output of roswtf

Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 4 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING Node [/fake_joint_calibration] is not connected to anything
WARNING The following node subscriptions are unconnected:
 * /base_controller/undercarriage_ctrl_node:
   * /base_controller/command
 * /sound_controller/sound_node:
   * /say
   * /sound_controller/say/cancel
   * /sound_controller/say/goal
 * /point_cloud_converter_full_cloud:
   * /points_in
 * /gazebo_services:
   * /sdh_left_controller/joint_trajectory_action/feedback
   * /move_base/feedback
   * /arm_left_controller/joint_trajectory_action/result
   * /sdh_right_controller/joint_trajectory_action/feedback
   * /move_base/status
   * /arm_right_controller/joint_trajectory_action/status
   * /arm_right_controller/joint_trajectory_action/feedback
   * /sdh_right_controller/joint_trajectory_action/status
   * /arm_right_controller/joint_trajectory_action/result
   * /sdh_right_controller/joint_trajectory_action/result
   * /sdh_left_controller/joint_trajectory_action/result
   * /arm_left_controller/joint_trajectory_action/status
   * /arm_left_controller/joint_trajectory_action/feedback
   * /sdh_left_controller/joint_trajectory_action/status
   * /move_base/result
 * /gazebo:
   * /arm_controller/follow_joint_trajectory/goal
   * /plugged_in
   * /arm_controller/follow_joint_trajectory/cancel
   * /set_update_rate
   * /set_hfov
   * /gazebo/set_model_state
   * /gazebo/set_link_state

WARNING The following nodes are unexpectedly connected:
 * /sdh_controller_spawner->/rosout (/rosout)
 * /gazebo_services->/rosout (/rosout)
 * /relayboard/relayboard_node->/rosout (/rosout)
 * /torso_controllers_spawner->/rosout (/rosout)
 * /arm_controller_spawner->/rosout (/rosout)
 * /point_cloud_converter_full_cloud->/rosout (/rosout)
 * /tray_controller/tray_joint_trajectory_action_node->/rosout (/rosout)
 * /torso_controller/torso_joint_trajectory_action_node->/rosout (/rosout)
 * /stereo/right/prosilica_image_proc->/rosout (/rosout)
 * /scanner_rear_filter->/rosout (/rosout)
 * /rxconsole_1323183728125036235->/rosout (/rosout)
 * /head_controller_spawner->/rosout (/rosout)
 * /base_controller_spawner->/rosout (/rosout)
 * /stereo/left/prosilica_image_proc->/rosout (/rosout)
 * /tray_controller_spawner->/rosout (/rosout)
 * /pr2_mechanism_diagnostics->/rosout (/rosout)
 * /sound_controller/sound_node->/rosout (/rosout)
 * /scanner_front_filter->/rosout (/rosout)
 * /arm_controller/arm_joint_trajectory_action_node->/rosout (/rosout)
 * /gazebo->/rosout (/rosout)
 * /robot_state_publisher->/rosout (/rosout)
 * /base_controller/undercarriage_ctrl_node->/rosout (/rosout)
 * /head_controller/head_joint_trajectory_action_node->/rosout (/rosout)
 * /create_colored_point_cloud->/rosout (/rosout)
 * /sdh_controller/simulated_tactile_sensors->/rosout (/rosout)
 * /base_controller/base_drive_chain_node->/rosout (/rosout)
 * /sdh_controller/sdh_joint_trajectory_action_node->/rosout (/rosout)

WARNING These nodes have died:
 * spawn_gazebo_model-3
 * spawn_urdf_world-2


Found 21 error(s).

