ROS2 Custom message in plugin

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avena_robotics
Posts: 16
Joined: 11 Aug 2020, 12:47

ROS2 Custom message in plugin

Post by avena_robotics »

We are tring to use a custom message for ROS2 in Coppelia plugin. When we run coppelia, we have this error:
"
symbol lookup error: /home/avena/ros2_ws/install/custom_interfaces/lib/libcustom_interfaces__rosidl_typesupport_fastrtps_cpp.so: undefined symbol: _ZN8tf2_msgs3msg24typesupport_fastrtps_cpp29max_serialized_size_TFMessageERbm
"

It looks like that that there is a problem due to tf2_msgs field in our custom msg. Do you have a solution for that?

fferri
Posts: 728
Joined: 09 Sep 2013, 19:28

Re: ROS2 Custom message in plugin

Post by fferri »

So, if you remove the tf2_msgs dependency, the plugin loads fine?

avena_robotics
Posts: 16
Joined: 11 Aug 2020, 12:47

Re: ROS2 Custom message in plugin

Post by avena_robotics »

Yes, we removed tf2_msgs/TFMessage and explicitly put transforms field from this message which is geometry_msgs/TransformStamped[] and it works fine

fferri
Posts: 728
Joined: 09 Sep 2013, 19:28

Re: ROS2 Custom message in plugin

Post by fferri »

Looks similar (but not same) to my question on ROS answers.

In there, my package depends on shape_msgs and geometry_msgs, and my package's *_interfaces__rosidl_typesupport_introspection_cpp.so library can't be loaded because of unresolved symbols related to geometry_msgs and shape_msgs packages.

Upstream issue?

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