As complementary information, rplidar has the same inactive status:
husarion@alpha:~/Documents/rosbot-autonomy$ snap services husarion-rplidar
Service Startup Current Notes
husarion-rplidar.daemon enabled inactive -
husarion@alpha:~/Documents/rosbot-autonomy$ snap info husarion-rplidar
name: husarion-rplidar
summary: RPLIDAR ROS 2 driver for Husarion robots
publisher: Husarion✓
store-url: https://snapcraft.io/husarion-rplidar
contact: https://github.com/husarion/husarion-rplidar-snap/issues
license: Apache-2.0
description: |
The `husarion-rplidar` snap contains all the necessary software to bring the RPLIDAR LIDARS up.
**Parameters**
The snap provides the following configurable parameters (`param name`: `default value`):
* `configuratin`: `custom`
* `driver`: `{...}`
* `ros`: `{...}`
The `ros` contains the following keys:
* `ros.domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
* `ros.localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS
driver.
* `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or
`rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the
`/var/snap/rosbot-xl/common` directory (custom FastDDS setups can also be created here).
* `ros.namespace`: `(unset)` - Namespace for all topics and transforms.
The `driver` contains the following keys:
* `channel-type`: `serial`
* `serial-port`: `auto`
* `serial-baudrate`: `256000`
* `frame-id`: `laser`
* `inverted`: `false`
* `angle-compensate`: `true`
* `scan-mode`: `(unset)`
* `device-namespace`: `(unset)`
To set the parameters, use the snap set command, e.g.,
snap set husarion-rplidar driver.device-namespace=front_lidar
commands:
- husarion-rplidar
- husarion-rplidar.start
- husarion-rplidar.stop
services:
husarion-rplidar.daemon: simple, enabled, inactive
snap-id: w8lK1AlBRZZAq5ARR4IBkAwiOqkldsYA
tracking: jazzy/stable
refresh-date: today at 09:40 CEST
channels:
humble/stable: 2.1.4+git4.gd71b45d 2025-03-22 (40) 53.0MB -
humble/candidate: ↑
humble/beta: ↑
humble/edge: 2.1.4+git7.g24cc9b6 2026-05-29 (46) 56.3MB -
jazzy/stable: 2.1.4+git4.gd71b45d 2025-03-22 (41) 67.2MB -
jazzy/candidate: ↑
jazzy/beta: ↑
jazzy/edge: 2.1.4+git7.g24cc9b6 2026-05-29 (47) 70.1MB -
installed: 2.1.4+git4.gd71b45d (41) 67.2MB -
This problem seems to have a similar root cause:
husarion@alpha:~/Documents/rosbot-autonomy$ journalctl -u snap.husarion-rplidar.daemon.service -b | grep -iE 'symbol|died'
Jun 01 09:49:09 alpha husarion-rplidar.daemon[2266]: [rplidar_node-1] /snap/husarion-rplidar/41/opt/ros/snap/lib/rplidar_ros/rplidar_node: symbol lookup error: /snap/husarion-rplidar/41/opt/ros/underlay_ws/opt/ros/jazzy/lib/libfastrtps.so.2.14: undefined symbol: _ZN8eprosima7fastcdr3Cdr9serializeERKh
If that can be of any help tracing the problem, I was frequently running/deactivating the rosbot-autonomy stack using just start-navigation and just stop (the main branch here: GitHub - husarion/rosbot-autonomy at main · GitHub).
This has been working perfectly for months until recently, all of a sudden. Please let me add this, it may be useful too:
husarion@alpha:~/Documents/rosbot-autonomy$ snap info rosbot
name: rosbot
summary: A driver for ROSbot mobile robot
publisher: Husarion✓
store-url: https://snapcraft.io/rosbot
contact: https://husarion.com/
license: Apache-2.0
description: |
**Description**
The **rosbot** snap includes all the essential software required to operate the ROSbot, including
the controller, robot state publisher, and more. The snap is dedicated for: ROSbot XL, ROSbot 3 /
3 PRO, ROSbot 2R / 2 PRO.
The snap is based on https://github.com/husarion/rosbot_ros package, which provides the ROS 2
driver for the ROSbot mobile robot.