ERROR Communication with [/base_controller/base_drive_chain_node] raised an error:
ERROR Communication with [/base_controller_spawner] raised an error:
ERROR Communication with [/torso_controller/torso_joint_trajectory_action_node] raised an error:
ERROR Communication with [/base_controller/undercarriage_ctrl_node] raised an error:
ERROR Communication with [/gazebo] raised an error:
ERROR Communication with [/sound_controller/sound_node] raised an error:
ERROR Communication with [/robot_state_publisher] raised an error:
ERROR Communication with [/head_controller/head_joint_trajectory_action_node] raised an error:
ERROR Communication with [/point_cloud_converter_full_cloud] raised an error:
ERROR Communication with [/sdh_controller/sdh_joint_trajectory_action_node] raised an error:
ERROR Communication with [/rxconsole_1323183728125036235] raised an error:
ERROR Communication with [/sdh_controller/simulated_tactile_sensors] raised an error:
ERROR Communication with [/head_controller_spawner] raised an error:
ERROR Communication with [/stereo/right/prosilica_image_proc] raised an error:
ERROR Communication with [/scanner_rear_filter] raised an error:
ERROR Communication with [/create_colored_point_cloud] raised an error:
ERROR Communication with [/stereo/left/prosilica_image_proc] raised an error:
ERROR Communication with [/tray_controller_spawner] raised an error:
ERROR Communication with [/torso_controllers_spawner] raised an error:
ERROR Communication with [/gazebo_services] raised an error:
ERROR The following nodes should be connected but aren't:
 * /base_controller/base_drive_chain_node->/gazebo (/base_br_caster_r_wheel_controller/command)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/clock)
 * /gazebo->/base_controller/base_drive_chain_node (/base_br_caster_r_wheel_controller/state)
 * /sdh_controller/sdh_joint_trajectory_action_node->/gazebo (/sdh_controller/command)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/sdh_thumb_2_bumper/state)
 * /gazebo->/gazebo_services (/arm_controller/joint_trajectory_action/result)
 * /gazebo->/scanner_rear_filter (/scan_rear_raw)
 * /torso_controller/torso_joint_trajectory_action_node->/gazebo (/torso_controller/command)
 * /gazebo->/torso_controller/torso_joint_trajectory_action_node (/torso_controller/state)
 * /base_controller/base_drive_chain_node->/gazebo (/base_fr_caster_r_wheel_controller/command)
 * /gazebo->/base_controller/base_drive_chain_node (/base_fr_caster_rotation_controller/state)
 * /gazebo->/stereo/left/prosilica_image_proc (/clock)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/sdh_finger_22_bumper/state)
 * /base_controller/base_drive_chain_node->/gazebo (/base_br_caster_rotation_controller/command)
 * /gazebo->/sdh_controller/sdh_joint_trajectory_action_node (/sdh_controller/state)
 * /base_controller/base_drive_chain_node->/gazebo (/base_bl_caster_rotation_controller/command)
 * /gazebo->/gazebo (/clock)
 * /gazebo->/scanner_rear_filter (/clock)
 * /gazebo->/gazebo_services (/arm_controller/joint_trajectory_action/status)
 * /gazebo->/sdh_controller/sdh_joint_trajectory_action_node (/clock)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/sdh_finger_23_bumper/state)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/sdh_finger_12_bumper/state)
 * /gazebo->/point_cloud_converter_full_cloud (/clock)
 * /gazebo_services->/head_controller/head_joint_trajectory_action_node (/head_controller/joint_trajectory_action/goal)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/sdh_finger_13_bumper/state)
 * /gazebo->/base_controller_spawner (/clock)
 * /gazebo->/head_controller/head_joint_trajectory_action_node (/clock)
 * /torso_controller/torso_joint_trajectory_action_node->/gazebo_services (/torso_controller/joint_trajectory_action/result)
 * /gazebo->/head_controller/head_joint_trajectory_action_node (/head_controller/state)
 * /gazebo->/sound_controller/sound_node (/clock)
 * /gazebo->/stereo/right/prosilica_image_proc (/clock)
 * /gazebo->/base_controller/base_drive_chain_node (/clock)
