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ERROR while loading sub-lib librtabmap_sync.so

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EgOrlukha
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ERROR while loading sub-lib librtabmap_sync.so

EgOrlukha
[Ubuntu 18.04, ROS Melodic, Rtabmap-ROS 0.20.2]

QUESTION

Dear rtabmap community,

5 days ago my computer was able to run the Visual SLAM with multiple Intel Realsense depth cameras successfully.
I changed nothing (Ubuntu updates were installed only).

Today I try to launch my algorithm, but it gives me an error about wrong link to the library:
/home/glk/catkin_ws/devel/lib/rtabmap_ros/rtabmap: symbol lookup error: /home/glk/catkin_ws/devel/lib//librtabmap_sync.so


Where does this double slash // come from? How to resolve the issue?

CODE

CALL MY LAUNCH FILE
$ roslaunch geobot_2dnav 2.launch

RESPONSE THAT IS WRITTEN IN THE CONSOLE
... logging to /home/glk/.ros/log/3474e62a-e05b-11ea-8437-503eaa12d454/roslaunch-glk-desktop-20996.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://glk-desktop:40335/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7
 * /rtabmap/rtabmap/Grid/3D: True
 * /rtabmap/rtabmap/Grid/CellSize: 0.05
 * /rtabmap/rtabmap/Grid/FlatObstacleDetected: True
 * /rtabmap/rtabmap/Grid/FromDepth: True
 * /rtabmap/rtabmap/Grid/MaxGroundHeight: 0.0
 * /rtabmap/rtabmap/Grid/MaxObstacleHeight: 0.6
 * /rtabmap/rtabmap/Grid/MinGroundHeight: 0.0
 * /rtabmap/rtabmap/Grid/NoiseFilteringMinNeighbors: 5
 * /rtabmap/rtabmap/Grid/NoiseFilteringRadius: 0.5
 * /rtabmap/rtabmap/Grid/NormalsSegmentation: True
 * /rtabmap/rtabmap/Grid/RangeMax: 3.0
 * /rtabmap/rtabmap/Grid/RangeMin: 0.0
 * /rtabmap/rtabmap/Grid/RayTracing: True
 * /rtabmap/rtabmap/GridGlobal/Eroded: True
 * /rtabmap/rtabmap/GridGlobal/FootprintRadius: 0.0
 * /rtabmap/rtabmap/GridGlobal/FullUpdate: True
 * /rtabmap/rtabmap/GridGlobal/MinSize: 0.0
 * /rtabmap/rtabmap/GridGlobal/UpdateError: 0.01
 * /rtabmap/rtabmap/Kp/DetectorStrategy: 8
 * /rtabmap/rtabmap/Kp/NNStrategy: 1
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/Optimizer/Strategy: 1
 * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/GoalReachedRadius: 0.5
 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/MaxLoopClosureDistance: 0.0
 * /rtabmap/rtabmap/RGBD/NewMapOdomChangeDistance: 0.0
 * /rtabmap/rtabmap/Reg/Force3DoF: True
 * /rtabmap/rtabmap/Reg/Strategy: 0
 * /rtabmap/rtabmap/Vis/EstimationType: 0
 * /rtabmap/rtabmap/Vis/FeatureType: 8
 * /rtabmap/rtabmap/Vis/MaxDepth: 0.0
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: t265_pose_frame
 * /rtabmap/rtabmap/gen_scan: True
 * /rtabmap/rtabmap/ground_truth_base_frame_id:
 * /rtabmap/rtabmap/ground_truth_frame_id:
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/map_always_update: False
 * /rtabmap/rtabmap/map_empty_ray_tracing: False
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: t265_odom_frame
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/rgbd_cameras: 2
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_rgbd: True
 * /rtabmap/rtabmap/use_action_for_goal: True
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rtabmap-1]: started with pid [21014]
[ INFO] [1597649305.034685595]: Starting node...
[ INFO] [1597649305.056262037]: Initializing nodelet with 6 worker threads.
[ INFO] [1597649305.193498783]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1597649305.193518119]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1597649305.193524415]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1597649305.193531200]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1597649305.193540141]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = false
[ INFO] [1597649305.193547256]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1597649305.193554001]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1597649305.193560906]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1597649305.193875537]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1597649305.205041217]: rtabmap: frame_id      = t265_pose_frame
[ INFO] [1597649305.205066950]: rtabmap: odom_frame_id = t265_odom_frame
[ INFO] [1597649305.205077912]: rtabmap: map_frame_id  = map
[ INFO] [1597649305.205085634]: rtabmap: use_action_for_goal  = true
[ INFO] [1597649305.205095328]: rtabmap: tf_delay      = 0.050000
[ INFO] [1597649305.205104941]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1597649305.205180058]: rtabmap: odom_sensor_sync   = false
[ INFO] [1597649305.236235095]: Setting RTAB-Map parameter "Grid/3D"="true"
[ INFO] [1597649305.237022091]: Setting RTAB-Map parameter "Grid/CellSize"="0.05"
[ INFO] [1597649305.239611059]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true"
[ INFO] [1597649305.242069854]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1597649305.244098783]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="0"
[ INFO] [1597649305.244631946]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.6"
[ INFO] [1597649305.245961767]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="0"
[ INFO] [1597649305.246450058]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5"
[ INFO] [1597649305.246996619]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.5"
[ INFO] [1597649305.248251542]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="true"
[ INFO] [1597649305.249550570]: Setting RTAB-Map parameter "Grid/RangeMax"="3"
[ INFO] [1597649305.250161769]: Setting RTAB-Map parameter "Grid/RangeMin"="0"
[ INFO] [1597649305.250580428]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[ INFO] [1597649305.252155421]: Setting RTAB-Map parameter "GridGlobal/Eroded"="true"
[ INFO] [1597649305.252593432]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0"
[ INFO] [1597649305.252893434]: Setting RTAB-Map parameter "GridGlobal/FullUpdate"="true"
[ INFO] [1597649305.253992209]: Setting RTAB-Map parameter "GridGlobal/MinSize"="0"
[ INFO] [1597649305.257365602]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.01"
[ INFO] [1597649305.277679448]: Setting RTAB-Map parameter "Kp/DetectorStrategy"="8"
[ INFO] [1597649305.284027471]: Setting RTAB-Map parameter "Kp/NNStrategy"="1"
[ INFO] [1597649305.297507132]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1597649305.297776058]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1597649305.319021977]: Setting RTAB-Map parameter "Optimizer/Strategy"="1"
[ INFO] [1597649305.323721631]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1597649305.325472645]: Setting RTAB-Map parameter "RGBD/GoalReachedRadius"="0.5"
[ INFO] [1597649305.327178468]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1597649305.331448412]: Setting RTAB-Map parameter "RGBD/MaxLoopClosureDistance"="0"
[ INFO] [1597649305.333177139]: Setting RTAB-Map parameter "RGBD/NewMapOdomChangeDistance"="0"
[ INFO] [1597649305.343735661]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1597649305.344889266]: Setting RTAB-Map parameter "Reg/Strategy"="0"
[ INFO] [1597649305.398680375]: Setting RTAB-Map parameter "Vis/EstimationType"="0"
[ INFO] [1597649305.399107144]: Setting RTAB-Map parameter "Vis/FeatureType"="8"
[ INFO] [1597649305.402421568]: Setting RTAB-Map parameter "Vis/MaxDepth"="0"
[ INFO] [1597649305.499069029]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1597649305.499125390]: rtabmap: Using database from "/home/glk/.ros/rtabmap.db" (0 MB).

