Hi Jolin,

possible boost version mismatch?  can you post what below returns?

ldd
/opt/ros/cturtle/stacks/pr2_controllers/pr2_mechanism_controllers/lib/libpr2_mechanism_controllers.so

Thanks,
John


On Thu, Oct 28, 2010 at 5:46 AM, Jolin Jia <pplin86@gmail.com> wrote:

> Hi,
>
> I am learning navigation on the robot. And I found that the paper "The
> Office Marathon: Robust Navigation in an Indoor Office Environment" in the
> website of "http://www.ros.org/wiki/Papers/ICRA2010_Marder-Eppstein" is
> very useful and interesting. And I download the code
> "icra10_navigation_ros", when I type "roslaunch icra_navigation_gazebo
> blind_corner.launch", the simulation window flashed. And the error as
> follows:
>
> =====================================error================================================
> /opt/ros/cturtle/stacks/simulator_gazebo/gazebo/gazebo/bin/gazebo: symbol
> lookup error:
> /opt/ros/cturtle/stacks/pr2_controllers/pr2_mechanism_controllers/lib/libpr2_mechanism_controllers.so:
> undefined symbol:
> _ZN5boost18condition_variable4waitERNS_11unique_lockINS_5mutexEEE
> Traceback (most recent call last):
>   File
> "/opt/ros/cturtle/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner",
> line 157, in <module>
>     if __name__ == '__main__': main()
>   File
> "/opt/ros/cturtle/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner",
> line 135, in main
>     resp = load_controller(name)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_service.py",
> line 418, in __call__
>     return self.call(*args, **kwds)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_service.py",
> line 507, in call
>     raise ServiceException("transport error completing service call:
> %s"%(str(e)))
> rospy.service.ServiceException: transport error completing service call:
> unable to receive data from sender, check sender's logs for details
> [gazebo-2] process has died [pid 1949, exit code 127].
> log files:
> /home/jolin/.ros/log/64255032-e28f-11df-9383-002454d0c109/gazebo-2*.log
> ======================================end of
> error==============================================
> And the detailed errors in the attachment. But I found
> "pr2_mechanism_controllers" is good when I type "rosmake". And it includes
> "rosbuild_link_boost(pr2_mechanism_controllers thread )" in the
> CMakeLists.txt file of  pr2_mechanism_controllers. Why this error happened?
> And my work environment is C-turtle in Ubuntu 10.04 and my PC is "intel core
> i5" and "GEFORCE GT 320M". Thanks in advanced.
>
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>