Symbol lookup error when using stomp_moveit.
One more symbol lookup question for ros answers.
I run the example for panda robot and STOMP planner from this page. However instead of planned paths I get the annoying error:
/opt/ros/melodic/lib/moveit_ros_move_group/move_group: symbol lookup error: /home/yuriy/Documents/Projects/ROS/ros_arm_workspace/devel/lib/libstomp_moveit_noisy_filters.so: undefined symbol: _ZN2tf15pointEigenToMsgERKN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEERN13geometry_msgs6Point_ISaIvEEE
Error occurs whenever I push Plan button in RVIZ.
c++filt for this symbol produce the following output:
tf::pointEigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::Point_<std::allocator<void> >&)
stomp_core and stomp_moveit are built from sources using https://github.com/ros-industrial/industrial_moveit repo. It seems strange that error occurs inside stomp_moveit package since tutorial clearly states
You only need to build the stomp_core package from industrial_moveit as other packages are not required for the functionality of STOMP with moveIt.
I use ubuntu 18.04 and melodic distribution.
P.S. I have tried to remove build and devel folders and rebuild the workspace. That does not help.
Asked by Long Smith on 2018-08-24 09:35:04 UTC
Answers
You need to include eigen_conversions to find_package(catkin REQUIRED COMPONENTS ...) in the CMakeList and in the package.xml of the stomp_moveit package. I have made a PR to fix this.
Asked by Rhys_McK on 2019-03-06 00:53:02 UTC
Comments
Hello,
I have the same problem/error while using STOMP. I also online installed the stomp_core package.
Did you find a solution for this error?
Thanks.
Asked by DieterWuytens on 2018-11-03 15:51:19 UTC
@DieterWuytens I have commented lines 85 and 250 in
stomp_moveit/src/noisy_filters/multi_trajectory_visualization.cpp. It will break visualization if you use it but planner will work.Asked by Long Smith on 2018-11-20 16:56:26 UTC