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ROS Noetic Issue with linking with LibTorch and class_loader

asked 2021-08-20 13:50:16 -0500

BenQ1110 gravatar image

updated 2021-08-21 19:16:40 -0500

Hi, I created a simple nodelet which was functioning correctly in ROS Melodic. However, when I moved to ROS Noetic I have encountered the following issue when running a launch file:

 /opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/benksy/catkin_ws/devel/lib/libnodelet_plugins.so: undefined symbol: _ZN12class_loader4impl30getCurrentlyLoadingLibraryNameEv".

It corresponds to class_loader::impl::getCurrentlyLoadingLibraryName().

I attempted solutions from here https://answers.ros.org/question/2919... but with no success.

I presume there is a quick solution but I am not that familiar with CMake/C++ so any help appreciated.

Update 1:

I have noticed that the error pops up when I try to link Torch/LibTorch library to my nodelet. When target_link_libraries does not include ${TORCH_LIBRARIES}, the error does not show up.

Here is an example of CMakeLists.txt file:

cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
project(random_pkg)

list(APPEND CMAKE_PREFIX_PATH "/home/benksy/libtorch")

find_package(catkin REQUIRED COMPONENTS
  nodelet
  roscpp
  rospy
  roslib
 )

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")

## Setup include directories
include_directories(${catkin_INCLUDE_DIRS})


catkin_package(
#  INCLUDE_DIRS include
#   LIBRARIES nodelet_test_plugins
#   CATKIN_DEPENDS
#    lidar_msgs
#    roscpp
#    rospy
#    std_msgs
#  DEPENDS system_lib
)

## Create the nodelet tutorial library
add_library(nodelet_test_plugins
            src/test.cpp
            src/test.h
           )

find_package(Torch REQUIRED)
target_link_libraries(nodelet_test_plugins ${catkin_LIBRARIES} ${PROJECT_LIBRARIES} ${TORCH_LIBRARIES})

if(catkin_EXPORTED_LIBRARIES)
  add_dependencies(nodelet_test_plugins ${catkin_EXPORTED_LIBRARIES})
endif()

## Mark the nodelet library for installations
install(TARGETS nodelet_test_plugins
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(FILES nodelet_test_plugins.xml mynodelet.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

All other files are empty/dummy.

test.cpp:

#include <pluginlib/class_list_macros.h>
#include "test.h"

PLUGINLIB_EXPORT_CLASS(random_pkg::Test, nodelet::Nodelet)

namespace random_pkg
{
  void Test::onInit()
  {}
}

test.h

#include "ros/ros.h"
#include <nodelet/nodelet.h>

namespace random_pkg
{
  class Test : public nodelet::Nodelet
  {
    public:
      Test(){}
    private:
      virtual void onInit();
    };
}

nodelet_test_plugins.xml

<library path="libnodelet_test_plugins">
  <class name="random_pkg/Test" type="random_pkg::Test" base_class_type="nodelet::Nodelet">
    <description>
      Write things here.
    </description>
  </class>

</library>

random.launch (When this file is launched the above error shows up)

<launch>

  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>

  <node pkg="nodelet" type="nodelet" name="Test" args="load random_pkg/Test standalone_nodelet" output="screen">
  </node>

</launch>

Other info: ROS Noetic/Ubuntu 20.04, gcc 9.3.0, LibTorch 1.9.0 (tried both CPU and GPU Cuda 11.1)

Thanks!

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Comments

Please provide enough information to reproduce your problem otherwise it's very hard to help you.

tfoote gravatar image tfoote  ( 2021-08-20 14:32:40 -0500 )edit

I updated the post. Thanks for help!

BenQ1110 gravatar image BenQ1110  ( 2021-08-20 16:00:50 -0500 )edit

1 Answer

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answered 2021-08-20 17:46:32 -0500

BenQ1110 gravatar image

updated 2021-08-21 19:17:15 -0500

I have found a solution, and it is directly torch related.

When using gcc>=5.1 (as in Ubuntu 20.4/ROS Noetic), you have to use a cxx11 ABI version of the LibTorch package. Otherwise, you cannot link the libraries.

It is explained here: https://discuss.pytorch.org/t/issues-..., and https://github.com/pytorch/pytorch/is....

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Asked: 2021-08-20 13:50:16 -0500

Seen: 130 times

Last updated: Aug 21 '21