nodelet: symbol lookup error: /home/wkyoun/catkin_ws/devel/lib//libmlmapping.so: undefined symbol

[wkyouncnu]

I started e2es ros package, and it works fine.

wkyoun@wkyoun:~/catkin_ws/src/E2ES$ ./sim.sh

Then, I tried to run the following lauch file, and I get the following error.

(However, mlmapping works correctly with RosBag files (corridor.bag))

wkyoun@wkyoun:~/catkin_ws/src/E2ES$ roslaunch mlmapping mlmapping_gazebo.launch

... logging to /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/roslaunch-wkyoun-6256.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://wkyoun:43475/

SUMMARY
========

PARAMETERS
 * /mlmapping_configfile: /home/wkyoun/catk...
 * /mlmapping_nodelet_manager/num_worker_threads: 4
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /use_sim_time: True

NODES
  /
    awareness_loader (nodelet/nodelet)
    localmap_loader (nodelet/nodelet)
    mlmapping_nodelet_manager (nodelet/nodelet)
    visualization (mlmapping/visualization)

ROS_MASTER_URI=http://localhost:11311

process[visualization-1]: started with pid [6282]
process[mlmapping_nodelet_manager-2]: started with pid [6283]
process[awareness_loader-3]: started with pid [6285]
localmap discretization to n_Rho: 40  n_Phi:180  n_Z:51
process[localmap_loader-4]: started with pid [6291]
[ INFO] [1628473331.601150937]: Loading nodelet /localmap_loader of type mlmapping/LocalMapNodeletClass to manager mlmapping_nodelet_manager with the following remappings:
[ INFO] [1628473331.601465233]: Initializing nodelet with 4 worker threads.
globalmapnode:
read the config file
awareness map contain 367200 cells
local map contain 2041875 cells
esdf map
esdf map init finished~
local map contain 2041875 cells
[ INFO] [1628473332.593471227]: Loading nodelet /awareness_loader of type mlmapping/AwarenessMapNodeletClass to manager mlmapping_nodelet_manager with the following remappings:
[ INFO] [1628473332.594161250]: /mlmapping/pc -> /camera/depth/color/points
[ INFO] [1628473332.594178012]: /mlmapping/pose -> /mavros/local_position/pose
awareness map node:
config file path: /home/wkyoun/catkin_ws/src/MLMapping/launch/config/config.yaml
localmap discretization to n_Rho: 40  n_Phi:180  n_Z:51
awareness map contain 367200 cells
ApproxSyncPolicy
_/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/wkyoun/catkin_ws/devel/lib//libmlmapping.so: undefined symbol: _ZN3pcl23removeNaNFromPointCloudINS_8PointXYZEEEvRKNS_10PointCloudIT_EERS4_RSt6vectorIiSaIiEE_
[mlmapping_nodelet_manager-2] process has died [pid 6283, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=mlmapping_nodelet_manager __log:=/home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/mlmapping_nodelet_manager-2.log].
log file: /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/mlmapping_nodelet_manager-2*.log
[ INFO] [1628473342.742857020, 1767.087000000]: Bond broken, exiting
[awareness_loader-3] process has finished cleanly
log file: /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/awareness_loader-3*.log
'''

mlmapping_gazebo.launch is as follows:

<node pkg="mlmapping" type="visualization" name="visualization" output="screen" />

<arg name="node_start_delay"  default="1.0" />
<param name="/mlmapping_configfile" type="string" value="$(find mlmapping)/launch/config/config.yaml"/>

<!-- Manager -->
<node pkg="nodelet" type="nodelet"
      name="mlmapping_nodelet_manager" args="manager" output="screen">
      <param name="num_worker_threads" value="4" />
</node>

<node pkg="nodelet" type="nodelet" args="load mlmapping/AwarenessMapNodeletClass mlmapping_nodelet_manager"
    name="awareness_loader" output="screen"
    launch-prefix="bash -c 'sleep 1; $0 $@' ">
    <remap from="/mlmapping/pc"          to="/camera/depth/color/points"/>
    <remap from="/mlmapping/pose"        to="/mavros/local_position/pose"/>
</node>

<node pkg="nodelet" type="nodelet" args="load mlmapping/LocalMapNodeletClass mlmapping_nodelet_manager"
    name="localmap_loader" output="screen">
</node>

[Ttoto]

Currently, the E2ES support glmapping only. I will add the support of mlmapping by this Fri.