symbol lookup error when running $ roslaunch sptam mit.launch

[jacky70010]

jacky@jacky-VirtualBox:~/catkin_ws$ roslaunch sptam mit.launch
... logging to /home/jacky/.ros/log/d605cdc2-af00-11e7-bf14-080027aa2191/roslaunch-jacky-VirtualBox-8824.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jacky-VirtualBox:43345/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.7
• /sptam/BundleAdjustmentActiveKeyframes: 10
• /sptam/DescriptorExtractor/Name: BRIEF
• /sptam/DescriptorExtractor/bytes: 32
• /sptam/DescriptorMatcher/Name: BruteForce-Hamming
• /sptam/DescriptorMatcher/crossCheck: False
• /sptam/EpipolarDistance: 0
• /sptam/FeatureDetector/Name: GFTT
• /sptam/FeatureDetector/minDistance: 15.0
• /sptam/FeatureDetector/nfeatures: 1000
• /sptam/FeatureDetector/qualityLevel: 0.01
• /sptam/FeatureDetector/useHarrisDetector: False
• /sptam/FrustumFarPlaneDist: 10000.0
• /sptam/FrustumNearPlaneDist: 0.1
• /sptam/LoopDetectorVocabulary: /home/jacky/catki...
• /sptam/MatchingCellSize: 30
• /sptam/MatchingDistance: 25
• /sptam/MatchingNeighborhood: 2
• /sptam/approximate_sync: False
• /sptam/camera_frame: wide_stereo_gazeb...
• /sptam/minimumTrackedPointsRatio: 0.9
• /sptam/prediction_frame: odom_combined
• /sptam/publish_on_fail: True
• /sptam/use_prediction: True
• /use_sim_time: True

NODES
/wide_stereo/
stereo_image_proc (stereo_image_proc/stereo_image_proc)
/
sptam (sptam/sptam_node)
sptam_path (ros_utils/pose_to_path)

auto-starting new master
process[master]: started with pid [8835]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d605cdc2-af00-11e7-bf14-080027aa2191
process[rosout-1]: started with pid [8848]
started core service [/rosout]
process[wide_stereo/stereo_image_proc-2]: started with pid [8860]
process[sptam_path-3]: started with pid [8873]
process[sptam-4]: started with pid [8903]
[ INFO] [1507780379.423925682]: Initializing nodelet with 1 worker threads.
crossCheck: 0
/home/jacky/catkin_ws/devel/lib/sptam/sptam_node: symbol lookup error: /home/jacky/catkin_ws/devel/lib/libsptam.so: undefined symbol: _ZN3g2o30OptimizationAlgorithmLevenbergC1ESt10unique_ptrINS_6SolverESt14default_deleteIS2_EE
[sptam-4] process has died [pid 8903, exit code 127, cmd /home/jacky/catkin_ws/devel/lib/sptam/sptam_node /imu/data:=/torso_lift_imu/data /stereo/left/image_features:=/wide_stereo/left/image_features /stereo/right/image_features:=/wide_stereo/right/image_features /stereo/left/image_rect:=/wide_stereo/left/image_rect_color /stereo/right/image_rect:=/wide_stereo/right/image_rect_color /stereo/left/camera_info:=/wide_stereo/left/camera_info /stereo/right/camera_info:=/wide_stereo/right/camera_info robot/pose:=odom __name:=sptam __log:=/home/jacky/.ros/log/d605cdc2-af00-11e7-bf14-080027aa2191/sptam-4.log].
log file: /home/jacky/.ros/log/d605cdc2-af00-11e7-bf14-080027aa2191/sptam-4*.log

[alexbuyval]

Hi

It seems I faced with similar error.

[ INFO] [1507973907.501215599, 2083.070000000]: init calib
[ INFO] [1507973907.504608286, 2083.072000000]: baseline: 0.07
[ INFO] [1507973907.735363587, 2083.274000000]: Trying to intialize map...
[ INFO] [1507973907.738565470, 2083.276000000]: Map initialized with 47 points.
/home/alex/catkin_ws/devel/lib/sptam/sptam_node: symbol lookup error: /home/alex/catkin_ws/devel/lib/libsptam.so: undefined symbol: _ZN3g2o17csparse_extension14cs_cholsolsymbEPK12cs_di_sparsePdPK14cs_di_symbolicS4_Pi

How have you solved your error?

With regards,
Alex

[jacky70010]

Have you install install Boost by typing:

$ sudo apt-get install libboost-dev
if you already did
try this:
delete all folders in your workspace except "src"
and then catkin_make again

hope it helps you
Jacky

[alexbuyval]

Hi Jacky

Thank you for your suggestions.

I have installed the Boost already early.
Also I have tried to delete all folders and run catkin_make, however I have got the error anyway.

Maybe there is another solution?

Best Regards,
Alex

[taihup]

Hi Alex, did you try with the nm command to understand the error? Also it is look like you have issues with g2o because the symbol ZN3g2o17csparse_extension14cscholsolsymbEPK12cs_di_sparsePdPK14cs_di_symbolicS4_Pi
looks like it make reference to csparse solver and cholesky factorization that are from g2o.
You can try standalone version of S-PTAM with the KITTI dataset to discart ROS issues.

Let me know if it helps.

Taihú