HUMBLE: Undefined symbol when launching bt_navigator

[EdMlt]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• ROS2 Version:
  • Humble binaries
• Version or commit hash:
  • ros-humble-navigation2 1.1.13-1jammy.20240217.105800
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

Firstly run turtlebot3 gazebo simulation:

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

In another terminal run nav2_bringup navigation_launch.py:

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

Expected behavior

All nodes required to make navigation

Actual behavior

All nodes seems to launch, but the bt_navigator dies instantly:

[INFO] [bt_navigator-5]: process started with pid [66808]
[INFO] [waypoint_follower-6]: process started with pid [66810]
[INFO] [velocity_smoother-7]: process started with pid [66812]
[INFO] [lifecycle_manager-8]: process started with pid [66814]
[bt_navigator-5] /opt/ros/humble/lib/nav2_bt_navigator/bt_navigator: symbol lookup error: /opt/ros/humble/lib/nav2_bt_navigator/bt_navigator: undefined symbol: _ZN17nav2_bt_navigator11BtNavigatorC1EN6rclcpp11NodeOptionsE
[ERROR] [bt_navigator-5]: process has died [pid 66808, exit code 127, cmd '/opt/ros/humble/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level info --ros-args -r __node:=bt_navigator --params-file /tmp/launch_params_4fxnlvrq -r /tf:=tf -r /tf_static:=tf_static'].

I then cannot give a goal to my robot as I don't have a BT.

Additional information

The bt_navigator node works when I want to run opennav_coverage_demo

ros2 launch opennav_coverage_demo coverage_demo_launch.py

Thanks for any help

[SteveMacenski]

I tested the current humble binaries and don't have an issue - do you se this with ros2 launch nav2_bringup tb3_simulation_launch.py or only the TB3 launch files?

[EdMlt]

Running ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True it seems ok:

[component_container_isolated-5] [INFO] [1712736784.869636928] [lifecycle_manager_navigation]: Activating bt_navigator
[component_container_isolated-5] [INFO] [1712736784.869841594] [bt_navigator]: Activating
[component_container_isolated-5] [INFO] [1712736784.959886682] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[component_container_isolated-5] [INFO] [1712736785.064324979] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.

Can send a goal to the robot and it goes by
The issue i reported earlier is also happening with my custom robot when trying to bringup nav2 with ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

[SteveMacenski]

Please review the package and try to find your error then :-) If this isn't an issue with Nav2 but rather your custom use of it, I can't provide much feedback or help beyond the fact that we have the nav2_bringup package & example for a reason 😄

[bandasaikrishna]

Hi,
This problem occurs when nav2_bt_navigator node is run as a normal node and no issue when run as composable node.

In "tb3_simulation_launch.py" launch file, "use_composition" is set to True by default hence problem is not seen when "tb3_simulation_launch.py" is run with default configuration.

Use below command to see the issue with "tb3_simulation_launch.py".

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False use_composition:=False

Hope this will be fixed.

[SteveMacenski]

Using binaries

steve@reese:~$ apt info ros-humble-navigation2
Package: ros-humble-navigation2
Version: 1.1.14-1jammy.20240407.041637

I just tested your command and things work fine for me :-)

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False use_composition:=False

Its 1 version newer, but perhaps the issue is that you updated some dependencies below Nav2 but not Nav2 itself (like, BT.CPP) so that is causing the issue? That's a plausible explanation