rhaschke
commented
8 months ago Probably you are mixing different OMPL library versions.
You are missing the symbol ompl::tools::Benchmark::Benchmark(ompl::geometric::SimpleSetup&, std::string const&).
I don't know where this should come from.
As the error only pops up at planning time, it is probably missing a library that should be opened during runtime. Or you simply linked against an older OMPL lib, while your code used headers from a newer version.
Description
I've successfully integrated the EIT* planner into MoveIt! However, I'm encountering an error when attempting to plan a path using it. Here's the output:
You can start planning now!
[ INFO] [1705968116.495163421]: Stereo is NOT SUPPORTED [ INFO] [1705968116.495205832]: OpenGL device: Mesa Intel(R) HD Graphics 630 (KBL GT2) [ INFO] [1705968116.495223806]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system. [ INFO] [1705968124.141914039]: Loading robot model 'panda'... [ INFO] [1705968124.201207265]: Starting planning scene monitor [ INFO] [1705968124.202680635]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1705968124.446763221]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [ INFO] [1705968125.567218233]: Ready to take commands for planning group panda_arm. [ INFO] [1705968127.954983664]: Constructing new MoveGroup connection for group 'panda_manipulator' in namespace '' [ INFO] [1705968128.028742620]: Ready to take commands for planning group panda_manipulator. [ INFO] [1705968129.585779248]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [ INFO] [1705968129.585978995]: Using planning pipeline 'ompl' /home/yiwang/new_ws/devel/lib/moveit_ros_move_group/move_group: symbol lookup error: /home/yiwang/new_ws/devel/lib/libmoveit_ompl_interface.so.1.1.13: undefined symbol: _ZN4ompl5tools9BenchmarkC1ERNS_9geometric11SimpleSetupERKNSt7cxx1112basic_stringIcSt11char_traitsIcESaIcEEE [move_group-5] process has died [pid 230859, exit code 127, cmd /home/yiwang/new_ws/devel/lib/moveit_ros_move_group/move_group --debug name:=move_group __log:=/home/yiwang/.ros/log/9e35055a-b982-11ee-9347-fbcb5429de13/move_group-5.log]. log file: /home/yiwang/.ros/log/9e35055a-b982-11ee-9347-fbcb5429de13/move_group-5*.log
The critical error is a symbol lookup error in libmoveit_ompl_interface.so.1.1.13. Has anyone experienced a similar issue? I would appreciate any insights or suggestions on how to fix this problem.
Thank you