Hello, I am a newbie for ROS1 and ROS2. I use Jetson Xavier AGX with Jetpack SDK 4.6.3, which supports Ubuntu 18.04. Although the upper version of Ubuntu is compatible with AGX, to simulate the final code in TX2 I have to fix the Ubuntu version as 18.04.

Using docker container, I build ROS2 humble from source and build packages from source too.

I succeeded to build all the packages that I needed, but when I run the launch file the below error appears

Error1) The package that has just been built outputs an undefined symbol [robotstatepublisher-1] /root/ros2humble/install/lib/robotstatepublisher/robotstatepublisher: symbol lookup error: /root/ros2humble/install/lib/robotstatepublisher/robotstatepublisher: undefined symbol: ZNK12classloader11ClassLoader14getLibraryPathB5cxx11Ev

What I did) Installed the robot state publisher package by git clone and build from source but the same error keeps occurring

Error2) Bunch of undefined symbol error occurs [componentcontainerisolated-3] [INFO] [1682701839.864571588] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libcontrollerservercore.so [componentcontainerisolated-3] [ERROR] [1682701839.979859721] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libcontrollerservercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701839.983249149] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libmapservercore.so [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'controllerserver' of type 'nav2controller::ControllerServer' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libcontrollerservercore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [ERROR] [1682701840.003610261] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libmapservercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'mapserver' of type 'nav2mapserver::MapServer' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libmapservercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.056172602] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libsmootherservercore.so [componentcontainerisolated-3] [ERROR] [1682701840.083442431] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libsmootherservercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.095752612] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libamclcore.so [ERROR] [launchros.actions.loadcomposable_nodes]: Failed to load node 'smootherserver' of type 'nav2smoother::SmootherServer' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libsmootherservercore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [ERROR] [1682701840.116262721] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libamclcore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'amcl' of type 'nav2amcl::AmclNode' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libamclcore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.144925078] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libplannerservercore.so [componentcontainerisolated-3] [ERROR] [1682701840.150345071] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libplannerservercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.162698710] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libnav2lifecyclemanagercore.so [componentcontainerisolated-3] [ERROR] [1682701840.170959088] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libnav2lifecyclemanagercore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'plannerserver' of type 'nav2planner::PlannerServer' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libplannerservercore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'lifecyclemanagerlocalization' of type 'nav2lifecyclemanager::LifecycleManager' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libnav2lifecyclemanagercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.201203546] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libbehaviorservercore.so [componentcontainerisolated-3] [ERROR] [1682701840.216321887] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libbehaviorservercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'behaviorserver' of type 'behaviorserver::BehaviorServer' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libbehaviorservercore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.229592645] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libbtnavigatorcore.so [componentcontainerisolated-3] [ERROR] [1682701840.244705002] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libbtnavigatorcore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'btnavigator' of type 'nav2btnavigator::BtNavigator' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libbtnavigatorcore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.254544315] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libwaypointfollowercore.so [componentcontainerisolated-3] [ERROR] [1682701840.259580679] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libwaypointfollowercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'waypointfollower' of type 'nav2waypointfollower::WaypointFollower' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libwaypointfollowercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.270849128] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libvelocitysmoothercore.so [componentcontainerisolated-3] [ERROR] [1682701840.278924220] [nav2container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libvelocitysmoothercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'velocitysmoother' of type 'nav2velocitysmoother::VelocitySmoother' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libvelocitysmoothercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [componentcontainerisolated-3] [INFO] [1682701840.287915984] [nav2container]: Load Library: /root/ros2pkgs/install/lib/libnav2lifecyclemanagercore.so [componentcontainerisolated-3] [ERROR] [1682701840.292632113] [nav2_container]: Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libnav2lifecyclemanagercore.so: undefined symbol: _ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [ERROR] [launchros.actions.loadcomposablenodes]: Failed to load node 'lifecyclemanagernavigation' of type 'nav2lifecyclemanager::LifecycleManager' in container '/nav2container': Failed to load library: Could not load library (Poco exception = /root/ros2pkgs/install/lib/libnav2lifecyclemanagercore.so: undefined symbol: ZN12classloader4impl22AbstractMetaObjectBaseC2ERKNSt7cxx1112basicstringIcSt11chartraitsIcESaIcEEES9S9) [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/ros2pkgs/install/lib/rviz2/rviz2: symbol lookup error: /root/ros2pkgs/install/lib/librvizcommon.so: undefined symbol: _ZNK12classloader23MultiLibraryClassLoader27getAllAvailableClassLoadersEv [ERROR] [rviz2-2]: process has died [pid 20351, exit code 127, cmd '/root/ros2pkgs/install/lib/rviz2/rviz2 -d /workspace/install/share/a1robot/rviz/nav2defaultview.rviz --ros-args -r __node:=rviz2'].

What I did) I had no choice but to google the issue and haven't find the answer yet.