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ROS 2 Navigation Framework and System
https://nav2.org/
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Error messages with 'undefined symbol' #3550

Closed kenloumixx closed 1 year ago

kenloumixx commented 1 year ago

Bug report

Required Info:

Steps to reproduce issue

In dusty-nv container, I build the navigation2 and related packages.
The build ends successfully but when I launch the program with navigation2, the following error occurs.

Expected behavior

Run successfully

Actual behavior

/root/ros2_humble/install/lib/robot_state_publisher/robot_state_publisher: symbol lookup error: /root/ros2_humble/install/lib/robot_state_publisher/robot_state_publisher: undefined symbol: _ZNK12class_loader11ClassLoader14getLibraryPathB5cxx11Ev [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libcontroller_server_core.so [component_container_isolated-3] [ERROR] [1682701839.979859721] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libcontroller_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701839.983249149] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libmap_server_core.so [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'controller_server' of type 'nav2_controller::ControllerServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libcontroller_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [ERROR] [1682701840.003610261] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libmap_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'map_server' of type 'nav2_map_server::MapServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libmap_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.056172602] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libsmoother_server_core.so [component_container_isolated-3] [ERROR] [1682701840.083442431] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libsmoother_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.095752612] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libamcl_core.so [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'smoother_server' of type 'nav2_smoother::SmootherServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libsmoother_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [ERROR] [1682701840.116262721] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libamcl_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'amcl' of type 'nav2_amcl::AmclNode' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libamcl_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.144925078] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libplanner_server_core.so [component_container_isolated-3] [ERROR] [1682701840.150345071] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libplanner_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.162698710] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so [component_container_isolated-3] [ERROR] [1682701840.170959088] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'planner_server' of type 'nav2_planner::PlannerServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libplanner_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'lifecycle_manager_localization' of type 'nav2_lifecycle_manager::LifecycleManager' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.201203546] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libbehavior_server_core.so [component_container_isolated-3] [ERROR] [1682701840.216321887] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbehavior_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'behavior_server' of type 'behavior_server::BehaviorServer' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbehavior_server_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.229592645] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libbt_navigator_core.so [component_container_isolated-3] [ERROR] [1682701840.244705002] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbt_navigator_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'bt_navigator' of type 'nav2_bt_navigator::BtNavigator' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libbt_navigator_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.254544315] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libwaypoint_follower_core.so [component_container_isolated-3] [ERROR] [1682701840.259580679] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libwaypoint_follower_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'waypoint_follower' of type 'nav2_waypoint_follower::WaypointFollower' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libwaypoint_follower_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.270849128] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libvelocity_smoother_core.so [component_container_isolated-3] [ERROR] [1682701840.278924220] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libvelocity_smoother_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'velocity_smoother' of type 'nav2_velocity_smoother::VelocitySmoother' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libvelocity_smoother_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [component_container_isolated-3] [INFO] [1682701840.287915984] [nav2_container]: Load Library: /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so [component_container_isolated-3] [ERROR] [1682701840.292632113] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'lifecycle_manager_navigation' of type 'nav2_lifecycle_manager::LifecycleManager' in container '/nav2_container': Failed to load library: Could not load library (Poco exception = /root/ros2_pkgs/install/lib/libnav2_lifecycle_manager_core.so: undefined symbol: _ZN12class_loader4impl22AbstractMetaObjectBaseC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_S9_) [rviz2-2] [INFO] [1682701841.784876373] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1682701841.789491699] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1682701842.142289756] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] /root/ros2_pkgs/install/lib/rviz2/rviz2: symbol lookup error: /root/ros2_pkgs/install/lib/librviz_common.so: undefined symbol: _ZNK12class_loader23MultiLibraryClassLoader27getAllAvailableClassLoadersEv [ERROR] [rviz2-2]: process has died [pid 20351, exit code 127, cmd '/root/ros2_pkgs/install/lib/rviz2/rviz2 -d /workspace/install/share/a1_robot/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2'].

Additional information

Feature request

Feature description

Implementation considerations

SteveMacenski commented 1 year ago

Unfortunately, we do not offer support for 18.04 anymore, please upgrade to a more recent distribution. There hasn't been a ROS 2 distribution using 18.04 in a couple of years.

At its core, it looks like class loader isn't able to find components to load them into the containers. That's not really a Nav2 problem, but a class loader problem (for which composition containers launching Nav2's nodes are using). It seems like you're using the main branch or one of the more recent distribution branches, so you may want to try using a distribution branch of Nav2 that's more in line with the modernity of your OS / ROS 2 version. Those will pre-date Nav2 using composition so that may solve your problem.

kenloumixx commented 1 year ago

@SteveMacenski Thank you for the answer. I used the Nav2 humble branch which is in line with my ROS2 version. In this case, does this matter?