Undefined Symbol bei shared library

baracuda

Hallo,

Ich und eine Kollegin schreiben ein Plugin in für den Robtersimulator Gazebo.
Im Grunde werden dazu einfach shared libraries geladen. Die Systems Specs auf beiden Systemen shcauen so aus:

3.8.0-32-generic #47~precise1-Ubuntu SMP Wed Oct 2 16:19:35 UTC 2013 x8664 x8664 x86_64 GNU/Linux
g++ (Ubuntu/Linaro 4.6.3-1ubuntu5) 4.6.3
ldd (Ubuntu EGLIBC 2.15-0ubuntu10.5) 2.15
ROS Fuerte
Gazebo 1.9 and Gazebo 1.8.6

Beim Laden des Plugins bekomme ich den Fehler:

Error [Plugin.hh:127] Failed to load plugin /home/user/eclipse_ws/plugin_cmds/libtaurob_plugin_ros.so: /home/user/eclipse_ws/plugin_cmds/libtaurob_plugin_ros.so: undefined symbol: _ZN3ros7console13g_initializedE

Kompelliert meine Kollegin die Library so funktioniert es, wenn ich sie auf meinem System verwende.

Die Ausgabe von ldd siehr auch ok aus

Code

linux-vdso.so.1 =>  (0x00007fffc0bf2000)
libgazebo_physics.so.1 => /usr/lib/libgazebo_physics.so.1 (0x00007f7dd5c26000)
libgazebo_sensors.so.1 => /usr/lib/libgazebo_sensors.so.1 (0x00007f7dd5991000)
libgazebo_math.so.1 => /usr/lib/libgazebo_math.so.1 (0x00007f7dd5759000)
libgazebo_common.so.1 => /usr/lib/libgazebo_common.so.1 (0x00007f7dd54a9000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f7dd51a9000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f7dd4eac000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f7dd4c96000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f7dd48d6000)
libgazebo_util.so.1 => /usr/lib/libgazebo_util.so.1 (0x00007f7dd4658000)
libgazebo_physics_ode.so.1 => /usr/lib/libgazebo_physics_ode.so.1 (0x00007f7dd43bc000)
libgazebo_transport.so.1 => /usr/lib/libgazebo_transport.so.1 (0x00007f7dd4128000)
libgazebo_msgs.so.1 => /usr/lib/libgazebo_msgs.so.1 (0x00007f7dd3dbf000)
libprotobuf.so.7 => /usr/lib/libprotobuf.so.7 (0x00007f7dd3ad0000)
libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f7dd38cc000)
libsdformat.so.1 => /usr/lib/libsdformat.so.1 (0x00007f7dd3607000)
libboost_thread.so.1.46.1 => /usr/lib/libboost_thread.so.1.46.1 (0x00007f7dd33ee000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f7dd31d1000)
libboost_system.so.1.46.1 => /usr/lib/libboost_system.so.1.46.1 (0x00007f7dd2fcc000)
libboost_regex.so.1.46.1 => /usr/lib/libboost_regex.so.1.46.1 (0x00007f7dd2cca000)
libgazebo_rendering.so.1 => /usr/lib/libgazebo_rendering.so.1 (0x00007f7dd2917000)
libboost_filesystem.so.1.46.1 => /usr/lib/libboost_filesystem.so.1.46.1 (0x00007f7dd26f8000)
libboost_iostreams.so.1.46.1 => /usr/lib/libboost_iostreams.so.1.46.1 (0x00007f7dd24df000)
libfreeimage.so.3 => /usr/lib/libfreeimage.so.3 (0x00007f7dd21e5000)
libtinyxml.so.2.6.2 => /usr/lib/libtinyxml.so.2.6.2 (0x00007f7dd1fd0000)
libcurl.so.4 => /usr/lib/x86_64-linux-gnu/libcurl.so.4 (0x00007f7dd1d73000)
libtar.so.0 => /usr/lib/libtar.so.0 (0x00007f7dd1b66000)
librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f7dd195e000)
/lib64/ld-linux-x86-64.so.2 (0x00007f7dd621b000)
libgazebo_ode.so.1 => /usr/lib/libgazebo_ode.so.1 (0x00007f7dd1694000)
libtbb.so.2 => /usr/lib/libtbb.so.2 (0x00007f7dd1467000)
libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f7dd124f000)
