Conflict between DART library and Gazebo

[AngeloEspinoza]

I am having troubles running gazebo with ROS 2 Humble, as I am trying to simply open gazebo but it won't work.

I am suspecting it is something related with the libraries I previously installed such as FCL and Octomap. However, I use this libraries for other simulation in OpenGL.

The issue in question that I found everytime I try to open Gazebo is:

gzserver: symbol lookup error: /lib/x86_64-linux-gnu/libdart.so.6.12: undefined symbol: _ZN3fcl6OcTreeIdEC1ERKSt10shared_ptrIKN7octomap6OcTreeEE

I think this can also be helpful:

ls -l /lib/x86_64-linux-gnu | grep libdart

lrwxrwxrwx   1 root root        34 Mar 16  2022 libdart-collision-bullet.so.6.12 -> libdart-collision-bullet.so.6.12.1
-rw-r--r--   1 root root    112808 Mar 16  2022 libdart-collision-bullet.so.6.12.1
lrwxrwxrwx   1 root root        34 Aug 23  2024 libdart-collision-bullet.so.6.14 -> libdart-collision-bullet.so.6.14.4
-rw-r--r--   1 root root    327208 Aug 23  2024 libdart-collision-bullet.so.6.14.4
lrwxrwxrwx   1 root root        37 Aug 23  2024 libdart-external-odelcpsolver.so -> libdart-external-odelcpsolver.so.6.14
lrwxrwxrwx   1 root root        39 Mar 16  2022 libdart-external-odelcpsolver.so.6.12 -> libdart-external-odelcpsolver.so.6.12.1
-rw-r--r--   1 root root     47096 Mar 16  2022 libdart-external-odelcpsolver.so.6.12.1
lrwxrwxrwx   1 root root        39 Aug 23  2024 libdart-external-odelcpsolver.so.6.14 -> libdart-external-odelcpsolver.so.6.14.4
-rw-r--r--   1 root root     59896 Aug 23  2024 libdart-external-odelcpsolver.so.6.14.4
lrwxrwxrwx   1 root root        17 Mar 16  2022 libdart.so.6.12 -> libdart.so.6.12.1
-rw-r--r--   1 root root   5500232 Mar 16  2022 libdart.so.6.12.1
lrwxrwxrwx   1 root root        17 Aug 23  2024 libdart.so.6.14 -> libdart.so.6.14.4
-rw-r--r--   1 root root   5444688 Aug 23  2024 libdart.so.6.14.4
lrwxrwxrwx   1 root root        23 Mar 16  2022 libdart-utils.so.6.12 -> libdart-utils.so.6.12.1
-rw-r--r--   1 root root    891072 Mar 16  2022 libdart-utils.so.6.12.1
lrwxrwxrwx   1 root root        23 Aug 23  2024 libdart-utils.so.6.14 -> libdart-utils.so.6.14.4
-rw-r--r--   1 root root   1087960 Aug 23  2024 libdart-utils.so.6.14.4
lrwxrwxrwx   1 root root        28 Aug 23  2024 libdart-utils-urdf.so.6.14 -> libdart-utils-urdf.so.6.14.4
-rw-r--r--   1 root root    364128 Aug 23  2024 libdart-utils-urdf.so.6.14.4

[traversaro]

I am not sure, but I guess you have installed somehow two incompatible version of libdart and octomap.

Can you report the output of the following commands?

ldd /lib/x86_64-linux-gnu/libdart.so.6.12

apt list --installed

?