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Problem with new BaseGlobalPlanner plugin

asked 2014-04-29 00:06:42 -0500

Stefano Primatesta gravatar image

updated 2014-04-29 21:25:13 -0500

I tried to make a new BaseGlobalPlanner plugin for use with move_base. In this Plugin I use ros-hydro-ompl package.

After I've created .cpp and .h (that include ompl library) file, I've compiled with catkin_make and everything works! All the dependencies seem to be satisfied.

But when I run plugin I show this error:

[FATAL] [1398764927.385890076, 2.100000000]: Failed to create the ompl_planner_rrt/OMPLPlannerRRT planner, are you sure it is properly registered and that the containing library is built? Exception: Failed to load library /home/prima/catkin_ws/devel/lib//libompl_planner_rrt.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/prima/catkin_ws/devel/lib//libompl_planner_rrt.so: undefined symbol: _ZTVN4ompl4base18CompoundStateSpaceE)

The name between PLUGINLIB_EXPORT_CLASS macro and XML file is correct!

This is the macro in .cpp file

PLUGINLIB_EXPORT_CLASS(ompl_planner_rrt::OMPLPlannerRRT, nav_core::BaseGlobalPlanner)

this is .xml file:

<library path="lib/libompl_planner_rrt">
  <class name="ompl_planner_rrt/OMPLPlannerRRT" type="ompl_planner_rrt::OMPLPlannerRRT" base_class_type="nav_core::BaseGlobalPlanner">
    <description>
      A implementation of RRT
    </description>
  </class>
</library>

The undefined symbol ompl4base18CompoundStateSpace is a ompl function (ompl::base::CompoundStateSpace). It seems that in runtime there aren't dependencies with ompl package.

This is my CMakeLists.txt file:

cmake_minimum_required(VERSION 2.8.3)
project(ompl_planner_rrt)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  costmap_2d
  geometry_msgs
  nav_core
  nav_msgs
  pluginlib
  tf
  angles
)

find_package(
    ompl
)

find_package(Boost REQUIRED COMPONENTS system thread)
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ompl_planner_rrt
  CATKIN_DEPENDS roscpp nav_core pluginlib
  DEPENDS system_lib
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(ompl_planner_rrt
   src/ompl_planner_rrt.cpp
)

target_link_libraries(ompl_planner_rrt
   ${catkin_LIBRARIES}
   ${OMPL_LIBRARIES} #added on the advice of ahendrix
 )

and package.xml:

<?xml version="1.0"?>
<package>
  <name>ompl_planner_rrt</name>
  <version>0.0.0</version>
  <description>The ompl_planner package</description>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>costmap_2d</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>nav_core</build_depend>
  <build_depend>nav_msgs</build_depend>
  <build_depend>pluginlib</build_depend>
  <build_depend>tf</build_depend>
  <build_depend>angles</build_depend>
  <build_depend>eigen_conversions</build_depend>
  <build_depend>boost</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>costmap_2d</run_depend>
  <run_depend>geometry_msgs</run_depend>
  <run_depend>nav_core</run_depend>
  <run_depend>nav_msgs</run_depend>
  <run_depend>pluginlib</run_depend>
  <run_depend>tf</run_depend>
  <run_depend>angles</run_depend>
  <run_depend>eigen_conversions</run_depend>
  <run_depend>boost</run_depend>
  <run_depend>ompl</run_depend>


  <export>
     <nav_core plugin="/home/prima/catkin_ws/src/ompl_planner_rrt/bgp_plugin.xml" />
  </export>
</package>

When I show this:

ldd '/home/prima/catkin_ws/devel/lib/libompl_planner_rrt.so'

I don't find libompl.so, I suppose this is the problem.

Can anyone help me? Thanks

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Comments

I wanna ask you a question. Did you try sudo apt-get install ros-hydro-ompl? I also try it, because I have never installed ompl.

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-04-29 04:42:14 -0500 )edit

I knew you were correct, after installing ompl package . The package included only source.

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-04-29 04:57:57 -0500 )edit

I've already install ompl package. I only run sudo apt-get install ros-hydro-ompl, I hope it's enough.

Stefano Primatesta gravatar image Stefano Primatesta  ( 2014-04-29 09:59:23 -0500 )edit

1 Answer

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answered 2014-04-29 06:46:25 -0500

ahendrix gravatar image

It looks like your planner library isn't linked against OMPL.

Try linking it against ompl by adding the following to your CMakeLists.txt:

target_link_libraries(ompl_planner_rrt ${ompl_LIBRARIES})

(NOTE: this assumes that the find_package command for OMPL is exporting its libraries in the ompl_LIBRARIES variable. if it isn't, or the variable name is different, you'll have to make the appropriate adjustments above)

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Comments

I tried to do that, but nothing changes.

Stefano Primatesta gravatar image Stefano Primatesta  ( 2014-04-29 10:04:00 -0500 )edit

Is there a command to link manually libompl.so? How Can I add libompl.so to my CMakeLists.txt?

Stefano Primatesta gravatar image Stefano Primatesta  ( 2014-04-29 21:28:16 -0500 )edit

Hi @Prima89:You executed sudo apt-get install at first. At that time, libompl.so is located in /opt/ros/hydro/lib and source file is located in /opt/ros/hydro/share. I think so because I tried. So how did you replace the location to ~/catkin_ws/?

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-04-30 04:10:11 -0500 )edit

You can manually link to OMPL with target_link_libraries(ompl_planner_rrt ompl)

ahendrix gravatar image ahendrix  ( 2014-04-30 06:05:58 -0500 )edit

Hi @Ken_in_JAPAN In catkin_ws there is only my package for the plugin. Others packages are in opt/ros/hydro/share with libraries in opt/ros/hydro/lib.

Stefano Primatesta gravatar image Stefano Primatesta  ( 2014-04-30 06:14:04 -0500 )edit

@Prima89: Thanks for replying early. I got it. But I don't help you. So sorry!

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-04-30 07:05:13 -0500 )edit

Thanks @ahendrix !!! It works, I only add target_link_libraries(ompl_planner_rrt ompl)

Stefano Primatesta gravatar image Stefano Primatesta  ( 2014-05-01 06:05:17 -0500 )edit

Hello @Prima89: I also want to use same plugin with Turtlebot. I'm sorry, but could you show me your *.cpp and *.h?

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-05-14 16:21:01 -0500 )edit

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Asked: 2014-04-29 00:06:42 -0500

Seen: 1,908 times

Last updated: Apr 29 '14