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.