There is a answers.ros.org question for this now (or there already was):

http://answers.ros.org/question/200885/could-not-load-library-after-latest-ros-updates/

Either way, Enrico please use answers.ros.org for this type of question in the future. If it then turns out to be systemic then you can escalate it to the issue trackers.

Please have a look at our Support guidelines: http://wiki.ros.org/Support

Thanks,

On Tue, Jan 13, 2015 at 5:08 AM, Enrico Corvaglia <enrico988@gmail.com> wrote:

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 <mpurvis@clearpathrobotics.com>:

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 <enrico988@gmail.com> 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.

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ROS Development Team

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http://wjwwood.io/

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