ACML issues

[ahcorde]

Please provide the following information:

• OS: Ubuntu 20.04
• ROS Distro: e.g. Galactic

• Built from source

  Expected behaviour

Run amcl_core without issues. This might be a nav2 issue.

Actual behaviour

I'm getting this error:

[amcl-37] /opt/ros/galactic/lib/nav2_amcl/amcl: symbol lookup error: /opt/ros/galactic/lib/libamcl_core.so: undefined symbol: _ZN9nav2_amcl20LikelihoodFieldModelC1EddddmP5map_t

To Reproduce Provide the steps to reproduce:

reset && ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync rviz:=true localization:=true

Other notes

I compiled nav2_acml and I'm not getting this error. But I'm not able to set the initial position and navigate through the map. I can see this error:

[rviz2-15] [ERROR] [1651093133.026960494] [rviz2]: navigate_to_pose action server is not available. Is the initial pose set?

As you can see in this gif, I can't see the ACML particles when I set the initial pose. This means that we can't navigate too.

[roni-kreinin]

Looking into it. I would recommend for now just using SLAM and nav2 together, without localization.

[roni-kreinin]

Found the issue. The Nav2 AMCL package uses a sensors_lib library which is the same name as the sensors library built by irobot_create_ignition_toolbox. I am making a PR to change that library name.

[roni-kreinin]

See https://github.com/iRobotEducation/create3_sim/pull/178

[roni-kreinin]

Closing as the error has been fixed.