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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
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gzserver: symbol lookup error: #11

Closed erdisayar closed 3 years ago

erdisayar commented 3 years ago

Hello,

I pulled the docker image and built it.

After running roslaunch panda_gazebo panda_world.launch,

I am getting libgazebo_common.so.9: undefined symbol error.

I also upgrade libignition math sudo apt upgrade libignition-math2

Short LOG

gzserver: symbol lookup error: /home/erdi/.local/lib/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7cxx1112basic_stringIcSt11char_traitsIcESaIcEEE process[base_to_link0-5]: started with pid [15327] gzclient: symbol lookup error: /home/erdi/.local/lib/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE No handlers could be found for logger "roslaunch" [gazebo-2] process has died [pid 15280, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/erdi/panda_sim_ws/src/panda_simulator/panda_gazebo/worlds/panda.world name:=gazebo log:=/home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo-2.log].
log file: /home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo-2*.log
[gazebo_gui-3] process has died [pid 15284, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient name:=gazebo_gui __log:=/home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo_gui-3.log].
log file: /home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo_gui-3*.log

Screenshot from 2020-10-17 23-31-23

Whole LOG Data

erdi@erdi:~/panda_sim_ws$ roslaunch panda_gazebo panda_world.launch WARNING: Could not change permissions for folder [/home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e], make sure that the parent folder has correct permissions. Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://localhost:43953/ SUMMARY PARAMETERS

NODES / base_to_link0 (tf/static_transform_publisher) controller_spawner (controller_manager/controller_manager) controller_spawner_stopped (controller_manager/controller_manager) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py) joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py) move_group (moveit_ros_move_group/move_group) panda_gripper_controller_spawner_stopped (controller_manager/controller_manager) robot_description (gazebo_ros/spawn_model) robot_state_publisher (robot_state_publisher/robot_state_publisher) topic_remap (topic_tools/relay) world_to_base (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [15262] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e process[rosout-1]: started with pid [15273] started core service [/rosout] process[gazebo-2]: started with pid [15280] process[gazebo_gui-3]: started with pid [15284] process[robot_description-4]: started with pid [15292] gzserver: symbol lookup error: /home/erdi/.local/lib/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7cxx1112basic_stringIcSt11char_traitsIcESaIcEEE process[base_to_link0-5]: started with pid [15327] gzclient: symbol lookup error: /home/erdi/.local/lib/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE No handlers could be found for logger "roslaunch" [gazebo-2] process has died [pid 15280, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/erdi/panda_sim_ws/src/panda_simulator/panda_gazebo/worlds/panda.world name:=gazebo log:=/home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo-2.log].
log file: /home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo-2*.log
[gazebo_gui-3] process has died [pid 15284, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient name:=gazebo_gui __log:=/home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo_gui-3.log].
log file: /home/erdi/.ros/log/5e628c3c-10bf-11eb-ab11-ccd9ac1b6b7e/gazebo_gui-3*.log
process[world_to_base-6]: started with pid [15352] process[controller_spawner-7]: started with pid [15361] process[controller_spawner_stopped-8]: started with pid [15367] process[panda_gripper_controller_spawner_stopped-9]: started with pid [15368] process[robot_state_publisher-10]: started with pid [15371] process[topic_remap-11]: started with pid [15387] process[joint_trajectory_server_emulator-12]: started with pid [15406] process[gripper_action_server_emulator-13]: started with pid [15418] process[move_group-14]: started with pid [15426] [ INFO] [1602969969.588789510]: Loading robot model 'panda'... [ WARN] [1602969969.589429680]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world' [ INFO] [1602969969.589452379]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1602969969.656638256]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1602969969.658575677]: MoveGroup debug mode is ON Starting planning scene monitors... [ INFO] [1602969969.658602675]: Starting planning scene monitor [ INFO] [1602969969.660220026]: Listening to '/planning_scene' [ INFO] [1602969969.660242391]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1602969969.661754595]: Listening to '/collision_object' [ INFO] [1602969969.663573199]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1602969969.682061764]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1602969969.685423060]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1602969969.710825032]: Initializing OMPL interface using ROS parameters [ INFO] [1602969969.737104841]: Using planning interface 'OMPL' [ INFO] [1602969969.739154280]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1602969969.739521795]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1602969969.739754431]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1602969969.739969345]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1602969969.740215014]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1602969969.740451233]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ERROR] [1602969969.740529662]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds
[ INFO] [1602969969.740562703]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1602969969.740572853]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1602969969.740585197]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1602969969.740594080]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1602969969.740606647]: Using planning request adapter 'Add Time Parameterization' /usr/local/lib/python2.7/dist-packages/quaternion/numba_wrapper.py:21: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from numba, which means that some parts of this code may run MUCH more slowly. You may wish to install numba. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text) /usr/local/lib/python2.7/dist-packages/quaternion/calculus.py:475: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from scipy, which means that derivatives and integrals will use less accurate finite-differencing techniques. You may want to install scipy. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text) /usr/local/lib/python2.7/dist-packages/quaternion/numba_wrapper.py:21: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from numba, which means that some parts of this code may run MUCH more slowly. You may wish to install numba. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text) /usr/local/lib/python2.7/dist-packages/quaternion/calculus.py:475: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from scipy, which means that derivatives and integrals will use less accurate finite-differencing techniques. You may want to install scipy. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text)

justagist commented 3 years ago

Hi, Updating ignition-math2 should solve that issue; try building the docker image from scratch instead of using the pre-built image. I was not able to replicate your error, sorry.

Saif