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.

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