flightmare gzserver: symbol lookup error on running rotors

gzserver: symbol lookup error on running rotors_gazebo.launch

Open Arcane-01 opened this issue 1 year ago • 0 comments
Hello! I'm encountering an error on running the rotors_gazebo.launch file. My setup includes Ros Noetic and Gazebo 11.14.0. Despite running catkin clean followed by a rebuild, the problem persists.
... logging to /home/arcane/.ros/log/3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9/roslaunch-pop-os-830664.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://pop-os:44307/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /hummingbird/autopilot/breaking_timeout: 0.5
 * /hummingbird/autopilot/breaking_velocity_threshold: 0.2
 * /hummingbird/autopilot/control_command_delay: 0.05
 * /hummingbird/autopilot/control_command_input_timeout: 0.1
 * /hummingbird/autopilot/emergency_land_duration: 4
 * /hummingbird/autopilot/emergency_land_thrust: 9.0
 * /hummingbird/autopilot/enable_command_feedthrough: False
 * /hummingbird/autopilot/go_to_pose_max_normalized_thrust: 12.0
 * /hummingbird/autopilot/go_to_pose_max_roll_pitch_rate: 0.5
 * /hummingbird/autopilot/go_to_pose_max_velocity: 1.5
 * /hummingbird/autopilot/idle_thrust: 2.0
 * /hummingbird/autopilot/optitrack_land_drop_height: 0.3
 * /hummingbird/autopilot/optitrack_start_height: 1.0
 * /hummingbird/autopilot/optitrack_start_land_timeout: 5
 * /hummingbird/autopilot/position_controller/k_drag_x: 0.0
 * /hummingbird/autopilot/position_controller/k_drag_y: 0.0
 * /hummingbird/autopilot/position_controller/k_drag_z: 0.0
 * /hummingbird/autopilot/position_controller/k_thrust_horz: 0.0
 * /hummingbird/autopilot/position_controller/kdxy: 4.0
 * /hummingbird/autopilot/position_controller/kdz: 6.0
 * /hummingbird/autopilot/position_controller/kpxy: 10.0
 * /hummingbird/autopilot/position_controller/kpz: 15.0
 * /hummingbird/autopilot/position_controller/krp: 12.0
 * /hummingbird/autopilot/position_controller/kyaw: 5.0
 * /hummingbird/autopilot/position_controller/perform_aerodynamics_compensation: False
 * /hummingbird/autopilot/position_controller/pxy_error_max: 0.6
 * /hummingbird/autopilot/position_controller/pz_error_max: 0.3
 * /hummingbird/autopilot/position_controller/use_rate_mode: True
 * /hummingbird/autopilot/position_controller/vxy_error_max: 1.0
 * /hummingbird/autopilot/position_controller/vz_error_max: 0.75
 * /hummingbird/autopilot/position_controller/yaw_error_max: 0.7
 * /hummingbird/autopilot/predictive_control_lookahead: 2.0
 * /hummingbird/autopilot/propeller_ramp_down_timeout: 1.5
 * /hummingbird/autopilot/reference_state_input_timeout: 0.1
 * /hummingbird/autopilot/start_idle_duration: 2.0
 * /hummingbird/autopilot/start_land_acceleration: 1
 * /hummingbird/autopilot/start_land_velocity: 0.5
 * /hummingbird/autopilot/state_estimate_timeout: 0.1
 * /hummingbird/autopilot/state_predictor/integration_step_size: 0.001
 * /hummingbird/autopilot/state_predictor/maximum_prediction_horizon: 0.1
 * /hummingbird/autopilot/state_predictor/tau_angle_rate_dynamics: 0.04
 * /hummingbird/autopilot/state_predictor/tau_thrust_down_dynamics: 0.03
 * /hummingbird/autopilot/state_predictor/tau_thrust_up_dynamics: 0.03
 * /hummingbird/autopilot/tau_velocity_command: 0.8
 * /hummingbird/autopilot/velocity_command_input_timeout: 0.1
 * /hummingbird/autopilot/velocity_estimate_in_world_frame: False
 * /hummingbird/flight_pilot_node/main_loop_freq: 50.0
 * /hummingbird/flight_pilot_node/scene_id: 0
 * /hummingbird/flight_pilot_node/unity_render: True
 * /hummingbird/joy_node/autorepeat_rate: 10
 * /hummingbird/manual_flight_assistant/joypad_axes_zero_tolerance: 0.05
 * /hummingbird/manual_flight_assistant/joypad_timeout: 0.5
 * /hummingbird/manual_flight_assistant/rmax_yaw: 1.5
 * /hummingbird/manual_flight_assistant/sbus_axes_zero_tolerance: 10
 * /hummingbird/manual_flight_assistant/sbus_timeout: 0.5
 * /hummingbird/manual_flight_assistant/vmax_xy: 1.5
 * /hummingbird/manual_flight_assistant/vmax_z: 0.7
 * /hummingbird/robot_description: <?xml version="1....
