API tools faq
paste
Advertisement
Guest User

Create 3 sim error

a guest
Jan 11th, 2025
32
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 52.80 KB | None | 0 0
raw download clone embed print report
  1. ros2 launch irobot_create_gz_bringup create3_gz.launch.py
  2. [INFO] [launch]: All log files can be found below /home/sebastian/.ros/log/2025-01-11-10-11-08-674782-sebastian-Legion-Pro-7-16IRX9H-54209
  3. [INFO] [launch]: Default logging verbosity is set to INFO
  4. [INFO] [gazebo-1]: process started with pid [54214]
  5. [INFO] [parameter_bridge-2]: process started with pid [54215]
  6. [INFO] [robot_state_publisher-3]: process started with pid [54216]
  7. [INFO] [static_transform_publisher-4]: process started with pid [54218]
  8. [INFO] [joint_state_publisher-5]: process started with pid [54219]
  9. [INFO] [robot_state_publisher-6]: process started with pid [54221]
  10. [INFO] [create-7]: process started with pid [54222]
  11. [INFO] [create-8]: process started with pid [54223]
  12. [INFO] [parameter_bridge-9]: process started with pid [54224]
  13. [INFO] [parameter_bridge-10]: process started with pid [54225]
  14. [INFO] [parameter_bridge-11]: process started with pid [54226]
  15. [INFO] [parameter_bridge-12]: process started with pid [54227]
  16. [INFO] [parameter_bridge-13]: process started with pid [54228]
  17. [INFO] [parameter_bridge-14]: process started with pid [54229]
  18. [INFO] [parameter_bridge-15]: process started with pid [54230]
  19. [INFO] [parameter_bridge-16]: process started with pid [54231]
  20. [INFO] [parameter_bridge-17]: process started with pid [54232]
  21. [INFO] [parameter_bridge-18]: process started with pid [54233]
  22. [INFO] [parameter_bridge-19]: process started with pid [54234]
  23. [INFO] [parameter_bridge-20]: process started with pid [54235]
  24. [INFO] [parameter_bridge-21]: process started with pid [54236]
  25. [INFO] [parameter_bridge-22]: process started with pid [54237]
  26. [INFO] [parameter_bridge-23]: process started with pid [54238]
  27. [INFO] [parameter_bridge-24]: process started with pid [54239]
  28. [INFO] [spawner-25]: process started with pid [54240]
  29. [INFO] [hazards_vector_publisher-26]: process started with pid [54241]
  30. [INFO] [ir_intensity_vector_publisher-27]: process started with pid [54242]
  31. [INFO] [motion_control-28]: process started with pid [54243]
  32. [INFO] [wheel_status_publisher-29]: process started with pid [54244]
  33. [INFO] [mock_publisher-30]: process started with pid [54245]
  34. [INFO] [robot_state-31]: process started with pid [54247]
  35. [INFO] [kidnap_estimator_publisher-32]: process started with pid [54253]
  36. [INFO] [ui_mgr-33]: process started with pid [54254]
  37. [INFO] [pose_republisher_node-34]: process started with pid [54255]
  38. [INFO] [sensors_node-35]: process started with pid [54258]
  39. [INFO] [interface_buttons_node-36]: process started with pid [54273]
  40. [INFO] [rviz2-37]: process started with pid [54274]
  41. [INFO] [pose_republisher_node-38]: process started with pid [54275]
  42. [INFO] [sensors_node-39]: process started with pid [54282]
  43. [INFO] [interface_buttons_node-40]: process started with pid [54291]
  44. [static_transform_publisher-4] [WARN] [1736611869.037315724] []: Old-style arguments are deprecated; see --help for new-style arguments
  45. [hazards_vector_publisher-26] [INFO] [1736611869.055032434] [hazards_vector_publisher]: Advertised topic: hazard_detection
  46. [ir_intensity_vector_publisher-27] [INFO] [1736611869.055536065] [ir_intensity_vector_publisher]: Advertised topic: ir_intensity
  47. [ir_intensity_vector_publisher-27] [INFO] [1736611869.056558118] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
  48. [ir_intensity_vector_publisher-27] [INFO] [1736611869.056840310] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
  49. [static_transform_publisher-4] [INFO] [1736611869.056680553] [tf_odom_std_dock_link_publisher]: Spinning until stopped - publishing transform
  50. [static_transform_publisher-4] translation: ('0.157000', '0.000000', '0.000000')
  51. [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '1.000000', '0.000000')
  52. [static_transform_publisher-4] from 'odom' to 'std_dock_link'
  53. [ir_intensity_vector_publisher-27] [INFO] [1736611869.057049176] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
  54. [ir_intensity_vector_publisher-27] [INFO] [1736611869.057645647] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
  55. [hazards_vector_publisher-26] [INFO] [1736611869.057052050] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
  56. [robot_state_publisher-3] [WARN] [1736611869.057079652] [kdl_parser]: The root link std_dock_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
  57. [robot_state_publisher-3] [INFO] [1736611869.057172150] [dock_state_publisher]: Robot initialized
  58. [hazards_vector_publisher-26] [INFO] [1736611869.058136550] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
  59. [hazards_vector_publisher-26] [INFO] [1736611869.058474133] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
  60. [ir_intensity_vector_publisher-27] [INFO] [1736611869.058146134] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
  61. [ir_intensity_vector_publisher-27] [INFO] [1736611869.058502288] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
  62. [hazards_vector_publisher-26] [INFO] [1736611869.058780788] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
  63. [ir_intensity_vector_publisher-27] [INFO] [1736611869.058993106] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
  64. [hazards_vector_publisher-26] [INFO] [1736611869.059083000] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
  65. [robot_state_publisher-6] [WARN] [1736611869.059217710] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
  66. [robot_state_publisher-6] [INFO] [1736611869.059329555] [robot_state_publisher]: Robot initialized
  67. [hazards_vector_publisher-26] [INFO] [1736611869.062115740] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
  68. [hazards_vector_publisher-26] [INFO] [1736611869.062709544] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
  69. [hazards_vector_publisher-26] [INFO] [1736611869.063034572] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
  70. [create-7] [INFO] [1736611869.076839845] [ros_gz_sim]: Requesting list of world names.
