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Can't find symbol [BT_RegisterNodesFromPlugin] #300

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kevinlyu1 opened this issue Aug 3, 2021 · 2 comments
Open

Can't find symbol [BT_RegisterNodesFromPlugin] #300

kevinlyu1 opened this issue Aug 3, 2021 · 2 comments

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@kevinlyu1
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@kevinlyu1 kevinlyu1 commented Aug 3, 2021

Hi Davide,

I have been trying to build a collision detection node but seem to be running into issues. I am getting the error below:
[bt_navigator-13] ERROR loading library [libsdr_behaviors__check_collision_condition.so]: can't find symbol [BT_RegisterNodesFromPlugin]

I have been trying to model my code after the code in the nav2_recoveries project because they already have a isCollisionFree function that should do this. I am just trying to pull this out so collision detection can be used as a condition node instead of being hidden within the nav2_recovery behaviors.

I have the macro to register the node in the .cpp file:
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(sdr_behaviors::CheckCollisionCondition, nav2_core::Recovery)

sdr_behaviors is the name space and CheckCollisionCondition is the class name. The .so is being created in the install folder, but for some reason I keep getting the error above. I believe this is similar to the issue #102 but that did not seem to fix my issue.

Please let me know if there is any information I can provide to help get this working!
@samiamlabs
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@samiamlabs samiamlabs commented Nov 10, 2021 •
edited

Hi @kevinlyu1,
I have a similar problem, did you find a solution?

I'm trying to figure out how to register custom ros2 action interfaces as BehaviorTree.CPP actions. I based the code on the nav2_behavior_tree package.

#include "behaviortree_cpp_v3/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) {
    return std::make_unique<relox_behavior_tree::SleepAction>(name, "sleep", config);
  };

  factory.registerBuilder<relox_behavior_tree::SleepAction>("Sleep", builder);
}

It compiles without complaining but I get this error when starting the tree:
ERROR loading library [librelox_sleep_action_bt_node.so]: can't find symbol [BT_RegisterNodesFromPlugin]

@samiamlabs
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@samiamlabs samiamlabs commented Nov 10, 2021

Turns out I was missing target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT) in my CMakeLists.txt
Not exactly sure what that does, but it seems to have fixed the problem.

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@samiamlabs @kevinlyu1