 * /gazebo->/create_colored_point_cloud (/clock)
 * /gazebo->/gazebo_services (/arm_controller/joint_trajectory_action/feedback)
 * /gazebo->/base_controller/base_drive_chain_node (/base_bl_caster_r_wheel_controller/state)
 * /sdh_controller/sdh_joint_trajectory_action_node->/gazebo_services (/sdh_controller/joint_trajectory_action/result)
 * /torso_controller/torso_joint_trajectory_action_node->/gazebo_services (/torso_controller/joint_trajectory_action/status)
 * /base_controller/base_drive_chain_node->/base_controller/base_drive_chain_node (/joint_states)
 * /base_controller/undercarriage_ctrl_node->/base_controller/base_drive_chain_node (/base_controller/joint_command)
 * /gazebo_services->/head_controller/head_joint_trajectory_action_node (/head_controller/joint_trajectory_action/cancel)
 * /gazebo->/sdh_controller/simulated_tactile_sensors (/sdh_thumb_3_bumper/state)
 * /gazebo->/base_controller/base_drive_chain_node (/base_fr_caster_r_wheel_controller/state)
 * /base_controller/base_drive_chain_node->/base_controller/undercarriage_ctrl_node (/base_controller/diagnostic)
 * /base_controller/base_drive_chain_node->/base_controller/undercarriage_ctrl_node (/base_controller/state)
 * /head_controller/head_joint_trajectory_action_node->/gazebo_services (/head_controller/joint_trajectory_action/result)
 * /gazebo->/torso_controllers_spawner (/clock)
 * /torso_controller/torso_joint_trajectory_action_node->/gazebo_services (/torso_controller/joint_trajectory_action/feedback)
 * /gazebo->/robot_state_publisher (/joint_states)
 * /sdh_controller/sdh_joint_trajectory_action_node->/gazebo_services (/sdh_controller/joint_trajectory_action/status)
 * /gazebo_services->/torso_controller/torso_joint_trajectory_action_node (/torso_controller/joint_trajectory_action/goal)
 * /base_controller/base_drive_chain_node->/gazebo (/base_bl_caster_r_wheel_controller/command)
 * /gazebo->/robot_state_publisher (/clock)
 * /gazebo_services->/sdh_controller/sdh_joint_trajectory_action_node (/sdh_controller/joint_trajectory_action/goal)
 * /base_controller/base_drive_chain_node->/robot_state_publisher (/joint_states)
 * /gazebo_services->/gazebo (/arm_controller/joint_trajectory_action/cancel)
 * /head_controller/head_joint_trajectory_action_node->/gazebo_services (/head_controller/joint_trajectory_action/feedback)
 * /gazebo->/base_controller/base_drive_chain_node (/base_fl_caster_rotation_controller/state)
 * /gazebo->/head_controller_spawner (/clock)
 * /gazebo->/torso_controller/torso_joint_trajectory_action_node (/clock)
 * /gazebo->/base_controller/base_drive_chain_node (/joint_states)
 * /gazebo->/tray_controller_spawner (/clock)
 * /base_controller/base_drive_chain_node->/gazebo (/base_fl_caster_rotation_controller/command)
 * /gazebo->/base_controller/base_drive_chain_node (/base_bl_caster_rotation_controller/state)
 * /gazebo->/gazebo_services (/clock)
 * /head_controller/head_joint_trajectory_action_node->/gazebo_services (/head_controller/joint_trajectory_action/status)
 * /sdh_controller/sdh_joint_trajectory_action_node->/gazebo_services (/sdh_controller/joint_trajectory_action/feedback)
 * /head_controller/head_joint_trajectory_action_node->/gazebo (/head_controller/command)
 * /gazebo_services->/sdh_controller/sdh_joint_trajectory_action_node (/sdh_controller/joint_trajectory_action/cancel)
 * /base_controller/base_drive_chain_node->/gazebo (/base_fl_caster_r_wheel_controller/command)
 * /gazebo->/base_controller/undercarriage_ctrl_node (/clock)
 * /gazebo->/base_controller/base_drive_chain_node (/base_fl_caster_r_wheel_controller/state)
 * /base_controller/base_drive_chain_node->/gazebo (/base_fr_caster_rotation_controller/command)
 * /gazebo_services->/torso_controller/torso_joint_trajectory_action_node (/torso_controller/joint_trajectory_action/cancel)
 * /gazebo->/base_controller/base_drive_chain_node (/base_br_caster_rotation_controller/state)
 * /gazebo_services->/gazebo (/arm_controller/joint_trajectory_action/goal)
 * /gazebo->/rxconsole_1323183728125036235 (/clock)