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Nodelet crashes when using pcl::VoxelGrid<pcl::PointXYZ>, pcl::SACSegmentation<pcl::PointXYZ>

asked 2020-08-13 01:47:24 -0500

praskot gravatar image

updated 2020-08-13 03:05:02 -0500

Goal: Trying to detect and publish all the detected planes (coefficients) from a depth image.

Using depth_image_proc to compute the point-cloud. Created a similar segmentation nodelet, attached below. Test script works fine, where I just publish the cloud height. But, when I include pcl::VoxelGrid<pcl::PointXYZ> vg, pcl::SACSegmentation<pcl::PointXYZ> seg Nodelet crashes at run time (compiles without issues) with the following error.

[ERROR] [1597300025.991310390]: Failed to load nodelet [/pcl_segmentation] of type [using_image_pipeline/pcl_segmentation] even after refreshing the cache: MultiLibraryClassLoader: Could not create object of class type using_image_pipeline::PclSegmentationNodelet as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[ERROR] [1597300025.991394042]: The error before refreshing the cache was: Failed to load library /home/kotaru/catkin_ws/devel/lib// 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/kotaru/catkin_ws/devel/lib// undefined symbol: _ZN3pcl7PCLBaseINS_8PointXYZEE13setInputCloudERKN5boost10shared_ptrIKNS_10PointCloudIS1_EEEE)
[FATAL] [1597300025.991807722]: Failed to load nodelet '/pcl_segmentation` of type `using_image_pipeline/pcl_segmentation` to manager `using_image_pipeline_nodelet'
[pcl_segmentation-4] process has died [pid 12564, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load using_image_pipeline/pcl_segmentation using_image_pipeline_nodelet __name:=pcl_segmentation __log:=/home/kotaru/.ros/log/00c8aa44-dd2e-11ea-aa9d-54bf64375ec6/pcl_segmentation-4.log].
log file: /home/kotaru/.ros/log/00c8aa44-dd2e-11ea-aa9d-54bf64375ec6/pcl_segmentation-4*.log

Can't seem to understand why that is happening, or if the implementation is wrong.

Plane segmentation nodelet source code,

#include <image_transport/image_transport.h>
#include <nodelet/nodelet.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>

#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <pcl_conversions/pcl_conversions.h>
#include <ros/ros.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Float32MultiArray.h>

#include <boost/thread.hpp>
namespace using_image_pipeline {

class PclSegmentationNodelet : public nodelet::Nodelet {
  ros::NodeHandlePtr nh_ptr_;
  boost::shared_ptr<sensor_msgs::PointCloud2> cloud_;
  boost::mutex connect_mutex_;
  boost::mutex mutex_;

  bool receivedAtLeastOnce = false;
  ros::Subscriber sub_points_;
  ros::Publisher pub_planes_;
  ros::Publisher pub_point_height_;
  std_msgs::Float32MultiArray msg_planes_;

  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_raw, cloud, cloud_f;
  float leaf_size = 0.01; // 10cm 
  pcl::VoxelGrid<pcl::PointXYZ> vg;
  // pcl::SACSegmentation<pcl::PointXYZ> seg;

  PclSegmentationNodelet(/* args */) {
    NODELET_INFO_STREAM("PclSegmentationNodelet constructor");
  ~PclSegmentationNodelet() {}
  virtual void onInit();
  void pointCb(const sensor_msgs::PointCloud2ConstPtr &points_msg);
  void connectCb();
  void planarSegmentation();

void PclSegmentationNodelet::onInit() {
  ros::NodeHandle &nh = getNodeHandle();
  nh_ptr_.reset(new ros::NodeHandle(nh));
  // cloud_.reset(new sensor_msgs::PointCloud2(nh));

  NODELET_INFO_STREAM("Initialising nodelet... [PclSegmentationNodelet]");
  ros::SubscriberStatusCallback connect_cb = boost::bind(&PclSegmentationNodelet::connectCb, this);
  boost::lock_guard<boost::mutex> lock(connect_mutex_);
  pub_planes_ = nh_ptr_->advertise<std_msgs::Float32MultiArray>("planes", 3, connect_cb, connect_cb);
  pub_point_height_ = nh_ptr_->advertise<std_msgs::Float32>("test_msg", 3, connect_cb, connect_cb);

  cloud_raw.reset(new pcl::PointCloud<pcl::PointXYZ>);
  cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);

void PclSegmentationNodelet::connectCb() {
  boost::lock_guard<boost::mutex> lock(connect_mutex_);
  sub_points_ = nh_ptr_->subscribe("points", 3, &PclSegmentationNodelet::pointCb, this);

void PclSegmentationNodelet::pointCb(const sensor_msgs::PointCloud2ConstPtr ...
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After some googling, I see that the issue is with loading pcl.

praskot gravatar image praskot  ( 2020-08-13 03:34:39 -0500 )edit

1 Answer

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answered 2020-08-13 03:42:16 -0500

praskot gravatar image

Issue was having dependency on PCL find_package(PCL 1.2 REQUIRED) in addition to pcl_ros.

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Hey @praskot, i face the same problem. What did you actually change to fix it. I deleted the 'find_package(PCL REQUIRED)' in the CMakeLists.txt but it didn't helped with the issue. And i can't read more out of your answer.

wienans gravatar image wienans  ( 2021-02-19 03:57:37 -0500 )edit

Yeah, I just removed the line find_package(PCL 1.2 REQUIRED) and it worked for me. Are you facing the exact same error? Can you post your CMakelist here?

praskot gravatar image praskot  ( 2021-02-19 17:19:15 -0500 )edit

Yes, i had the same undefined symbol: _ZN3pcl7PCLBaseINS_8PointXYZEE13setInputCloudERKN5boost10shared_ptrIKNS_10PointCloudIS1_EEEE and this was only happening in the nodelet. A normal node compiled without any problem. But actually now i fixed it. For me i used the velodyne_pointcloud::PointXYZIR instead of pcl::PointXYZ for my code. After i changed it to pcl::PointXYZ the issue was fixed with and without deleting find_package(PCL 1.2 REQUIRED) But thanks for your help

wienans gravatar image wienans  ( 2021-02-22 01:11:36 -0500 )edit

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Asked: 2020-08-13 01:47:24 -0500

Seen: 173 times

Last updated: Aug 13 '20