
[ INFO] [1636063764.769030589]: rtabmap: map_frame_id  = map
[ INFO] [1636063764.769043576]: rtabmap: tf_delay      = 0.050000
[ INFO] [1636063764.769071630]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1636063764.769089347]: rtabmap: odom_sensor_sync   = false
[ INFO] [1636063764.884408195]: RGBDOdometry: approx_sync    = true
[ INFO] [1636063764.884435389]: RGBDOdometry: queue_size     = 10
[ INFO] [1636063764.884449217]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1636063764.884462920]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1636063764.902837724]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1636063765.152359107]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1636063765.154283181]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1636063768.625539736]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1636063768.625781089]: rtabmap: Using database from "/root/.ros/rtabmap.db" (0 MB).
[ INFO] [1636063768.648121272]: rtabmap: Database version = "0.17.6".
[ INFO] [1636063768.687648564]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1636063768.687674676]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1636063768.687686792]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1636063768.687730509]: Setup depth callback
[ INFO] [1636063768.707561846]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info
[ INFO] [1636063768.713419279]: rtabmap 0.17.6 started...

It seems okay.

hocken-li commented 3 years ago

I would like to ask if the error is related to the PCL version，and I would like to ask the way you install the PCL.

matlabbe commented 3 years ago

PCL is installed at the same time you install ros-indigo-rtabmap-ros (no need to install it explicitly), back on indigo, I think it is the version installed by ros package pcl.