libicuuc.so.48 => /usr/lib/libicuuc.so.48 (0x00007f7dd0ee5000)
libicui18n.so.48 => /usr/lib/libicui18n.so.48 (0x00007f7dd0b1c000)
libgazebo_skyx.so.1 => /usr/lib/libgazebo_skyx.so.1 (0x00007f7dd08d9000)
libgazebo_selection_buffer.so.1 => /usr/lib/libgazebo_selection_buffer.so.1 (0x00007f7dd06ca000)
libOgreRTShaderSystem.so.1.7.4 => /usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.7.4 (0x00007f7dd03f2000)
libOgreMain.so.1.7.4 => /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4 (0x00007f7dcfc43000)
libOgreTerrain.so.1.7.4 => /usr/lib/x86_64-linux-gnu/libOgreTerrain.so.1.7.4 (0x00007f7dcf9ca000)
libGL.so.1 => /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 (0x00007f7dcf769000)
libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f7dcf434000)
libCEGUIBase-0.7.5.so => /usr/lib/libCEGUIBase-0.7.5.so (0x00007f7dcef36000)
libCEGUIOgreRenderer-0.7.5.so => /usr/lib/libCEGUIOgreRenderer-0.7.5.so (0x00007f7dced0b000)
libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f7dceafb000)
libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f7dce8aa000)
libmng.so.1 => /usr/lib/x86_64-linux-gnu/libmng.so.1 (0x00007f7dce622000)
libopenjpeg.so.2 => /usr/lib/libopenjpeg.so.2 (0x00007f7dce402000)
libIlmImf.so.6 => /usr/lib/libIlmImf.so.6 (0x00007f7dce140000)
libHalf.so.6 => /usr/lib/libHalf.so.6 (0x00007f7dcdefd000)
libIex.so.6 => /usr/lib/libIex.so.6 (0x00007f7dcdcde000)
libraw.so.5 => /usr/lib/libraw.so.5 (0x00007f7dcda4d000)
libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f7dcd825000)
libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f7dcd617000)
libidn.so.11 => /usr/lib/x86_64-linux-gnu/libidn.so.11 (0x00007f7dcd3e3000)
liblber-2.4.so.2 => /usr/lib/x86_64-linux-gnu/liblber-2.4.so.2 (0x00007f7dcd1d5000)
libldap_r-2.4.so.2 => /usr/lib/x86_64-linux-gnu/libldap_r-2.4.so.2 (0x00007f7dccf86000)
libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007f7dccd47000)
libssl.so.1.0.0 => /lib/x86_64-linux-gnu/libssl.so.1.0.0 (0x00007f7dccae9000)
libcrypto.so.1.0.0 => /lib/x86_64-linux-gnu/libcrypto.so.1.0.0 (0x00007f7dcc70e000)
librtmp.so.0 => /usr/lib/x86_64-linux-gnu/librtmp.so.0 (0x00007f7dcc4f3000)
libgazebo_opcode.so.1 => /usr/lib/libgazebo_opcode.so.1 (0x00007f7dcc29b000)
libgazebo_opende_ou.so.1 => /usr/lib/libgazebo_opende_ou.so.1 (0x00007f7dcc095000)
libgazebo_ccd.so.1 => /usr/lib/libgazebo_ccd.so.1 (0x00007f7dcbe89000)
libicudata.so.48 => /usr/lib/libicudata.so.48 (0x00007f7dcab19000)
libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f7dca87c000)
libXt.so.6 => /usr/lib/x86_64-linux-gnu/libXt.so.6 (0x00007f7dca616000)
libXaw.so.7 => /usr/lib/x86_64-linux-gnu/libXaw.so.7 (0x00007f7dca3a6000)
libzzip-0.so.13 => /usr/lib/libzzip-0.so.13 (0x00007f7dca19e000)
libOgrePaging.so.1.7.4 => /usr/lib/x86_64-linux-gnu/libOgrePaging.so.1.7.4 (0x00007f7dc9f6d000)
libglapi.so.0 => /usr/lib/x86_64-linux-gnu/libglapi.so.0 (0x00007f7dc9d47000)
libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f7dc9b36000)
libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007f7dc9933000)
libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007f7dc972c000)
