Issues After Migrating to ROS 2 Jazzy: RViz Icons and Mesh Loading

General
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1

Hi everyone,

I recently migrated to ROS 2 Jazzy and I’m encountering two issues that I haven’t been able to resolve:

1. RViz2 Icon Loading Errors

When I launch RViz2, I get several errors related to loading icons. The log shows messages like:

[rviz2-3] [ERROR] [...]: Could not load pixmap package://rviz_common/icons/rotate.svg -- using default cursor instead.
[rviz2-3] [ERROR] [...]: Could not load pixmap package://rviz_common/icons/rotate_cam.svg -- using default cursor instead.
[rviz2-3] [ERROR] [...]: Could not load pixmap package://rviz_common/icons/move2d.svg -- using default cursor instead.
[rviz2-3] [ERROR] [...]: Could not load pixmap package://rviz_common/icons/zoom.svg -- using default cursor instead.
[rviz2-3] [ERROR] [...]: Could not load pixmap package://rviz_common/icons/crosshair.svg -- using default cursor instead.

RViz still works, but all cursors appear as default.

2. URDF Mesh File Not Found

When I launch my robot description, I get an error saying it cannot find the .stl mesh files, even though they are correctly placed in the install directory.

In my URDF I use the following line:

<mesh filename="file://$(find niryo_robot_description)/urdf/ned3/stl/ned3_pro_shoulder_assembly.stl"/>

Is there any change in how ROS 2 Jazzy handles resource paths or mesh loading? Any advice on how to fix these two issues would be greatly appreciated.

Thanks in advance!

Jaime

2

I have had similar issues recently, the issue appears to be a incorrectly installed rivz2 on the workstation running rviz. On one workstation there was no issue, but on the compromised workstation, it couldn’t parse the path to mesh files.

3

Try reinstalling rviz2. This solved similar issues for me on one of the two workstations I use. Hard to debug if it was working on one and not the other.

4

Hi @Alan_Federman,

Thanks for your quick response. I reinstalled rviz2 using the following command:

sudo apt install --reinstall ros-jazzy-rviz2

However, the issue persists — it still doesn’t detect the .stl files. To rule out a general problem with RViz2, I tested the turtlebot4_viz package with:

ros2 launch turtlebot4_viz view_model.launch.py

and that one works fine.

I really appreciate your help.

Best regards,
Jaime

5

Hi @Alan_Federman,

Problem resolved! I downloaded the RViz source and tried compiling rviz_common. At around 82% of the build process, I encountered the following errors:

/usr/bin/ld: /opt/ros/jazzy/lib/libresource_retriever.so: undefined reference to `curl_global_cleanup@CURL_OPENSSL_4'
/usr/bin/ld: /opt/ros/jazzy/lib/libresource_retriever.so: undefined reference to `curl_global_init@CURL_OPENSSL_4'
/usr/bin/ld: /opt/ros/jazzy/lib/libresource_retriever.so: undefined reference to `curl_easy_perform@CURL_OPENSSL_4'
/usr/bin/ld: /opt/ros/jazzy/lib/libresource_retriever.so: undefined reference to `curl_easy_init@CURL_OPENSSL_4'
/usr/bin/ld: /opt/ros/jazzy/lib/libresource_retriever.so: undefined reference to `curl_easy_setopt@CURL_OPENSSL_4'
/usr/bin/ld: /opt/ros/jazzy/lib/libresource_retriever.so: undefined reference to `curl_easy_cleanup@CURL_OPENSSL_4'

To fix it, I reinstalled libcurl with:

sudo apt update
sudo apt install libcurl4-openssl-dev

After that, I ran rviz2 and it worked perfectly.

Thanks again and best regards,

Jaime

6

I am wondering if the problem first occurred after an apt upgrade or rosdep update?
I am just now experiencing a problem with teleop_twist_joy not working after an upgrade of Ubuntu.
I guess something to try is building it from source and seeing if it is missing a dependency.
Playing whack-a-mole with missing dependencies is the bane of my ROS existance.

7

Hi @Alan_Federman
The happiness didn’t last long — it’s stopped working again. I don’t know whether to laugh or cry.

Best regards,

Jaime

8

Hi everyone,

I don’t want to be annoying by saying “it’s fixed” and then coming back to say “actually, it’s not,” but I think I’ve finally solved the issue.

The root of the problem was with the curl library. I was getting this error:

curl: /usr/local/lib/libcurl.so.4: no version information available (required by curl)
curl 8.5.0 (x86_64-pc-linux-gnu) libcurl/8.10.1 OpenSSL/3.0.13 zlib/1.2.13.zlib-ng
Release-Date: 2023-12-06, security patched: 8.5.0-2ubuntu10.6
Protocols: http https
Features: alt-svc AsynchDNS HSTS HTTPS-proxy IPv6 Largefile libz NTLM SSL threadsafe TLS-SRP UnixSockets
WARNING: curl and libcurl versions do not match. Functionality may be affected.

It turned out to be a version conflict between curl and libcurl. I followed a few steps to resolve it (which I can share if needed), and after rebooting my machine, everything still works — which wasn’t the case yesterday.

  • The curl executable: version 8.5.0 (from Ubuntu).
  • The libcurl.so.4 dynamic library: version 8.10.1, installed in /usr/local/lib/.

The Problem

A custom version of libcurl was installed in /usr/local/lib/, likely built from source, and it’s interfering with Ubuntu’s default curl binary, which expects a different version.

This causes:

  • Runtime symbol errors like:

    undefined reference to `curl_global_init@CURL_OPENSSL_4`

  • And warnings such as:

    WARNING: curl and libcurl versions do not match.

Recommended Fix: Remove the conflicting /usr/local/lib version

Step 1: Check if the custom version exists

ls -l /usr/local/lib/libcurl*

If you see output like:

/usr/local/lib/libcurl.so
/usr/local/lib/libcurl.so.4
/usr/local/lib/libcurl.so.4.8.10

Then the custom installation is indeed present and causing issues.

Step 2: Remove the manual installation

sudo rm /usr/local/lib/libcurl.so*

This won’t break your system as long as libcurl is properly installed via APT.

Step 3: Regenerate the shared library cache

sudo ldconfig

Step 4: Verify the system version is now used

ldd $(which curl) | grep libcurl

Expected output:

libcurl.so.4 => /usr/lib/x86_64-linux-gnu/libcurl.so.4

Step 5: Reinstall the official version (just in case)

sudo apt install --reinstall libcurl4-openssl-dev

Expected Result

Now when you run:

curl --version

Hope this helps someone else.

Cheers!

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