gazebo exited with undefined symbol error: _ZN8mav_msgs4msgs10MotorSpeedC1Ev

[lguanrui]

Problem
When I tried to launch the posix_sitl.launch, the gazebo exited with the error message shown below.
Screenshot of the error message

I'm wondering if it is a gazebo version issue.

System Information
Ubuntu: 18.04
ROS: Melodic
Gazebo: 9.10.0
PX4: 1.9.2
Fresh Install: Yes.

[julianoes]

Are you sure this happens after a clean build?

Can you copy and paste the commands that you use to build?

[lguanrui]

Here are the commands I used to build

$ mkdir ~/src
$ cd ~/src
$ git clone https://github.com/PX4/Firmware.git
$ cd Firmware
$ make px4_sitl gazebo

[lguanrui]

Here are the launch files that I used:
posix_sitl.launch:

<?xml version="1.0"?>
<launch>
    <!-- Posix SITL environment launch script -->
    <!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <!-- <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> -->
    <!-- <arg name="world" default="$(find px4)/launch/tunnel_practice_1.world"/> -->
    <arg name="world" default="$(find px4)/launch/forest_house_500m_autel.world"/>
    <!-- <arg name="world" default="$(find fast_vision_central)/worlds/forest_house_500m_autel.world"/> -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
    <env name="PX4_ESTIMATOR" value="$(arg est)" />

    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- PX4 SITL -->
    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
    <!-- <node name="sitl" pkg="px4" type="px4" output="screen"
        args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/> -->

    <!-- Gazebo sim -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(arg world)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
    </include>
    <!-- gazebo model -->
    <!-- <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/> -->

    <include file="$(find px4)/launch/single_vehicle_spawn.launch" pass_all_args="true" />
</launch>
~            

single_vehicle_spawn.launch:

<?xml version="1.0"?>
<launch>

  <arg name="robot_name" default="uav1" />

  <group ns="$(arg robot_name)">
    <!-- Posix SITL environment launch script -->
    <!-- launchs PX4 SITL and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!-- vehcile model and config -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
    <env name="PX4_ESTIMATOR" value="$(arg est)" />
    <arg name="mavlink_udp_port" default="14560"/>
    <arg name="mavlink_tcp_port" default="4560"/>
    <!-- PX4 configs -->
    <arg name="interactive" default="true"/>
    <!-- generate urdf vehicle model -->
    <arg name="cmd" default="$(find xacro)/xacro $(find px4)/launch/$(arg vehicle)_base_small.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
    <param command="$(arg cmd)" name="rotors_description"/>
    <param command="$(arg cmd)" name="robot_description"/>
    <!-- PX4 SITL -->
    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
    <node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)">
    </node>
    <!-- spawn vehicle -->
    <node name="$(arg vehicle)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg robot_name) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
      <param name="tf_prefix" value="/$(arg robot_name)" />
    </node>

  </group>
</launch>

[julianoes]

How do you use that launch file? And do you also rebuild everything in the catkin workspace?

[lguanrui]

I use rosmon to launch the files like

$ mon launch px4 posix_sitl.launch

I didn't rebuild everything in the catkin workspace. Do I need to rebuild everything?

[TSC21]

@lguanrui you are not sourcing the config file for the Gazebo plugins and models:
$source Firmware/Tools/setup_gazebo.bash Firmware/build/px4_sitl/ Firmware/

https://github.com/PX4/Firmware/blob/master/Tools/setup_gazebo.bash

[lguanrui]

@TSC21 I did this before the launching. Sorry I didn't mention it.

[TSC21]

@TSC21 I did this before the launching. Sorry I didn't mention it.

Do you have Gazebo installed from both OSRF sources and ROS? It may result in some issues. Otherwise, I would say you have conflictson the LD_LIBRARY_PATH. I would make sure that you are able to run the sim first using make px4_sitl gazebo.

[lguanrui]

@TSC21 I did this before the launching. Sorry I didn't mention it.

Do you have Gazebo installed from both OSRF sources and ROS? It may result in some issues. Otherwise, I would say you have conflictson the LD_LIBRARY_PATH. I would make sure that you are able to run the sim first using make px4_sitl gazebo.

I just double checked. the project itself has install gazebo from OSRF sources and I installed gazebo from ROS too. However, I was able to run the make px4_sitl gazebo before running the sim.

[TSC21]

@TSC21 I did this before the launching. Sorry I didn't mention it.

Do you have Gazebo installed from both OSRF sources and ROS? It may result in some issues. Otherwise, I would say you have conflictson the LD_LIBRARY_PATH. I would make sure that you are able to run the sim first using make px4_sitl gazebo.

I just double checked. the project itself has install gazebo from OSRF sources and I installed gazebo from ROS too. However, I was able to run the make px4_sitl gazebo before running the sim.

So does make px4_sitl gazebo start Gazebo with the Iris model spawned and the PX4 daemon running?

[lguanrui]

@TSC21 I did this before the launching. Sorry I didn't mention it.

Do you have Gazebo installed from both OSRF sources and ROS? It may result in some issues. Otherwise, I would say you have conflictson the LD_LIBRARY_PATH. I would make sure that you are able to run the sim first using make px4_sitl gazebo.

I just double checked. the project itself has install gazebo from OSRF sources and I installed gazebo from ROS too. However, I was able to run the make px4_sitl gazebo before running the sim.

So does make px4_sitl gazebo start Gazebo with the Iris model spawned and the PX4 daemon running?

I just rerun it. The gazebo didn't start but the px4 daemon is running. Here are the messages:

How should I solve this problem?

[TSC21]

I would uninistall and reinstall Gazebo just to be sure. I am not sure what's causing that error at this stage. Try to alo unsource the ROS path from bashrc and rerun the make command.

[lguanrui]

Hi all! After removing the OSRF sources, the simulator works! Thanks for helping! Closing this issue.

[akshatpandya]

Hi @lguanrui can you tell how did you remove OSRF sources? I'm getting a similar error.

[julianoes]

Please don't necro bump. And the tinyxml2 linking issue should be resolved if you do brew upgrade and make clean

[AlexWUrobot]

I have the similar issue but cannot be solve yet. Thank you very much for the help

My platform is Ubuntu 20.04.
Use the latest MAVROS and PX4-autopilot
ROS version is noetic.

The error message is
gzserver: symbol lookup error: /home/zihan/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic/libgazebo_mavlink_interface.so: undefined symbol: _ZN8mav_msgs4msgs17CommandMotorSpeedC1Ev

The gazebo version is 11.13.0

I tried to re-install OSRF sources (Gazebo11)

sudo apt remove gazebo 
sudo apt remove gazebo11
sudo apt remove gazebo11-common

And then install it by

sudo apt install gazebo11
sudo apt install libgazebo11-dev

Then, we can make but cannot launch 'roslaunch px4 posix_sitl.launch'
Next try
sudo apt install ros-noetic-gazebo-ros-pkgs

However,
if just run roslaunch gazebo_ros empty_world.launch
There is no error.

[AlexWUrobot]

I solved it by change the path. Thanks TSC21
because I have a conflict in the catkin_ws in .zshrc (.bashrc)

After remove (comment) the catkin_ws in .zshrc (.bashrc):
Type 'echo $ROS_PACKAGE_PATH '
The wrong path looks like list

The correct path should be here