Add troubleshooting section about handling ABI breaks

It happens frequently that people run into symbol lookup errors due to
ABI breaks. This section should give them something to do on that.

Author: urfeex

ur_robot_driver/doc/usage/toc.rst

@@ -117,3 +117,29 @@ On the e-Series the robot has to be in :ref:`remote control mode <operation_mode
 .. |play_button| image:: ../resources/play_button.svg
                  :height: 20px
                  :width: 20px
+
+When I start the driver, I get a symbol lookup error
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This error can show for example like this:
+
+.. code-block:: text
+
+   [ros2_control_node-1] /opt/ros/rolling/lib/controller_manager/ros2_control_node: symbol lookup error: /opt/ros/rolling/lib/libpal_statistics_msgs__rosidl_typesupport_fastrtps_cpp.so: undefined symbol: _ZN8eprosima7fastcdr3Cdr9serializeEj
+   [ERROR] [ros2_control_node-1]: process has died [pid 251, exit code 127, cmd '/opt/ros/rolling/lib/controller_manager/ros2_control_node --ros-args --params-file /opt/ros/rolling/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_cdtxg1uh'].
+
+
+When an upstream package introduces an ABI break, you may see this error. This can happen in two
+situations:
+
+- You have installed ROS a longer time ago and you have installed the driver package recently.
+- You have compiled the driver from source and you have updated your system, so the upstream
+  libraries are there in a newer (ABI incompatible) version.
+
+When this happens, it is best to update your complete system using
+
+.. code-block:: console
+
+   $ sudo apt update && sudo apt dist-upgrade
+
+and then recompile your workspace if you have built things from source.