Thanks Mike, but I've already tried your solution. By the way, reading the error carefully I noticed that the path of the library is parsed as */home/enrico/catkin_ws/devel/lib//libkuka_controllers.so* The problem seems to lie in the double // after lib, maybe after a change in the catkin package source code. Unfortunately I didn't succeed to solve this issue yet. 2015-01-13 13:31 GMT+01:00 Mike Purvis : > That does look like an ABI problem. Did you definitely sudo apt-get > dist-upgrade, and then rebuild your workspace (eg, rm -rf build devel; > catkin_make; source devel/setup.bash)? > > (This type of question is best for ROS Answers, I think...) > > On 13 January 2015 at 06:28, Enrico Corvaglia wrote: > >> Hello to all the community. >> I'm writing this since I'm encountering errors when I launch my custom >> controllers written for a KUKA LWR arm, used in combination with Gazebo >> simulator. The error comes when I run the roslaunch command which loads >> such controllers. >> >> *[ERROR] [1421148091.366974261, 5.814000000]: Could not load class >> kuka_controllers/BacksteppingController: Failed to load library >> /home/enrico/catkin_ws/devel/lib//libkuka_controllers.so. Make sure that >> you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and >> that names are consistent between this macro and your XML. Error string: >> Could not load library (Poco exception = >> /home/enrico/catkin_ws/devel/lib//libkuka_controllers.so: undefined symbol: >> _ZN26forward_command_controller24ForwardCommandControllerIN18hardware_interface20EffortJointInterfaceEE8startingERKN3ros4TimeE)* >> *[ERROR] [1421148091.367239553, 5.814000000]: Could not load controller >> 'BacksteppingController' because controller type >> 'kuka_controllers/BacksteppingController' does not exist.* >> *[ERROR] [1421148091.367296142, 5.814000000]: Use 'rosservice call >> controller_manager/list_controller_types' to get the available types* >> >> The weird thing is that running the command suggested by ROS (rosservice >> call [...]) it actually returns all my controllers names. This error has >> been introduced after the last ROS software updates and before that it was >> working just fine. Also I have a call to PLUGINLIB_EXPORT_CLASS in my >> source, so it is not that the problem. >> >> As a note, the ROS built-in position controllers work, so it seems like a >> linking or a parsing error. >> >> Thanks in advance, >> Enrico C. >> >> _______________________________________________ >> ros-users mailing list >> ros-users@lists.ros.org >> http://lists.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >