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TransformBroadcaster and Gazebo plugins

asked 2013-02-16 22:47:29 -0500

Vaibhav Kapoor gravatar image

updated 2013-02-16 22:52:31 -0500

Hi, I have been wanting to get various Gazebo plugins working with ROS using SDF format, starting with Differential Drive plugin. I had some small success getting Twist messages to change joint states, but now I want to get odometry working. I have just pieced together what I could from erraticgazeboplugins and the DRCSim plugins.

DiffDriveROSPlugin.cpp

this->transformBroadcaster = new tf::TransformBroadcaster();

Any time I want to declare a TransformBroadcaster type I get this error:

gazebo: symbol lookup error:

/home/thelegace/fuerteworkspace/alesrobot/ales_msgs/lib/libDiffDriveROSPlugin.so: undefined symbol: _ZN2tf20TransformBroadcasterC1Ev

If I comment out the transform broadcaster instantiation my plugin loads fine. The pioneer2dx model file.

Please let know if there any issue with the code or anything else that I am doing.

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Comments

This seems to be a a linker error, I think. Are you linking the tf library in CMakeLists.txt?

Daniel Vaz gravatar imageDaniel Vaz ( 2013-02-17 06:13:32 -0500 )edit

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answered 2013-03-17 13:09:24 -0500

nkoenig gravatar image

Undefined symbol errors usually indicates that a library cannot be found, or an incorrect library is used.

In your case I believe Gazebo will have to find a library for tf. Check your LD_LIBRARY_PATH environment variable.

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hey , I am getting the same error . I have integrated gazebo with ros using ros enabled model plugin tutorial. so do I need to use roscreate-pkg pakage-name roscpp tf in order to make the dependency to tf ? . Thanks!

anonymous gravatar imageanonymous ( 2014-10-13 06:57:15 -0500 )edit
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Asked: 2013-02-16 22:47:29 -0500

Seen: 656 times

Last updated: Mar 17 '13