[区块链]【日志】Could not load library (undefined symbol: _ZTVN4ompl4base16DubinsStateSpaceE)

• 问题: navigation自定义global planner, 运行.launch文件时报错: Could not load library (libnav2_smac_planner.so, undefined symbol: _ZTVN4ompl4base16DubinsStateSpaceE); 无法调用规划器

1. 首先找动态链接库文件, 保证已经生成了.so文件, 路径是your_catkin_workspace/devel/lib
2. 终端运行ldd ~/navigation/devel/lib//libnav2_smac_planner.so, 保证动态链接库的依赖都能找到, 运行后会出现一系列 xxx.so => xxx.so 没有missing 或 no found 应该就没问题(没遇到所以不知道遇到的解决方案)
3. undefined symbol: cd your_catkin_workspace/devel/lib, 运行 nm -u libnav2_smac_planner.so | grep _ZTVN4ompl4base16DubinsStateSpaceE可以得到U _ZTVN4ompl4base16DubinsStateSpaceE 说明这个东西没定义
4. 运行c++filt _ZTVN4ompl4base16DubinsStateSpaceE shows 恢复成c++编译前的样子, 得vtable for ompl::base::DubinsStateSpace shows 说明ompl::base::DubinsStateSpace没定义, 结果发现是CMakeLists.txt 中没有添加OMPL, 所以添加以下代码

find_package(OMPL REQUIRED)
if(NOT OMPL_FOUND)
    message(AUTHOR_WARNING,"Open Motion Planning Library not found")
endif(NOT OMPL_FOUND)


include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${OMPL_INCLUDE_DIRS}
}
target_link_libraries(nav2_smac_planner
  ${catkin_LIBRARIES}
  ${OMPL_LIBRARIES}
)

就可以了.(虽然还有好多其他报错, 一个个查吧)

超强干货来袭

云风专访：近40年码龄，通宵达旦的技术人生