Rqt plugin C++ undefined symbol

asked 2016-04-05 09:38:32 -0600

etienne1234
1 ●1 ●2 ●4

Hi everyone, i'm having trouble in making my own rqt plugin in c++. I want to write a plugin that subscribes to /odom topic. With the odometry data, i want to draw the trajectory of the robot with Qwt. I made the code, did the catkin_make and everything worked fine. Nevertheless when I open rqt and try to launch the plugin, i get the following error :

[ERROR] [1459848732.059769566]: Failed to load nodelet [odom_plugin/OdomPlugin_1] of type [odom_plugin/OdomPlugin]: Failed to load library /local/etienne/ros/catkin_ws/devel/lib//libodom_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /local/etienne/ros/catkin_ws/devel/lib//libodom_plugin.so: undefined symbol: _ZTVN11odom_plugin10OdomPluginE)
RosPluginlibPluginProvider::load_explicit_type(odom_plugin/OdomPlugin) failed creating instance PluginManager._load_plugin() could not load plugin "odom_plugin/OdomPlugin": RosPluginlibPluginProvider.load() could not load plugin "odom_plugin/OdomPlugin"

I know this is exactly the same error, of very similar to this topic : http://answers.ros.org/question/20636... But i didn't understand how the man solved his problem.

I only have a header and source file, i give you links of the file just above :

header : http://textuploader.com/5wo0z

source : http://textuploader.com/5wo0w

plugin.xml : http://textuploader.com/5wo03

package.xml : http://textuploader.com/5wok5

CMakeLists.txt : http://textuploader.com/5wok0

I really don't know here to look, so if someone could point me on my error or give me a track it would be really nice. Thank you in advance!

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Comments

Suggestions: put the project on github so it is easy to download. You could fork https://github.com/lucasw/rqt_mypkg/t... and adapt your code into it. Or avoid C++ rqt entirely, draw the path and publish it as an Image and view it in rqt_image_view.

lucasw ( 2016-04-05 11:00:51 -0600 )edit

1

This is still experimental, but it may be a viable alternative to building your own plugin: https://github.com/ros-visualization/...

ahendrix ( 2016-04-05 12:36:17 -0600 )edit

Git repository for the project : https://github.com/etienne1234/odom_p...@lucasw i'm gonna try to rebuild with your template, your other option of publishing it might be interesting, but i'm gonna have to do others RQT c++ plugin so ... @ahendrix I kinda need RQT because of existing plugins

etienne1234 ( 2016-04-08 05:06:30 -0600 )edit

i'll tell you how it goes, i'm re-working on this subject today

etienne1234 ( 2016-04-08 05:06:58 -0600 )edit

@etienne1234: the package I linked to is an experimental RQT plugin which plots two different topics on the X and Y axes, much like what you're describing. Still RQT, still allows you to use the other existing RQT plugins.

ahendrix ( 2016-04-08 17:55:08 -0600 )edit

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answered 2016-04-08 09:47:59 -0600

etienne1234
1 ●1 ●2 ●4

updated 2016-04-13 04:13:34 -0600

I'm having segmentation fault.

I commented everything in my .cpp and just left myWidget = new QWidget() in the initPlugin(). The plugin is shown in RQT, but when i select it it says segmentation fault and crashes. If i remove this line it works (no crash/segmentation fault)

Does this mean that my Qt libraries are not linked correctly ? I'm trying to build with Qt5, so i changed the corresponding lines in the CMakeLists.txt

EDIT : i tried with Qt4 in the Cmake and there is no more segmentation fault. Could someone help me to find the equivalent commands in CMake for Qt5 if it is possible ? Now it is working with everything, but i get the following error :

/usr/bin/python: symbol lookup error: /local/etienne/ros/catkin_ws/devel/lib//libodom_plugin.so: undefined symbol: _ZN7QwtPlotC1EP7QWidget

So i guess Qwt isnt linked correctly too, i'm new to Cmake so if you could help me. Thanks

EDIT : I was linking a Qwt version manually compiled with ... Qt5 so ofc it was failing, now i'm using a Qwt version compatible with Qt4 and it's working fine.

Seems like my problem is solved, thanks for your hints!