libpy_nvblox.so: undefined symbol: _ZNK6nvblox6Mapper13saveLayerCakeERKSs

[balasubramani0395]

Hi,
I have built this project successfully. But I face this issue

Traceback (most recent call last):
File "/home/USER/pkgs/nvblox_torch/examples/get_sdf.py", line 74, in
test_py_dummy_map()
File "/home/USER/pkgs/nvblox_torch/examples/get_sdf.py", line 49, in test_py_dummy_map
scene = create_dummy_map()
File "/home/USER/pkgs/nvblox_torch/examples/get_sdf.py", line 37, in create_dummy_map
scene = Scene()
File "/home/USER/pkgs/nvblox_torch/src/nvblox_torch/scene.py", line 25, in init
SceneCls = get_nvblox_scene_class()
File "/home/USER/pkgs/nvblox_torch/src/nvblox_torch/scene.py", line 17, in get_nvblox_scene_class
torch.classes.load_library(join_path(get_binary_path(), "libpy_nvblox.so"))
File "/home/USER/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/torch/_classes.py", line 51, in load_library
torch.ops.load_library(path)
File "/home/USER/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/site-packages/torch/_ops.py", line 933, in load_library
ctypes.CDLL(path)
File "/home/USER/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/ctypes/init.py", line 377, in init
self._handle = _dlopen(final_name, mode)
OSError: /home/USER/pkgs/nvblox_torch/src/nvblox_torch/bin/libpy_nvblox.so: undefined symbol: _ZNK6nvblox6Mapper13saveLayerCakeERKSs
There was an error running python

I saw your comment on another issue to use docker. I have installed curobo, nvblox, nvblox_torch successfully with isaac_sim omni_python. Can I modify the python to omni_python in dockerfile and use local isaac_sim installation to build and run with the docker you suggested?

Is there any other way to fix this issue?

Thanks

[WhozMe]

Hi, same problem, I have built the project successfully, but keep facing the same issue when launching with Isaac Sim.

`Traceback (most recent call last):

File "/home/USER/Desktop/Omniverse/curobo/examples/isaac_sim/collision_checker.py", line 205, in
main()

File "/home/USER/Desktop/Omniverse/curobo/examples/isaac_sim/collision_checker.py", line 138, in main
config = RobotWorldConfig.load_from_config(

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/wrap/model/robot_world.py", line 105, in load_from_config
world_collision_checker = create_collision_checker(world_cfg)

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/geom/sdf/utils.py", line 27, in create_collision_checker
return WorldBloxCollision(config)

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/geom/sdf/world_blox.py", line 56, in init
super().init(config)

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/geom/sdf/world_voxel.py", line 36, in init
super().init(config)

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/geom/sdf/world_mesh.py", line 62, in init
super().init(config)

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/geom/sdf/world.py", line 517, in init
self.load_collision_model(self.world_model)

File "/home/USER/Desktop/Omniverse/curobo/src/curobo/geom/sdf/world_blox.py", line 76, in load_collision_model
self._blox_mapper = Mapper(

File "/home/USER/Desktop/Omniverse/pkgs/nvblox_torch/src/nvblox_torch/mapper.py", line 45, in init
self._c_mapper = get_nvblox_mapper_class()(

File "/home/USER/Desktop/Omniverse/pkgs/nvblox_torch/src/nvblox_torch/mapper.py", line 25, in get_nvblox_mapper_class
torch.classes.load_library(join_path(get_binary_path(), "libpy_nvblox.so"))

File "/home/USER/Desktop/Omniverse/Lib/isaac_sim-2023.1.0-hotfix.1/extscache/omni.pip.torch-2_0_1-2.0.2+105.1.lx64/torch-2-0-1/torch/_classes.py", line 51, in load_library
torch.ops.load_library(path)

File "/home/USER/Desktop/Omniverse/Lib/isaac_sim-2023.1.0-hotfix.1/extscache/omni.pip.torch-2_0_1-2.0.2+105.1.lx64/torch-2-0-1/torch/_ops.py", line 643, in load_library
ctypes.CDLL(path)

File "/home/USER/Desktop/Omniverse/Lib/isaac_sim-2023.1.0-hotfix.1/kit/python/lib/python3.10/ctypes/init.py", line 377, in init
self._handle = _dlopen(final_name, mode)

OSError: /home/USER/Desktop/Omniverse/pkgs/nvblox_torch/src/nvblox_torch/bin/libpy_nvblox.so: cannot open shared object file: No such file or directory
`

[15210579725]

I also face the same problem :OSError: /home/user/pkgs/nvblox_torch/src/nvblox_torch/bin/libpy_nvblox.so: undefined symbol: _ZN3c104impl3cow11cow_deleterEPv

but my undefined symbol is different from @balasubramani0395
and i have no idea what to do , hope someone could give a help

[aCodeDog]

same problem.. :/pkgs/nvblox_torch/src/nvblox_torch/bin/libpy_nvblox.so: undefined symbol: _ZNK6nvblox6Mapper13saveLayerCakeERKSs

[15210579725]

use a new conda enviroment WHOSE torch version could match this demand

[hjlllll]

use a new conda enviroment WHOSE torch version could match this demand

hi, which version of torch can solve this problem? thanks!!!

[15210579725]

I can't quite remember. You could try checking the PyTorch version in the official omni_python, or a version of Torch that matches your computer's CUDA. Remember to reinstall nvblox after creating a new environment.
omni_python pip show torch

[BIT-DYN]

@balasubramani0395

Hi, I'm experiencing the same error.
Have you solved the problem now?

[RayOwwen]

I encountered the same problem and resolved it by running the following command:

export LD_LIBRARY_PATH=/usr/local/lib