Symbol lookup error: /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so: undefined symbol: rmw_time_equal

[arjuntheprogrammer]

Ubuntu 22.04.2 LTS
ROS2 Humble
UE 5.1
Git Branch: devel

UE crashed with the following error on hitting the play button in UE Editor after running ./run_editor.sh true $(pwd) command:

[2025.01.10-16.12.11:629][815]LogInit: FAudioDevice initialized.
[2025.01.10-16.12.11:629][815]LogAudio: Display: Audio Device (ID: 2) registered with world 'Turtlebot3_benchmark'.
[2025.01.10-16.12.11:631][815]LogLoad: Game class is 'RRROS2GameMode'
[2025.01.10-16.12.11:632][815]LogWorld: Bringing World /Game/Maps/UEDPIE_0_Turtlebot3_benchmark.Turtlebot3_benchmark up for play (max tick rate 0) at 2025.01.10-21.42.11
[2025.01.10-16.12.11:632][815]LogRapyutaCore: [RRROS2GameMode.cpp@31, virtual void ARRROS2GameMode::InitGame(const FString &, const FString &, FString &)] INIT GAME [UEDPIE_0_Turtlebot3_benchmark/Turtlebot3_benchmark] - Options: 

[2025.01.10-16.12.11:632][815]LogRapyutaCore: [RRROS2GameMode.cpp@37, virtual void ARRROS2GameMode::InitGame(const FString &, const FString &, FString &)] NUM OF CPU CORES: [16] - WITH HYPERTHREADS: [32] - RECOMMENDED NUM OF WORKER THREADS: [30]
[2025.01.10-16.12.11:632][815]LogRapyutaCore: Display: [RRROS2GameMode.cpp@39, virtual void ARRROS2GameMode::InitGame(const FString &, const FString &, FString &)] ShouldUseThreadingForPerformance: 1
[2025.01.10-16.12.11:632][815]LogRapyutaCore: Display: [RRBaseRobot.cpp@225, void ARRBaseRobot::CreateROS2Interface()] [BP_TurtlebotWaffle_C_3] IsNetMode: 0
[2025.01.10-16.12.11:632][815]LogRapyutaCore: Warning: [RRGameSingleton.cpp@77, static URRGameSingleton *URRGameSingleton::Get()] RF_Standalone!!
[2025.01.10-16.12.11:632][815]LogROS2Node: [ROS2NodeComponent.cpp@103, void UROS2NodeComponent::Init()] [ROS2NodeComponent_0] start initializing..
[2025.01.10-16.12.11:632][815]LogROS2Node: [ROS2NodeComponent.cpp@108, void UROS2NodeComponent::Init()] [ROS2NodeComponent_0] rclc_node_init_default

/home/ubuntu/UE5.1/Engine/Binaries/Linux/UnrealEditor: symbol lookup error: /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so: undefined symbol: rmw_time_equal

[arjuntheprogrammer]

I tried to change the branch to humble - but ran into following issue in that case:
#91

[noahl1]

I'm 22.04, ROS2 Humble, running a precomiled linux UE5.3, turtlebot3-UE is jammy_UE5.3*, rclue is UE5.3, RapyutaSimulationPlugins is UE5.3.

/home/ubuntu/Linux_Unreal_Engine_532_precompiled/Engine/Binaries/Linux/UnrealEditor: symbol lookup error: /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so: undefined symbol: rmw_time_equal

*If I use any other branch of turtlebot3-UE, my editor segfaults before opening.

[yuokamoto]

Sorry for late response.
Did you execute ./run_editor.sh without source /opt/ros/humble ?

[noahl1]

Sorry for late response. Did you execute ./run_editor.sh without source /opt/ros/humble ?

No worries. Thank you for maintaining this as well as you do.

source /opt/ros/humble/setup.bash is in my ~/.bashrc and I can see the library is installed with ros2 pkg list | grep rmw_fastrtps_shared_cpp and see /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so.

It's not being linked to my UnrealEditor during the build. I run ldd ~/Linux_Unreal_Engine_532_precompiled/Engine/Binaries/Linux/UnrealEditor | grep librmw_fastrtps_shared_cpp.so and get no output.

I tried going into turtlebot3.Build.cs and adding these lines:

        PublicIncludePaths.Add("/opt/ros/humble/include");
        PublicAdditionalLibraries.Add("/opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so");

I used UnrealBuildTool to clean, ran your ./cleanup.sh, ran ./update_project_files.sh, ran ./make_editor.sh, ran ./run_editor.sh. No changes in the linking. Same errors.

[james-yoo]

Hi @noahl1,
Try rclUE with 'UE5_devel_humble' branch not 'UE5.3'

[noahl1]

@james-yoo this was it!

I see it mentioned in line 64 of the readme to use UE5_devel_humble so woops.

So my current setup:
UE5.3 (prebuilt)
Ubuntu 22.04
ROS2 Humble
turtlebot3 - branch jammy_UE5.3
rclUE - UE5_devel_humble
RapyutaSimulationPlugins - UE5.3