karthik@karthik-ThinkCentre-M91p:~$ roslaunch yumi_gazebo test1.launch
... logging to /home/karthik/.ros/log/b0a4b2b8-296f-11e6-b6cb-4437e65144c3/roslaunch-karthik-ThinkCentre-M91p-25045.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://karthik-ThinkCentre-M91p:41517/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.19
 * /use_sim_time: True
 * /yumi/yumi/joint_1L_controller/joint: yumi_joint_1_l
 * /yumi/yumi/joint_1L_controller/pid/d: 10.0
 * /yumi/yumi/joint_1L_controller/pid/i: 0.01
 * /yumi/yumi/joint_1L_controller/pid/p: 100.0
 * /yumi/yumi/joint_1L_controller/type: effort_controller...
 * /yumi/yumi/joint_1R_controller/joint: yumi_joint_1_r
 * /yumi/yumi/joint_1R_controller/pid/d: 10.0
 * /yumi/yumi/joint_1R_controller/pid/i: 0.01
 * /yumi/yumi/joint_1R_controller/pid/p: 100.0
 * /yumi/yumi/joint_1R_controller/type: effort_controller...
 * /yumi/yumi/joint_2L_controller/joint: yumi_joint_2_l
 * /yumi/yumi/joint_2L_controller/pid/d: 10.0
 * /yumi/yumi/joint_2L_controller/pid/i: 0.01
 * /yumi/yumi/joint_2L_controller/pid/p: 100.0
 * /yumi/yumi/joint_2L_controller/type: effort_controller...
 * /yumi/yumi/joint_2R_controller/joint: yumi_joint_2_r
 * /yumi/yumi/joint_2R_controller/pid/d: 10.0
 * /yumi/yumi/joint_2R_controller/pid/i: 0.01
 * /yumi/yumi/joint_2R_controller/pid/p: 100.0
 * /yumi/yumi/joint_2R_controller/type: effort_controller...
 * /yumi/yumi/joint_3L_controller/joint: yumi_joint_3_l
 * /yumi/yumi/joint_3L_controller/pid/d: 10.0
 * /yumi/yumi/joint_3L_controller/pid/i: 0.01
 * /yumi/yumi/joint_3L_controller/pid/p: 100.0
 * /yumi/yumi/joint_3L_controller/type: effort_controller...
 * /yumi/yumi/joint_3R_controller/joint: yumi_joint_3_r
 * /yumi/yumi/joint_3R_controller/pid/d: 10.0
 * /yumi/yumi/joint_3R_controller/pid/i: 0.01
 * /yumi/yumi/joint_3R_controller/pid/p: 100.0
 * /yumi/yumi/joint_3R_controller/type: effort_controller...
 * /yumi/yumi/joint_4L_controller/joint: yumi_joint_4_l
 * /yumi/yumi/joint_4L_controller/pid/d: 10.0
 * /yumi/yumi/joint_4L_controller/pid/i: 0.01
 * /yumi/yumi/joint_4L_controller/pid/p: 100.0
 * /yumi/yumi/joint_4L_controller/type: effort_controller...
 * /yumi/yumi/joint_4R_controller/joint: yumi_joint_4_r
 * /yumi/yumi/joint_4R_controller/pid/d: 10.0
 * /yumi/yumi/joint_4R_controller/pid/i: 0.01
 * /yumi/yumi/joint_4R_controller/pid/p: 100.0
 * /yumi/yumi/joint_4R_controller/type: effort_controller...
 * /yumi/yumi/joint_5L_controller/joint: yumi_joint_5_l
 * /yumi/yumi/joint_5L_controller/pid/d: 10.0
 * /yumi/yumi/joint_5L_controller/pid/i: 0.01
 * /yumi/yumi/joint_5L_controller/pid/p: 100.0
 * /yumi/yumi/joint_5L_controller/type: effort_controller...
 * /yumi/yumi/joint_5R_controller/joint: yumi_joint_5_r
 * /yumi/yumi/joint_5R_controller/pid/d: 10.0
 * /yumi/yumi/joint_5R_controller/pid/i: 0.01
 * /yumi/yumi/joint_5R_controller/pid/p: 100.0
 * /yumi/yumi/joint_5R_controller/type: effort_controller...
 * /yumi/yumi/joint_6L_controller/joint: yumi_joint_6_l
 * /yumi/yumi/joint_6L_controller/pid/d: 10.0
 * /yumi/yumi/joint_6L_controller/pid/i: 0.01
 * /yumi/yumi/joint_6L_controller/pid/p: 100.0
 * /yumi/yumi/joint_6L_controller/type: effort_controller...
 * /yumi/yumi/joint_6R_controller/joint: yumi_joint_6_r
 * /yumi/yumi/joint_6R_controller/pid/d: 10.0
 * /yumi/yumi/joint_6R_controller/pid/i: 0.01
 * /yumi/yumi/joint_6R_controller/pid/p: 100.0
 * /yumi/yumi/joint_6R_controller/type: effort_controller...
 * /yumi/yumi/joint_7L_controller/joint: yumi_joint_7_l
 * /yumi/yumi/joint_7L_controller/pid/d: 10.0
 * /yumi/yumi/joint_7L_controller/pid/i: 0.01
 * /yumi/yumi/joint_7L_controller/pid/p: 100.0
 * /yumi/yumi/joint_7L_controller/type: effort_controller...
 * /yumi/yumi/joint_7R_controller/joint: yumi_joint_7_r
 * /yumi/yumi/joint_7R_controller/pid/d: 10.0
 * /yumi/yumi/joint_7R_controller/pid/i: 0.01
 * /yumi/yumi/joint_7R_controller/pid/p: 100.0
 * /yumi/yumi/joint_7R_controller/type: effort_controller...
 * /yumi/yumi/joint_gripperL_controller/joint: yumi_joint_grippe...
 * /yumi/yumi/joint_gripperL_controller/pid/d: 10.0
 * /yumi/yumi/joint_gripperL_controller/pid/i: 0.01
 * /yumi/yumi/joint_gripperL_controller/pid/p: 100.0
 * /yumi/yumi/joint_gripperL_controller/type: effort_controller...
 * /yumi/yumi/joint_gripperR_controller/joint: yumi_joint_grippe...
 * /yumi/yumi/joint_gripperR_controller/pid/d: 10.0
 * /yumi/yumi/joint_gripperR_controller/pid/i: 0.01
 * /yumi/yumi/joint_gripperR_controller/pid/p: 100.0
 * /yumi/yumi/joint_gripperR_controller/type: effort_controller...
 * /yumi/yumi/joint_state_controller/publish_rate: 50
 * /yumi/yumi/joint_state_controller/type: joint_state_contr...

NODES
  /yumi/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [25066]
process[gazebo_gui-2]: started with pid [25070]
process[spawn_urdf-3]: started with pid [25074]
process[yumi/controller_spawner-4]: started with pid [25075]
process[robot_state_publisher-5]: started with pid [25076]
[gazebo-1] process has died [pid 25066, exit code 255, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode /home/karthik/ws/src/yumi_gazebo/worlds/yumi.world __name:=gazebo __log:=/home/karthik/.ros/log/b0a4b2b8-296f-11e6-b6cb-4437e65144c3/gazebo-1.log].
log file: /home/karthik/.ros/log/b0a4b2b8-296f-11e6-b6cb-4437e65144c3/gazebo-1*.log
[INFO] [WallTime: 1464947082.396238] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[spawn_urdf-3] process has finished cleanly
log file: /home/karthik/.ros/log/b0a4b2b8-296f-11e6-b6cb-4437e65144c3/spawn_urdf-3*.log