Commit 8ed8 broke the Motion Planning RViz plugin #1143
Description
Description
This commit seems to have broken the Motion Planning RViz plugin. I traced it down to this commit by stepping through the commit history one by one.
Your environment
- ROS Distro: ROS2 Rolling
- OS Version: Ubuntu 20.04
- Source build of ROS2 branches
Steps to reproduce
Launch the Panda demo:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
When RViz opens, try to add the motion planning plugin. For me, this is the terminal output. (Note that this warning is normal. At least it was occurring prior this bug without affecting functionality: Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class )
[rviz2-1] [INFO] [1648422303.707767300] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1648422303.708609614] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1] at line 253 in /opt/ros/rolling/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1648422312.584880710] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1648422312.598373754] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1648422312.665576616] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1648422312.666456537] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1648422312.671458345] [interactive_marker_display_94111531476016]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1648422312.673906341] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-1] Link panda_link1 had 1 children
...
[rviz2-1] Link panda_rightfinger had 0 children
[rviz2-1] [INFO] [1648422312.674323650] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-1] /opt/ros/rolling/lib/rviz2/rviz2: symbol lookup error: /home/andy/ws_ros2/install/moveit_ros_visualization/lib/libmoveit_motion_planning_rviz_plugin_core.so.2.4.0: undefined symbol: _ZNK14planning_scene13PlanningScene17getCollidingPairsERSt3mapISt4pairINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES8_ESt6vectorIN19collision_detection7ContactESaISC_EESt4lessIS9_ESaIS2_IKS9_SE_EEERKN6moveit4core10RobotStateERKNSB_22AllowedCollisionMatrixE
[ERROR] [rviz2-1]: process has died [pid 270608, exit code 127, cmd '/opt/ros/rolling/lib/rviz2/rviz2 -d /home/andy/ws_ros2/install/moveit_resources_panda_moveit_config/share/moveit_resources_panda_moveit_config/launch/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_gjpve4gm --params-file /tmp/launch_params_sxr_ae5r --params-file /tmp/launch_params_u2ff4b1g --params-file /tmp/launch_params_i2xyg9xe'].