**Installation**
To install this snap on the Single Board Computer (SBC) within the ROSbot run the following
command:
snap install rosbot
sudo /var/snap/rosbot/common/post_install.sh
sudo rosbot.flash
**Usage**
After installation, you need to specify robot-model by running:
sudo snap set rosbot driver.robot-model=rosbot/rosbot-xl
You can start the ROSbot driver by running:
sudo rosbot.start
After that robot is operational and you can control it using by sending commands to the `/cmd_vel`
topic. For example, you can use the `teleop_twist_keyboard` node to control the robot from a
terminal:
sudo rosbot.teleop
or you can connect a Logitech F710 USB dongle to the ROSbot's USB port to control the robot.
Remember to set gamepad in `X` mode and keep pressing the LB button on the gamepad to enable
control.
**Parameters**
The snap provides the following configurable parameters:
* `driver`: `{...}`
* `ros`: `{...}`
The `ros` contains the following keys:
* `ros.domain-id`: `0` - Sets the `ROS_DOMAIN_ID` ROS 2 env.
* `ros.localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` ROS 2 env.
* `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or
`rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the
`/var/snap/rosbot/common` directory (custom FastDDS setups can also be created here).
* `ros.namespace`: `` - Namespace for all topics and transforms.
The `driver` contains the following keys:
* `driver.configuration`: `basic` - Specify robot configuration. This parameter affects URDF and
starts the manipulator. `rosbot` has only `basic` configuration. `rosbot-xl` has: `basic`,
`telepresence`, `autonomy`, `manipulation`, `manipulation-pro`.
* `driver.mecanum`: `True/False` (depend on robot-model) - switches between mecanum or
differential drive controller.
* `driver.robot-model`: `` - Allows you to select the robot model (options: `rosbot`,
`rosbot-xl`).
* `driver.serial-port`: `auto` - Serial port for firmware (e.g., `/dev/ttyUSB0`).
To set parameters, use:
snap set rosbot driver.mecanum=True
**Available Apps (Main)**
* `rosbot.flash` - Flash firmware for the STM32F4 microcontroller.
* `rosbot.start` - Start the daemon running the ROSbot ROS 2 driver.
* `rosbot.stop` - Stop the daemon running the ROSbot ROS 2 driver.
* `rosbot.teleop` - Run the `teleop_twist_keyboard` node to control the robot from a terminal.
**Auxiliary Apps**
* `rosbot.config-ftdi` - Set up the CBUS pins in the FTDI chip (used with RST and BOOT0 pins in
STM32); needs to be done only once.
* `rosbot.print-serial-number` - Print the CPU ID and serial number of ROSbot.
* `rosbot.reset-stm32` - Reset the STM32F4 microcontroller.
**Working with ROS Parameters**
For multiple snaps running ROS 2 or host-snap-Docker communication, useful files and scripts are
available in `/var/snap/rosbot/common/`.
Example usage:
# Set parameters in the rosbot snap
sudo snap set rosbot ros.transport=udp ros.namespace=abc
# Mirror the setup for other ROS 2 snaps
sudo snap set husarion-depthai $(xargs -a /var/snap/rosbot/common/ros_snap_args)
sudo snap set husarion-rplidar $(xargs -a /var/snap/rosbot/common/ros_snap_args)
# Set up the current shell with the same configurations
source /var/snap/rosbot/common/ros.env
# Install configurations
/var/snap/rosbot/common/manage_ros_env.sh
source ~/.bashrc
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap __ns:=/${ROS_NAMESPACE}
commands:
- rosbot.arm-activate
- rosbot.arm-disactivate
- rosbot.config-ftdi
- rosbot.flash
- rosbot.print-serial-number
- rosbot.reset-stm32
- rosbot.restart
- rosbot
- rosbot.start
- rosbot.stop
- rosbot.teleop
services:
rosbot.daemon: simple, enabled, active
rosbot.db-server: simple, enabled, active
snap-id: IX8kZXHijORI92kMSVoEOPuSNVxr59CP
tracking: jazzy/stable
refresh-date: today at 09:39 CEST
channels:
humble/stable: 0.15.1 2025-07-24 (223) 427MB -
humble/candidate: ↑
humble/beta: ↑
humble/edge: 0.15.2 2025-10-14 (231) 428MB -
jazzy/stable: 0.16.1 2025-07-24 (225) 480MB -
jazzy/candidate: ↑
jazzy/beta: ↑
jazzy/edge: 1.0.0-247b329 2026-05-30 (326) 543MB -
installed: 0.16.1 (225) 480MB -