 * /hummingbird/rpg_rotors_interface/arm_length: 0.17
 * /hummingbird/rpg_rotors_interface/body_rates_d_xy: 0.5
 * /hummingbird/rpg_rotors_interface/body_rates_d_z: 0.1
 * /hummingbird/rpg_rotors_interface/body_rates_p_xy: 0.1
 * /hummingbird/rpg_rotors_interface/body_rates_p_z: 0.03
 * /hummingbird/rpg_rotors_interface/inertia_x: 0.007
 * /hummingbird/rpg_rotors_interface/inertia_y: 0.007
 * /hummingbird/rpg_rotors_interface/inertia_z: 0.012
 * /hummingbird/rpg_rotors_interface/low_level_control_frequency: 200.0
 * /hummingbird/rpg_rotors_interface/mass: 0.73
 * /hummingbird/rpg_rotors_interface/max_rotor_speed: 838.0
 * /hummingbird/rpg_rotors_interface/roll_pitch_cont_gain: 6.0
 * /hummingbird/rpg_rotors_interface/rotor_drag_coeff: 0.016
 * /hummingbird/rpg_rotors_interface/rotor_thrust_coeff: 8.54858e-06
 * /hummingbird/tf_prefix: 
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /hummingbird/
    autopilot (autopilot/autopilot)
    flight_pilot_node (flightros/flight_pilot_node)
    joy_node (joy/joy_node)
    manual_flight_assistant (manual_flight_assistant/manual_flight_assistant)
    rpg_flightmare_render (flightrender/RPG_Flightmare.x86_64)
    rpg_rotors_interface (rpg_rotors_interface/rpg_rotors_interface)
    rqt_quad_gui (rqt_gui/rqt_gui)
    spawn_hummingbird (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [830704]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9
process[rosout-1]: started with pid [830729]
started core service [/rosout]
process[gazebo-2]: started with pid [830736]
process[gazebo_gui-3]: started with pid [830739]
process[hummingbird/spawn_hummingbird-4]: started with pid [830745]
process[hummingbird/rpg_rotors_interface-5]: started with pid [830747]
process[hummingbird/rpg_flightmare_render-6]: started with pid [830748]
process[hummingbird/autopilot-7]: started with pid [830750]
process[hummingbird/flight_pilot_node-8]: started with pid [830757]
process[hummingbird/joy_node-9]: started with pid [830759]
process[hummingbird/manual_flight_assistant-10]: started with pid [830764]
[ INFO] [1703451963.472110069]: [/hummingbird/autopilot] state_predictor/integration_step_size = 0.001
[ INFO] [1703451963.476176674]: [/hummingbird/autopilot] state_predictor/maximum_prediction_horizon = 0.1
[ INFO] [1703451963.477453613]: [/hummingbird/autopilot] state_predictor/tau_thrust_up_dynamics = 0.03
[ INFO] [1703451963.478270147]: [/hummingbird/autopilot] state_predictor/tau_thrust_down_dynamics = 0.03
[ INFO] [1703451963.479257865]: [/hummingbird/autopilot] state_predictor/tau_angle_rate_dynamics = 0.04
[ INFO] [1703451963.479880515]: [/hummingbird/autopilot] state_estimate_timeout = 0.1
[ INFO] [1703451963.480515597]: [/hummingbird/autopilot] velocity_estimate_in_world_frame = 0
[ INFO] [1703451963.482066809]: [/hummingbird/autopilot] control_command_delay = 0.05
[ INFO] [1703451963.482835710]: [/hummingbird/autopilot] start_land_velocity = 0.5
[ INFO] [1703451963.483432518]: [/hummingbird/autopilot] start_land_acceleration = 1
[ INFO] [1703451963.485112869]: [/hummingbird/autopilot] start_idle_duration = 2
[ INFO] [1703451963.485889033]: [/hummingbird/autopilot] idle_thrust = 2