/home/glk/catkin_ws/devel/lib/rtabmap_ros/rtabmap: symbol lookup error: /home/glk/catkin_ws/devel/lib//librtabmap_sync.so: undefined symbol: _ZN7rtabmap7Rtabmap4initERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEERSB_b

[rtabmap/rtabmap-1] process has died [pid 21014, exit code 127, cmd /home/glk/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start move_base:=/move_base user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections imu:=/imu/data rgbd_image0:=/d435i_down/rgbd_image rgbd_image1:=/d435i_up/rgbd_image odom:=/t265/odom/sample grid_map:=/map __name:=rtabmap __log:=/home/glk/.ros/log/3474e62a-e05b-11ea-8437-503eaa12d454/rtabmap-rtabmap-1.log].
log file: /home/glk/.ros/log/3474e62a-e05b-11ea-8437-503eaa12d454/rtabmap-rtabmap-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
matlabbe
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Re: ERROR while loading sub-lib librtabmap_sync.so

matlabbe
Administrator
Hi,

If you did "Ubuntu updates were installed only", some ros packages may have been updated, like the nodelet library or pluginlib. In rtabmap/build, redo a make, make install to make sure rtabmap rebuild if some dependencies have changed. For rtabmap_ros, cleanup your catkin_ws (like deleting build directory) and redo a clean ros build.

cheers,
Mathieu
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