libX11-xcb.so.1 => /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1 (0x00007f7dc952a000)
libxcb-glx.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0 (0x00007f7dc9313000)
libxcb-dri2.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0 (0x00007f7dc910d000)
libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f7dc8eef000)
libXxf86vm.so.1 => /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1 (0x00007f7dc8cea000)
libdrm.so.2 => /usr/lib/x86_64-linux-gnu/libdrm.so.2 (0x00007f7dc8ade000)
libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f7dc88a1000)
liblcms.so.1 => /usr/lib/x86_64-linux-gnu/liblcms.so.1 (0x00007f7dc8669000)
libImath.so.6 => /usr/lib/libImath.so.6 (0x00007f7dc8463000)
libIlmThread.so.6 => /usr/lib/libIlmThread.so.6 (0x00007f7dc825c000)
libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007f7dc8004000)
liblcms2.so.2 => /usr/lib/x86_64-linux-gnu/liblcms2.so.2 (0x00007f7dc7db9000)
libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f7dc7b9c000)
libsasl2.so.2 => /usr/lib/x86_64-linux-gnu/libsasl2.so.2 (0x00007f7dc7981000)
libgssapi.so.3 => /usr/lib/x86_64-linux-gnu/libgssapi.so.3 (0x00007f7dc7743000)
libgnutls.so.26 => /usr/lib/x86_64-linux-gnu/libgnutls.so.26 (0x00007f7dc7486000)
libgcrypt.so.11 => /lib/x86_64-linux-gnu/libgcrypt.so.11 (0x00007f7dc7208000)
libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007f7dc6f3a000)
libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007f7dc6d11000)
libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007f7dc6b0d000)
libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007f7dc6905000)
libSM.so.6 => /usr/lib/x86_64-linux-gnu/libSM.so.6 (0x00007f7dc66fc000)
libICE.so.6 => /usr/lib/x86_64-linux-gnu/libICE.so.6 (0x00007f7dc64e2000)
libXmu.so.6 => /usr/lib/x86_64-linux-gnu/libXmu.so.6 (0x00007f7dc62c8000)
libXpm.so.4 => /usr/lib/x86_64-linux-gnu/libXpm.so.4 (0x00007f7dc60b7000)
libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f7dc5eb4000)
libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f7dc5cad000)
libheimntlm.so.0 => /usr/lib/x86_64-linux-gnu/libheimntlm.so.0 (0x00007f7dc5aa6000)
libkrb5.so.26 => /usr/lib/x86_64-linux-gnu/libkrb5.so.26 (0x00007f7dc581f000)
libasn1.so.8 => /usr/lib/x86_64-linux-gnu/libasn1.so.8 (0x00007f7dc557f000)
libhcrypto.so.4 => /usr/lib/x86_64-linux-gnu/libhcrypto.so.4 (0x00007f7dc534b000)
libroken.so.18 => /usr/lib/x86_64-linux-gnu/libroken.so.18 (0x00007f7dc5135000)
libtasn1.so.3 => /usr/lib/x86_64-linux-gnu/libtasn1.so.3 (0x00007f7dc4f24000)
libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007f7dc4d12000)
libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007f7dc4b0d000)
libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007f7dc4909000)
libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007f7dc4703000)
libwind.so.0 => /usr/lib/x86_64-linux-gnu/libwind.so.0 (0x00007f7dc44da000)
libheimbase.so.1 => /usr/lib/x86_64-linux-gnu/libheimbase.so.1 (0x00007f7dc42cb000)
libhx509.so.5 => /usr/lib/x86_64-linux-gnu/libhx509.so.5 (0x00007f7dc4080000)
libsqlite3.so.0 => /usr/lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007f7dc3ddd000)
libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007f7dc3ba4000)

