【Bug_Ubuntu18.04】Gazebo9：undefined symbol (已解决)

问题背景

• 在参考这篇博客基于px4的无人机自主导航编译时报如下错误：
• 主要问题就是符号查找错误：

gz: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE

• 完整错误如下：

zth@SugoAsurada:~/catkin_ws/Firmware$ sudo make px4_sitl_default gazebo
[0/5] Performing build step for 'sitl_gazebo'
[27/59] Generating /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
FAILED: /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf 
cd /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo && rm -f /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && /usr/bin/python3 /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/scripts/xacro.py -o /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro enable_mavlink_interface:=true enable_ground_truth:=false enable_wind:=false enable_logging:=false rotors_description_dir:=/home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/rotors_description send_vision_estimation:=true send_odometry:=false && gz sdf -p /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf >> /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf && rm -f /home/zth/catkin_ws/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.urdf

gz: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: _ZN8ignition10fuel_tools12ClientConfig12SetUserAgentERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
[44/59] Building CXX object CMakeFiles/LiftDragPlugin.dir/src/liftdrag_plugin/liftdrag_plugin.cpp.o
ninja: build stopped: subcommand failed.
[1/5] Generating ../../logs
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build 
cd /home/zth/catkin_ws/Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build .
ninja: build stopped: subcommand failed.
Makefile:198: recipe for target 'px4_sitl_default' failed
make: *** [px4_sitl_default] Error 1

解决方案

• 参考这里

sudo apt upgrade

• 再次编译即可成功：

#开始编译
make px4_sitl_default gazebo

注：编译时其他错误解决方案参考这篇汇总博客