Humble PPA: ros-humble-glim 1.2.0 crashes with undefined symbol (built against pre-4.3a1 GTSAM?)

[acid9991]

Problem

Fresh install from the PPA on Ubuntu 22.04 / ROS 2 Humble (CPU packages, no CUDA) crashes instantly:

/opt/ros/humble/lib/glim_ros/glim_rosbag: symbol lookup error: /opt/ros/humble/lib/libglim.so: undefined symbol: _ZTVN5gtsam28PreintegratedImuMeasurementsE

Installed versions (from the PPA, 2026-07-06)

• ros-humble-glim 1.2.0-0jammy
• ros-humble-glim-ros 1.2.1-0jammy
• libgtsam-points-dev 1.2.1
• libgtsam-notbb-dev 4.3.0 (libgtsam.so.4.3a1)

Diagnosis

• ldd /opt/ros/humble/lib/libglim.so resolves to the PPA's own /usr/local/lib/libgtsam.so.4 (no other GTSAM on the system; sudo ldconfig was run).
• nm -D libgtsam.so.4 contains only the templated PreintegratedImuMeasurementsT<TangentPreintegration> symbols (137 of them), not the non-template vtable _ZTVN5gtsam28PreintegratedImuMeasurementsE that libglim.so imports.
• So the humble glim 1.2.0 deb appears to be built against a pre-4.3a1 GTSAM, while the PPA now ships GTSAM 4.3a1. Note glim-ros is at 1.2.1 while glim is still 1.2.0 — looks like the glim humble deb missed the last rebuild.

Workaround

The Docker image koide3/glim_ros2:humble works perfectly (thanks for providing it!).

Request

Rebuild/publish ros-humble-glim (1.2.1?) against the current GTSAM 4.3a1 in the PPA.

[deluxyz]

Can confirm that this is a real issue and glim worked fine before the last update.

[koide3]

Thanks for reporting the issue. I check it soon.

[koide3]

I just pushed a fix to the PPA repository. Could you check if the issue is resolved?

[caduzanon]

I was trying to run GLIM last week on a fresh install and ran into the same issue. Just did a reinstall, got this: (Running on a Jetson Orin Nano, Ubuntu 22.04 (Jetpack 6.2.2))

$ ros2 run glim_ros glim_rosnode
/opt/ros/humble/lib/glim_ros/glim_rosnode: symbol lookup error: /usr/local/lib/libgtsam_points_cuda.so.1: undefined symbol: _ZNK5gtsam15NonlinearFactor5rekeyERKSt6vectorImSaImEE
[ros2run]: Process exited with failure 127

After removing ros-humble-gtsam, it works fine!!

[acid9991]

Confirmed fixed — with one packaging gotcha worth flagging.

Upgraded on Ubuntu 22.04 / ROS 2 Humble (CPU, no CUDA): ros-humble-glim 1.2.0 → 1.2.2-0jammy, ros-humble-glim-ros 1.2.1 → 1.2.2-0jammy. The original crash is gone — libglim.so no longer imports _ZTVN5gtsam28PreintegratedImuMeasurementsE.

However, upgrading only those two packages left me with a second undefined-symbol crash a few seconds into the run:

symbol lookup error: /opt/ros/humble/lib/libglim.so: undefined symbol:
_ZN12gtsam_points12merge_framesERKSt6vectorIN5Eigen9TransformIdLi3ELi1ELi0EEESaIS3_EERKS0_ISt10shared_ptrIKNS_10PointCloudEESaISB_EEdm
  → gtsam_points::merge_frames(const std::vector<Eigen::Isometry3d>&,
                               const std::vector<PointCloud::ConstPtr>&, double, size_t)

Cause: libgtsam-points-dev was still 1.2.1 while glim was 1.2.2 — glim 1.2.2 needs a merge_frames overload that only exists in gtsam-points 1.2.2, and apt install --only-upgrade ros-humble-glim ros-humble-glim-ros did not pull the newer library.

After sudo apt install --only-upgrade libgtsam-points-dev (→ 1.2.2), ### everything works:

[glim] [info] playback speed: 4.9x
[glim] [info] waiting for odometry estimation / local mapping / global mapping
[global] [info] serializing factor graph to .../graph.bin
[global] [info] saved

Full run to completion, dump written (graph.bin + submaps). Docker workaround no longer needed.
Suggestion: consider tightening the versioned dependency so ros-humble-glim (≥1.2.2) requires libgtsam-points (≥1.2.2). Right now a targeted upgrade of just glim leaves a glim-1.2.2 + gtsam-points-1.2.1 combo that fails with a fairly cryptic undefined-symbol error — the next person will likely hit exactly this.
Thanks for the quick turnaround!