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ros2-java / ros2_java

Java and Android bindings for ROS2
Apache License 2.0
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Undefined symbol error for custom defined message #167

Closed xingjl6280 closed 3 years ago

xingjl6280 commented 3 years ago

Hi team,

I'm trying to define a new message in the directory ros2/example_interffaces/msg

VehicleStatus.msg：

float64 x float64 y float64 z

And modified CmakeLists.txt. The part I modified:

find_package(std_msgs REQUIRED)

set(msg_files "msg/VehicleStatus.msg" )

rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ${srv_files} DEPENDENCIES std_msgs ADD_LINTER_TESTS )

And modifed package.xml to add build and exec dependence on stat_msgs.

The colcon build works well. And I can reference the class in Java code. But i got below runtime error:

2020-12-31 20:07:34.362 ERROR 11929 --- [ main] geometry_msgs.msg.VehicleStatus2 : Native code library failed to load. java.lang.UnsatisfiedLinkError: /home/xingjl/ros2_java_ws/build/geometry_msgs/rosidl_generator_java/geometry_msgs/msg/libgeometry_msgs_msgvehicle_status2jnirosidl_typesupport_c.so: /home/xingjl/ros2_java_ws/build/geometry_msgs/rosidl_generator_java/geometry_msgs/msg/libgeometry_msgs_msg__vehicle_status2jni__rosidl_typesupport_c.so: undefined symbol: geometry_msgsmsgVehicleStatus2__destroy pure virtual method called terminate called without an active exception

Please kindly advise if anything missing to be added. thank you

jacobperron commented 3 years ago

Some questions to help clarify the issue:

Which version of ROS 2 are you using? Also, which version of rcljava?

The error message looks odd. You said you modified example_interfaces, but I see that the link error is related to geometry_msgs. Can you clarify the name of the package you are adding the message definition to and the name of the package that is using the generated Java code?

What kind of package are you building; a CMake package? a Gradle package?

Providing entire package files (e.g. CMakeLists.txt, package.xml, and source file) that reproduce the issue would be helpful.

xingjl6280 commented 3 years ago

Hi Jacob,

Thanks for your reply.

I'm using the dashing branch, latest version, for ros2 dashing.

I've tried to add new msg in both gemetry_msgs and example_interfaces packages and successfully build them by colcon. In a new gradle springboot project, I tried to publish the new msgs into topic. The building of the gradle project completed without error, but with runtime error: not find the geometry_msgsmsgVehicleStatus2__destroy method.

For already existing msgs, I can publish them with no issue.

From the runtime error, we can see the java class indeed got generated, and my code could find so lib file. But seems destroy method implementation not generated.

xingjl6280 commented 3 years ago

Just tried again. The error has gone away. Nothing changed but a reboot...