[ INFO] [1703451963.487206411]: [/hummingbird/autopilot] optitrack_start_height = 1
[ INFO] [1703451963.488450453]: [/hummingbird/autopilot] optitrack_start_land_timeout = 5
[ INFO] [1703451963.489252739]: [/hummingbird/autopilot] optitrack_land_drop_height = 0.3
[ INFO] [1703451963.489884958]: [/hummingbird/autopilot] propeller_ramp_down_timeout = 1.5
[ INFO] [1703451963.490888601]: [/hummingbird/autopilot] breaking_velocity_threshold = 0.2
[ INFO] [1703451963.491855436]: [/hummingbird/autopilot] breaking_timeout = 0.5
[ INFO] [1703451963.492636071]: [/hummingbird/autopilot] go_to_pose_max_velocity = 1.5
[ INFO] [1703451963.493610240]: [/hummingbird/autopilot] go_to_pose_max_normalized_thrust = 12
[ INFO] [1703451963.494486210]: [/hummingbird/autopilot] go_to_pose_max_roll_pitch_rate = 0.5
[ INFO] [1703451963.495953680]: [/hummingbird/autopilot] velocity_command_input_timeout = 0.1
[ INFO] [1703451963.496757782]: [/hummingbird/autopilot] tau_velocity_command = 0.8
[ INFO] [1703451963.498040937]: [/hummingbird/autopilot] reference_state_input_timeout = 0.1
[ INFO] [1703451963.498783088]: [/hummingbird/autopilot] emergency_land_duration = 4
[ INFO] [1703451963.499977891]: [/hummingbird/autopilot] emergency_land_thrust = 9
[ INFO] [1703451963.500760481]: [/hummingbird/autopilot] control_command_input_timeout = 0.1
[ INFO] [1703451963.501428738]: [/hummingbird/autopilot] enable_command_feedthrough = 0
[ INFO] [1703451963.502831604]: [/hummingbird/autopilot] predictive_control_lookahead = 2
[ INFO] [1703451963.503468921]: [/hummingbird/autopilot] position_controller/use_rate_mode = 1
[ INFO] [1703451963.504267575]: [/hummingbird/autopilot] position_controller/kpxy = 10
process[hummingbird/rqt_quad_gui-11]: started with pid [830786]
[ INFO] [1703451963.505260811]: [/hummingbird/autopilot] position_controller/kdxy = 4
[ INFO] [1703451963.507053260]: [/hummingbird/autopilot] position_controller/kpz = 15
[ INFO] [1703451963.510819261]: [/hummingbird/autopilot] position_controller/kdz = 6
[ INFO] [1703451963.511823114]: [/hummingbird/autopilot] position_controller/krp = 12
[ INFO] [1703451963.512520496]: [/hummingbird/autopilot] position_controller/kyaw = 5
[ INFO] [1703451963.513819295]: [/hummingbird/autopilot] position_controller/pxy_error_max = 0.6
[ INFO] [1703451963.515289629]: [/hummingbird/autopilot] position_controller/vxy_error_max = 1
[ INFO] [1703451963.518554576]: [/hummingbird/autopilot] position_controller/pz_error_max = 0.3
[ INFO] [1703451963.520331451]: [/hummingbird/autopilot] position_controller/vz_error_max = 0.75
[ INFO] [1703451963.521745631]: [/hummingbird/autopilot] position_controller/yaw_error_max = 0.7
[ INFO] [1703451963.522829872]: [/hummingbird/autopilot] position_controller/perform_aerodynamics_compensation = 0
[ INFO] [1703451963.524421174]: [/hummingbird/autopilot] position_controller/k_drag_x = 0
[ INFO] [1703451963.525145515]: [/hummingbird/autopilot] position_controller/k_drag_y = 0
[ INFO] [1703451963.526509827]: [/hummingbird/autopilot] position_controller/k_drag_z = 0
[ INFO] [1703451963.527282849]: [/hummingbird/autopilot] position_controller/k_thrust_horz = 0
[ERROR] [1703451963.531386680]: Couldn't open joystick /dev/input/js0. Will retry every second.
