Poco exception = /home/msy/ros_ws/devel/lib//libgrid_layer.so: undefined symbol: _ZN2tf11Transformer18DEFAULT_CACHE_TIMEE
I wrote a custom costmap plugin.
It can work on local costmap.The configuration is as follows:
plugins:
- {name: grid_layer, type: "simple_layer_namespace::GridLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
But if I configure it to the global costmap,it will report an error.
[ INFO] [1688106907.862182415, 1687920714.481622674]: global_costmap: Using plugin "grid_layer" terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): Failed to load library /home/msy/ros_ws/devel/lib//libgrid_layer.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/msy/ros_ws/devel/lib//libgrid_layer.so: undefined symbol: _ZN2tf11Transformer18DEFAULT_CACHE_TIMEE)
The configuration is as follows:
plugins:
# - {name: static_layer, type: "costmap_2d::StaticLayer"}
# - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: grid_layer, type: "simple_layer_namespace::GridLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
What went wrong?