Alles anzeigen

Die CMakeLists.txt sieht so aus

Code

make_minimum_required(VERSION 2.8 FATAL_ERROR)


# find gazebo
include (FindPkgConfig)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
if (PKG_CONFIG_FOUND)
  pkg_check_modules(GAZEBO gazebo REQUIRED)
else()
  message(FATAL_ERROR "pkg-config is required; please install it")
endif()


include_directories(${GAZEBO_INCLUDE_DIRS})
include_directories(/opt/ros/fuerte/include/)
link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(${roscpp_INCLUDE_DIRS})
link_directories(${roscpp_LIBRARY_DIRS})


#include(/home/moro-ceci/taurob_animate_ros/build/CMakeFiles/rospack.cmake)


include(cmake/rospack.cmake)


#get_rospack_flags(roscpp)


# compile plugin


add_library(taurob_plugin_ros SHARED taurob_plugin_ros.cc)
set_target_properties(taurob_plugin_ros PROPERTIES COMPILE_FLAGS "${roscpp_CFLAGS_OTHER} -Wl,--no-undefined")
set_target_properties(taurob_plugin_ros PROPERTIES LINK_FLAGS "${roscpp_LDFLAGS_OTHER}")


target_link_libraries(taurob_plugin_ros ${GAZEBO_LIBRARIES} ${roscpp_LIBRARIES})
#target_link_libraries(taurob_plugin_ros ${roscpp_LIBRARIES})






set(CMAKE_INSTALL_RPATH "${roscpp_LIBRARY_DIRS}")
install (TARGETS taurob_plugin_ros DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/gazebo_plugins/)

Alles anzeigen

Wie kann am besten solche Fehler am besten debuggen?? Bzw. Vielleicht sieht ja einer den Fehler?

MFG

Plantschkuh!

Zitat von baracuda

Error [Plugin.hh:127] Failed to load plugin /home/user/eclipse_ws/plugin_cmds/libtaurob_plugin_ros.so: /home/user/eclipse_ws/plugin_cmds/libtaurob_plugin_ros.so: undefined symbol: _ZN3ros7console13g_initializedE

Und, ist das Symbol drin?

Code

nm /home/user/eclipse_ws/plugin_cmds/libtaurob_plugin_ros.so | grep initializedE

Zitat

Kompelliert meine Kollegin die Library so funktioniert es, wenn ich sie auf meinem System verwende.

Wenn du bei dir kompilierst, funktioniert die Library bei dir nicht, aber wenn sie kompiliert, funktioniert sie bei dir schon? Was ist auf ihrem System?

baracuda

Hey Plantschkuh!

Vielen Dank für deine schnelle Antwort!

Hier der output von nm bei meiner library:

nm -a libtaurob_plugin_ros.so | grep initializedE
[CODE]
U _ZN3ros7console13g_initializedE
000000000003438c W _ZN5boost6detail13sp_ms_deleterIN13geometry_msgs6Twist_ISaIvEEEE15set_initializedEv
[\CODE]

Der Befehl nm libtaurob_plugin_ros.so | grep initializedE | c++filt liefert das
[CODE]
U ros::console::g_initialized
000000000003438c W boost::detail::sp_ms_deleter<geometry_msgs::Twist_<std::allocator<void> > >::set_initialized()
[\CODE]

Das Symbol ist Unidentified.

Bei der Lib von meiner Kollegin kommt das gleiche raus !?!?!?

nm libtaurob_plugin_ros_ceci.so | grrep initializedE
[CODE]
U _ZN3ros7console13g_initializedE
0000000000034206 W _ZN5boost6detail13sp_ms_deleterIN13geometry_msgs6Twist_ISaIvEEEE15set_initializedEv
[\CODE]

Also ich steh auf der Leitung.

Plantschkuh!

Hmm. Vom Namen her schauts so aus, als sollte ros::console::g_initialized aus einer ROS-Library kommen. Ich seh aber nix davon in deinem ldd-Output.

baracuda

Hey habe das in CMakeLists.txt vergessen

find_package(roscpp). Jetzt wird richtig verlinked

taurob.llibrosconsole.so => /opt/ros/fuerte/lib/librosconsole.so (0x00007ff940ff0000)

Undefined Symbol bei shared library

Jetzt mitmachen!

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