[ INFO] [1703451963.539438593]: [/hummingbird/manual_flight_assistant] joypad_timeout = 0.5
[ INFO] [1703451963.540430223]: [/hummingbird/flight_pilot_node] main_loop_freq = 50
[ INFO] [1703451963.543075804]: [/hummingbird/manual_flight_assistant] sbus_timeout = 0.5
[ INFO] [1703451963.544427894]: [/hummingbird/manual_flight_assistant] joypad_axes_zero_tolerance = 0.05
[ INFO] [1703451963.544842621]: [/hummingbird/flight_pilot_node] unity_render = 1
[ INFO] [1703451963.544905200]: [/hummingbird/flight_pilot_node] Loaded all parameters.
1 0 0
0 1 0
0 0 1
[ INFO] [1703451963.545853318]: [/hummingbird/manual_flight_assistant] sbus_axes_zero_tolerance = 10
[ INFO] [1703451963.547506151]: [/hummingbird/manual_flight_assistant] vmax_xy = 1.5
[ INFO] [1703451963.548534030]: [/hummingbird/manual_flight_assistant] vmax_z = 0.7
[ INFO] [1703451963.550549767]: [/hummingbird/manual_flight_assistant] rmax_yaw = 1.5
[INFO] [1703451963.936758, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1703451963.944810, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1703451964.395151425]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1703451964.397254466]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1703451964.454494107]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1703451964.456170477]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1703451966.026735200]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1703451966.054474720]: Physics dynamic reconfigure ready.
[INFO] [1703451966.066116, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1703451966.280875, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
gzserver: symbol lookup error: /home/arcane/catkin_ws/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev
[gazebo-2] process has died [pid 830736, exit code 127, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -u -e ode /home/arcane/catkin_ws/src/rotors_simulator/rotors_gazebo/worlds/basic.world __name:=gazebo __log:=/home/arcane/.ros/log/3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9/gazebo-2.log].
log file: /home/arcane/.ros/log/3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9/gazebo-2*.log
[hummingbird/spawn_hummingbird-4] process has finished cleanly
log file: /home/arcane/.ros/log/3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9/hummingbird-spawn_hummingbird-4*.log
[hummingbird/rpg_rotors_interface-5] process has died [pid 830747, exit code 255, cmd /home/arcane/catkin_ws/devel/lib/rpg_rotors_interface/rpg_rotors_interface odometry:=ground_truth/odometry rpg_rotors_interface/arm:=bridge/arm __name:=rpg_rotors_interface __log:=/home/arcane/.ros/log/3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9/hummingbird-rpg_rotors_interface-5.log].
log file: /home/arcane/.ros/log/3e95d60e-a2a0-11ee-8f3f-fb5e2d49c8d9/hummingbird-rpg_rotors_interface-5*.log
Dec 24 '23 21:12 Arcane-01
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gzserver: symbol lookup error on running rotors_gazebo.launch

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