After compiling a code with OMPL, I tried to move a turtlebot. However, next error arose.
process[map_server-1]: started with pid [14847] process[amcl-2]: started with pid [14859] process[navigation_velocity_smoother-3]: started with pid [14964] process[kobuki_safety_controller-4]: started with pid [15018] process[move_base-5]: started with pid [15044] [ INFO] [1403471634.839981265]: Using plugin "static_layer" [ INFO] [1403471635.013088475]: Requesting the map... [ INFO] [1403471635.244269848]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix [ INFO] [1403471635.784022404]: Received a 4000 X 4000 map at 0.050000 m/pix [ INFO] [1403471635.800435571]: Using plugin "obstacle_layer" [ INFO] [1403471635.830502313]: Subscribed to Topics: scan bump [ INFO] [1403471635.974988532]: Using plugin "inflation_layer" /home/turtlebot/catkin_ws/devel/lib/move_base/move_base: symbol lookup error: /home/turtlebot/catkin_ws/devel/lib//libompl_planner_rrt.so: undefined symbol: _ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE [move_base-5] process has died [pid 15044, exit code 127, cmd /home/turtlebot/catkin_ws/devel/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel __name:=move_base __log:=/home/turtlebot/.ros/log/6419a288-fa4f-11e3-9ded-dc85de8a0cd2/move_base-5.log]. log file: /home/turtlebot/.ros/log/6419a288-fa4f-11e3-9ded-dc85de8a0cd2/move_base-5*.log
I execute a command rospack plugins --attrib=plugin nav-core
The result is following.
navfn /home/turtlebot/catkin_ws/src/navfn/bgp_plugin.xml ompl_planner_rrt /home/turtlebot/catkin_ws/src/ompl_planner_rrt/bgp_plugin.xml base_local_planner /home/turtlebot/catkin_ws/src/base_local_planner/blp_plugin.xml -- others --
I think that the result means that ompl_planner_rrt is available. But, the problem is undefined symbol: ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE. I don't understand the meaning of the error.
I guess that ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE
points out world_model = new base_local_planner::CostmapModel(*costmap);.
However, as it is described on the tutorial (http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS), It probably doesn't have a problem.
Could anyone teach me something clue not to arise an error? Thank you in advance!
I followed ferg, editing CMakeLists.txt.
target_link_libraries(
ompl_planner_rrt
${catkin_LIBRARIES}
${OMPL_LIBRARIES}
base_local_planner
)
The error message has gone out.
[ INFO] [1403566019.155955441]: Using plugin "static_layer" [ INFO] [1403566019.322259977]: Requesting the map... [ INFO] [1403566019.650859797]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix [ INFO] [1403566020.184608226]: Received a 4000 X 4000 map at 0.050000 m/pix [ INFO] [1403566020.201439022]: Using plugin "obstacle_layer" [ INFO] [1403566020.228420634]: Subscribed to Topics: scan bump [ INFO] [1403566020.372557447]: Using plugin "inflation_layer" [ INFO] [1403566020.944125609]: Using plugin "obstacle_layer" [ INFO] [1403566021.114137708]: Subscribed to Topics: scan bump [ INFO] [1403566021.277011379]: Using plugin "inflation_layer" [ INFO] [1403566021.585192241]: Created local_planner base_local_planner/TrajectoryPlannerROS [ INFO] [1403566021.620077400]: Sim period is set to 0.20 [ WARN] [1403566021.884131333]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.3869 seconds [ INFO] [1403566022.889696351]: odom received!
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-06-22
Post score: 0
