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This is caused by broken .so file. I use pre-compiled package as well. After install nav2 using apt and source setup.bash, I got similar error output. This is because

$  locate librcl_logging_spdlog.so
/home/user/ros2_galactic/ros2-linux/lib/librcl_logging_spdlog.so
/opt/ros/galactic/lib/librcl_logging_spdlog.so

Just copy the ros2_galactic/ros2-linux/lib/librcl_logging_spdlog.so to /opt/ros/galactic/lib/ , the problem solved.

The difference is:

ls librcl_logging_spdlog.so* -l
-rw-r--r-- 1 root root 482632 Sep  5 20:53 librcl_logging_spdlog.so
-rw-r--r-- 1 root root  35352 Jul  1 06:15 librcl_logging_spdlog.so.bak