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Custom Global Planner causing problems - undefined symbol

asked 2021-06-29 08:21:33 -0500

jmyazbeck gravatar image

updated 2022-05-23 09:01:36 -0500

lucasw gravatar image

I just created a CopyPlanner as a custom Global Planner (following this tutorial) that copies a plan from elsewhere and passes it on to the local planner. Every time I try using it as part of my application I get the following error:

[ INFO] [1624971783.958384719]: global_costmap: Using plugin "static_layer"
[ INFO] [1624971783.967317766]: Requesting the map...
[ INFO] [1624971784.172037054]: Resizing costmap to 2505 X 1005 at 0.050000 m/pix
[ INFO] [1624971784.270623155]: Received a 2505 X 1005 map at 0.050000 m/pix
[ INFO] [1624971784.275646093]: global_costmap: Using plugin "obstacles_layer"
[ INFO] [1624971784.279385243]:     Subscribed to Topics: scan scan2
[ INFO] [1624971784.320028943]: global_costmap: Using plugin "inflater_layer"
/opt/ros/melodic/lib/move_base/move_base: symbol lookup error: /home/jm/catkin_ws/devel/lib//libcopy_planner_lib.so: undefined symbol: _ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE
[move_base-4] process has died [pid 8140, exit code 127, cmd /opt/ros/melodic/lib/move_base/move_base __name:=move_base __log:=/home/jm/.ros/log/4faf7662-d8da-11eb-90d3-046c59d9d94c/move_base-4.log].
log file: /home/jm/.ros/log/4faf7662-d8da-11eb-90d3-046c59d9d94c/move_base-4*.log

I have no idea what could be going wrong as I am still very new to ROS. I found someone having the same issue but I don't understand what was suggested in the solution.

Here is my CMakeLists.txt file:

cmake_minimum_required(VERSION 3.0.2)
project(isaac_navigation)

find_package(catkin REQUIRED 
  COMPONENTS
  roscpp
  rospy
  std_msgs
  pluginlib
  geometry_msgs
  nav_msgs
  message_generation
  base_local_planner
)

add_message_files(
  FILES
  path.msg
)

add_service_files(
  FILES
  copier.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
  nav_msgs
)

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES isaac_navigation
 CATKIN_DEPENDS roscpp rospy std_msgs message_runtime nav_msgs geometry_msgs

)

include_directories(include
  ${catkin_INCLUDE_DIRS}
)

add_library(copy_planner_lib src/copy_planner.cpp)

Here is my package.xml file:

<?xml version="1.0"?>
<package format="2">
  <name>isaac_navigation</name>
  <version>0.0.0</version>
  <description>The isaac_navigation package</description>

  <maintainer email="somemail">J</maintainer>

  <license>BSD</license>

  <author email="somemail">J</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roslaunch</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>nav_msgs</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>nav_core</build_depend>



  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>nav_msgs</build_export_depend>
  <build_export_depend>geometry_msgs</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>nav_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>map_server</exec_depend>
  <exec_depend>move_base</exec_depend>
  <exec_depend>message_runtime</exec_depend>
  <exec_depend>nav_core</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <nav_core plugin="${prefix}/copy_planner_plugin.xml" />


  </export>
</package>

Here is my copy_planner.xml file:

 <library path="lib/libcopy_planner_lib">
  <class name="copy_planner/CopyPlanner" type="copy_planner::CopyPlanner" base_class_type="nav_core::BaseGlobalPlanner">
    <description>AAAAAAAAAAAAAAAAAAAAAAAAAAAAA</description>
  </class>
 </library>

Here is my move_base.launch file:

<launch>

  <master auto="start"/>
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="/home/jm/isaac/sdk/packages/eband_ros/maps/factory.yaml"/>

  <arg name="open_rviz" default="true"/>

  <group if="$(arg open_rviz)">
    <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find isaac_navigation)/rviz/nav.rviz"/>
  </group>

  <!-- Setting up costmap -->
  <!-- <node name="static_tf0" pkg="tf" type="static_transform_publisher" args="2 0 0 0 0 0 /map /base_footprint 100"/> -->

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <rosparam file="$(find isaac_navigation)/param/costmap_common_params.yaml" command="load" ns ...
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1 Answer

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1

answered 2021-06-29 13:53:00 -0500

David Lu gravatar image

I would make sure that base_local_planner is in your list of CATKIN_DEPENDS in the catkin_package and then add

target_link_libraries(copy_planner_lib ${catkin_LIBRARIES})
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Comments

Thank you so much. Please do you mind explaining what was happening?

jmyazbeck gravatar image jmyazbeck  ( 2021-06-30 04:17:51 -0500 )edit
1

Its CMake's convoluted way of making sure that your code is linked against the proper libraries of base_local_planner.

David Lu gravatar image David Lu  ( 2021-06-30 16:06:45 -0500 )edit

God bless you. it worked!!

thefakhreddin gravatar image thefakhreddin  ( 2022-08-19 04:38:56 -0500 )edit

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Asked: 2021-06-29 08:21:33 -0500

Seen: 352 times

Last updated: Jun 29 '21