pose_graph_manager: undefined symbol #30
Comments
|
Similar problem for me: |
|
Hi! The GTSAM version is the problem. As you figured out, it needs to be 4.1 or higher, otherwise the robust solver GNC is not available. So you need to make sure that the pose_grapg_manager uses GTSAM 4.1 when building. One solution could be to build/install everything, including LIO-SAM, with 4.1. Fortunately, I might have an even better solution for you! I recently added a Dockerfile to isolate Swarm-SLAM in a container and avoid conflicts with your base system. See here for the dockerfile as well as build and run instructions in the makefile https://github.com/lajoiepy/cslam_experiments/tree/main/docker |
|
@lajoiepy Thanks a lot for your generous help! In the beginning, I tried your first solution to install GTSAM 4.1.1 to @mjforan Hey my friend, maybe you could try out my solution to see whether it suits you. Docker solutionContainer preparationDownload FROM ros:humble-perceptionThen build the docker image. cd ~/ros2_ws/src/Swarm-SLAM/src/cslam_experiments/docker
make buildBased on the built image, then create the container. Don't use docker run --privileged -itd --rm --ipc host --net host --pid host --name swarmslam swarmslam
docker exec -it swarmslam bashInstall dependenciesInside the container, I install the rest dependencies. apt update
apt install python3-pip python3-vcstool vim -y
git clone https://github.com/MISTLab/Swarm-SLAM.git
cd Swarm-SLAM && mkdir src && vcs import src < cslam.repos
pip install -r requirements.txt
cd /
git clone https://github.com/ros/rosdistro
vim /etc/ros/rosdep/sources.list.d/20-default.list
# Modify the following lines
yaml file:///rosdistro/rosdep/osx-homebrew.yaml osx
yaml file:///rosdistro/rosdep/base.yaml
yaml file:///rosdistro/rosdep/python.yaml
yaml file:///rosdistro/rosdep/ruby.yaml
gbpdistro file:///rosdistro/releases/fuerte.yaml fuerte
vim /usr/lib/python3/dist-packages/rosdep2/sources_list.py
# Modify the following line
DEFAULT_SOURCES_LIST_URL = 'file:///etc/ros/rosdep/sources.list.d/20-default.list'
vim /usr/lib/python3/dist-packages/rosdep2/rep3.py
# Modify the following line
REP3_TARGETS_URL = 'file:///rosdistro/releases/targets.yaml'
vim /usr/lib/python3/dist-packages/rosdistro/__init__.py
# Modify the following line
DEFAULT_INDEX_URL = 'file:///rosdistro/index-v4.yaml'
# After modifying the above files, `rosdep update` will go way faster
rosdep update
cd Swarm-SLAM
rosdep install --from-paths src --ignore-src -r -y
. /opt/ros/humble/setup.sh
colcon build
cd /
git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
cd TEASER-plusplus && mkdir build && cd build
cmake -DTEASERPP_PYTHON_VERSION=3.10 ..
make teaserpp_python
cd python && pip install .
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "source Swarm-SLAM/install/setup.bash" >> ~/.bashrc
cd /
apt install wget
wget -O head_cslam https://api.github.com/repos/lajoiepy/cslam/commits?per_page=1
wget -O head_cslam_interfaces https://api.github.com/repos/lajoiepy/cslam_interfaces/commits?per_page=1
wget -O head_cslam_experiments https://api.github.com/repos/lajoiepy/cslam_experiments/commits?per_page=1
cd Swarm-SLAM/src/cslam && git pull
cd ../cslam_experiments && git pull
cd ../cslam_interfaces && git pull
cd ../.. && colcon build
echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list > /dev/null
apt update && apt install zenoh-bridge-ros2dds
# At last, some addtional dependencies also needs to be installed.
pip install pickle5
apt install ros-humble-rtabmap*Then |
|
I also had GTSAM 4.1.1 installed as per the instructions and still got that error. I was able to get the existing Dockerfile to build without issue. I had to manually install rtabmap-odom but everything seems to work. Just waiting on a dataset to download so I can fully test it. |
Hello, I've been carefully preparing the prerequisite steps of Swarm-SLAM following the Start-up Instructions.
GTSAM installation
One thing different from the standard installation procedure is the GTSAM installing location. Since I used the following command to install GTSAM through ppa when I deployed LIO-SAM code,
I chose to install GTSAM 4.1.1 locally in the folder
/home/yan/cmake_ws/gtsam/installwhen deploying Swarm-SLAM. So I usedcmake -DCMAKE_INSTALL_PREFIX:PATH=/home/yan/cmake_ws/gtsam/install ..to set GTSAM install path. In the meantime, I did the following modification to mycslam/CMakeList.txtto make sure it found the right version of GTSAM.colcon build
Then the
colcon buildoutput comes with some warning and a summary like1 package had stderr output: cslam. The full output is shown below:Later I confirmed that these warnings and stderr emerged in the summary was caused by the line
find_package(pcl_ros REQUIRED)in the CMakeLists.txt. Whilefind_package(GTSAM CONFIG REQUIRED)itself didn't produce stderr output.Runtime error
Under this circumstance, I tried to launch the
graco_lidar.launch.pybut yield[ERROR] [pose_graph_manager-5]: process has died. The log is shown below.The error
/home/yan/ros2_ws/install/cslam/lib/cslam/pose_graph_manager: undefined symbol: _ZNK5gtsam6Factor9printKeysERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKSt8functionIFS6_mEEshowed that there is something wrong with GTSAM. After that, I usedldd -rto check the dynamic link library of node pose_graph_manager.The above errors show that pose_graph_manager has so many libraries unlinked.
Until then, I had no idea how to debug. So I'm here seeking your generous help. I'll appreciate any possible hint.
The text was updated successfully, but these errors were encountered: