ros1_bridge dynamic_bridge missing libroscpp.so

[dario-pedro]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04 running docker ROS2 nightly
• Installation type:
  • docker ROS2 nightly

When I run docker ROS2 nightly I get /opt/ros/dashing/lib/ros1_bridge/dynamic_bridge: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory

Any idea how to solve it ?

[dirk-thomas]

Have you sourced ROS 1?

[kk2491]

@dirk-thomas @dario-pedro I was getting the same error. So I sourced both dashing and melodic, now I am getting the below error. Could you please let me know what the issue is.

system@d1dbb9f4c6b7:/module$ ros2 run ros1_bridge dynamic_bridge 
Failed to load entry point 'info': /opt/ros/dashing/lib/librosbag2_storage.so: undefined symbol: _ZNK12class_loader11ClassLoader15isLibraryLoadedEv
The C extension '/opt/ros/dashing/lib/python3.6/site-packages/rosbag2_transport/_rosbag2_transport_py.cpython-36m-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Segmentation fault
systeml@d1dbb9f4c6b7:/module$ 

[dirk-thomas]

I sourced both dashing and melodic

You need to source them in the other order - ROS 1 first, then ROS 2 - as described in the instructions.

[dirk-thomas]

Assuming the previous comments have resolved the issue I will go ahead an close this ticket. Please feel free to continue commenting and if necessary the ticket can be reopened.

[potentialdiffer]

I am running into a similar problem. (Using Debian 9, Kinetic and Dashing from source) What I've done so far:

• rebuild ROS1 and ROS2 workspace in "clean" terminal
• compiled ros1_bridge with first sourcing ROS1 and then ROS2 workspace

Building ros1_bridge succeeds, however running the bridge results in the error, which was previously mentioned:

$ source /home/xxx/ros1_kinetic/install/setup.bash
$ source /home/xxx/ros2_dashing/install/setup.bash
$ ros2 run ros1_bridge dynamic_bridge                                                        
/home/xxx/ros2_dashing/install/ros1_bridge/lib/ros1_bridge/dynamic_bridge: symbol lookup error: /home/xxx/ros1_kinetic/install/navfn/lib/libnavfn.so: undefined symbol: _ZN12class_loader20class_loader_private30getCurrentlyLoadingLibraryNameB5cxx11Ev

I checked libnavfn.so:

$ ldd /home/xxx/ros1_kinetic/install/navfn/lib/libnavfn.so | grep class_loader
libclass_loader.so => /home/xxx/ros2_dashing/install/class_loader/lib/libclass_loader.so (0x00007f538c5cf000)

The linker uses the ROS2 libraries for ROS1, which is obviously wrong. Actually, a lot more libraries get linked wrong, the class_loader is just the first, that causes the error. If only ROS1 workspace is sourced, the linker uses the right libraries:

$ source /home/xxx/ros1_kinetic/install/setup.bash
$ ldd /home/xxx/ros1_kinetic/install/navfn/lib/libnavfn.so | grep class_loader
libclass_loader.so => /home/xxx/ros1_kinetic/install/class_loader/lib/libclass_loader.so (0x00007f60fe015000)

I have no further idea how to come around that problem, as I've already made a clean compilation of both workspaces, with double checking, that there was a clean environment.

I appreciate any help or idea. Thanks in advance.

[shlokgoel]

I am getting a similar error.

I have sourced ROS Melodic first and then ROS Dashing inside the docker. I have followed instructions as provided in the ros2 GitHub wiki.

I would appreciate any help or idea. Thank you!

[jackxia123]

I am getting a similar error.

I have sourced ROS Melodic first and then ROS Dashing inside the docker. I have followed instructions as provided in the ros2 GitHub wiki.

I would appreciate any help or idea. Thank you!

set ros1 environment variables

source "/opt/ros/${ROS2_DISTRO}/setup.bash"

set ros2 environment variables

source "/opt/ros2-lgsvl-bridge/install/setup.bash"
source "${LANE_FOLLOWING_ROOT_DIR}/ros2_ws/install/local_setup.bash"

only set ros2 environment topic , not set ros1

[ruoxi521]

@ jackxia123
I had the same error at the beginning, when I looked at the project's Readme file, I saw these, so I tried it and the error was resolved.

# Shell C:
. /opt/ros/melodic/setup.bash
# Or, on OSX, something like:
# . ~/ros_catkin_ws/install_isolated/setup.bash
rosrun rospy_tutorials talker

My operation is similar to yours, but it works fine.

After comparison, I feel that the problem seems to be the lack of the following command line

. <install-space-with-bridge>/setup.bash

I'm not sure it will work, but I think I can give it a try, hope it helps

[ruoxi521]

The specific location is here in the readme file