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I put the error message through c++filt
to demangle the function name, and got the following error:
Poco exception = /home/scopus/scopus_planning_ws/devel/lib//libsup_local_planner.so: undefined symbol: suplPlanner::sup_l_planner::~sup_l_planner()
It looks like the destructor for your class was declared virtual (probably in the base class) but you haven't implemented it, and that results in an undefined symbol when loading the library.