Description

Trying to use moveit_commander/move group python interface in a python script very similar to the one in the MoveIt tutorials I obtain

ImportError: /home/lrinelli/ws_moveit/install/lib/libmoveit_py_bindings_tools.so.1.0.1: undefined symbol: _ZN5boost6python23throw_error_already_setEv

I think it might by related to eigenpy but I'm not sure.

Your environment

• ROS Distro: Melodic
• OS Version: Ubuntu 19.10
• Source build of ROS Melodic and MoveIt master
• Python 2.7
• Boost 1.67.0

Steps to reproduce

• I installed ROS Melodic from source
• Then in a workspace named ws_moveit I installed MoveIt from source following the instruction from the tutorial
• The build did not work because of dependencies, I fixed all the dependencies installing packages with apt when possible or adding sources to ws_moveit/src, specifically I took eigenpy from https://github.com/stack-of-tasks/eigenpy
• catkin build still does not complete successfully because move group pyhton interfaces does not find eigenpy/eigenpy.hpp
• I figured out that eigenpy would not be found unless I use catkin config --install and then catkin build. In this way the build completes without errors.
• When I try to run the python script that uses moveit_commander from another workspace containing the packages to simulate the robotic arm, built on top of ws_moveit, I obtain the error reported below.

Expected behaviour

The script starts moving the robotic arm and printing the goal state for each pose.

Actual behaviour

I get the error reported below.

Backtrace or Console output

lrinelli@SAN22389:~/edo_ws/src/test_pkg/src$ ./test_print_state.py __ns:=edo
Traceback (most recent call last):
  File "./test_print_state.py", line 6, in <module>
    import moveit_commander
  File "/home/lrinelli/ws_moveit/install/lib/python2.7/dist-packages/moveit_commander/__init__.py", line 2, in <module>
    from .roscpp_initializer import *
  File "/home/lrinelli/ws_moveit/install/lib/python2.7/dist-packages/moveit_commander/roscpp_initializer.py", line 35, in <module>
    from moveit_ros_planning_interface import _moveit_roscpp_initializer
ImportError: /home/lrinelli/ws_moveit/install/lib/libmoveit_py_bindings_tools.so.1.0.1: undefined symbol: _ZN5boost6python23throw_error_already_setEv