  71. [robot_state-31] [INFO] [1736611869.079694436] [robot_state]: Advertised topic: battery_state
  72. [create-8] [INFO] [1736611869.083227169] [ros_gz_sim]: Requesting list of world names.
  73. [robot_state-31] [INFO] [1736611869.089979034] [robot_state]: Subscription to topic: dock_status
  74. [parameter_bridge-10] [INFO] [1736611869.104923030] [pose_bridge]: Creating GZ->ROS Bridge: [/model/create3/pose (ignition.msgs.Pose_V) -> /model/create3/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
  75. [robot_state-31] [INFO] [1736611869.105816405] [robot_state]: Advertised topic: stop_status
  76. [parameter_bridge-10] [INFO] [1736611869.107105003] [pose_bridge]: Creating GZ->ROS Bridge: [/model/standard_dock/pose (ignition.msgs.Pose_V) -> /model/standard_dock/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
  77. [robot_state-31] [INFO] [1736611869.108912304] [robot_state]: Subscription to topic: odom
  78. [mock_publisher-30] [INFO] [1736611869.118777351] [mock_publisher]: Advertised mocked topic: slip_status
  79. [parameter_bridge-15] [INFO] [1736611869.140942297] [cliff_side_left_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/base_link/sensor/cliff_side_left/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/base_link/sensor/cliff_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  80. [wheel_status_publisher-29] [INFO] [1736611869.142497428] [wheel_status_publisher]: Advertised topic: wheel_vels
  81. [wheel_status_publisher-29] [INFO] [1736611869.143119579] [wheel_status_publisher]: Advertised topic: wheel_ticks
  82. [parameter_bridge-12] [INFO] [1736611869.152728660] [bumper_contact_bridge]: Creating GZ->ROS Bridge: [/bumper_contact (ignition.msgs.Contacts) -> /bumper_contact (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
  83. [parameter_bridge-9] [INFO] [1736611869.160036563] [cmd_vel_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (ignition.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/TwistStamped)] (Lazy 0)
  84. [parameter_bridge-11] [INFO] [1736611869.161359796] [odom_base_tf_bridge]: Creating GZ->ROS Bridge: [/model/create3/tf (ignition.msgs.Pose_V) -> /model/create3/tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
  85. [ui_mgr-33] [INFO] [1736611869.164515897] [ui_mgr]: Subscription to topic: cmd_lightring
  86. [parameter_bridge-13] [INFO] [1736611869.165175908] [cliff_front_left_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/base_link/sensor/cliff_front_left/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/base_link/sensor/cliff_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  87. [parameter_bridge-20] [INFO] [1736611869.168791298] [ir_intensity_front_right_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  88. [parameter_bridge-22] [INFO] [1736611869.170909258] [ir_intensity_right_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_right/sensor/ir_intensity_right/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_right/sensor/ir_intensity_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  89. [parameter_bridge-24] [INFO] [1736611869.172406642] [buttons_msg_bridge]: Creating GZ->ROS Bridge: [/create3_buttons (ignition.msgs.Int32) -> /create3_buttons (std_msgs/msg/Int32)] (Lazy 0)
  90. [parameter_bridge-9] [INFO] [1736611869.172430090] [cmd_vel_bridge]: Creating ROS->GZ Bridge: [/model/create3/cmd_vel (geometry_msgs/msg/TwistStamped) -> /model/create3/cmd_vel (ignition.msgs.Twist)] (Lazy 0)
  91. [parameter_bridge-2] [INFO] [1736611869.185566629] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
  92. [motion_control-28] [INFO] [1736611869.187636043] [motion_control]: Enabling REFLEX_BUMP
  93. [motion_control-28] [INFO] [1736611869.190186250] [motion_control]: Enabling REFLEX_CLIFF
  94. [ui_mgr-33] [INFO] [1736611869.190269135] [ui_mgr]: Subscription to topic: cmd_audio
  95. [motion_control-28] [INFO] [1736611869.190315808] [motion_control]: Enabling REFLEX_STUCK
  96. [motion_control-28] [INFO] [1736611869.190730648] [motion_control]: Enabling REFLEX_WHEEL_DROP
  97. [parameter_bridge-21] [INFO] [1736611869.193845244] [ir_intensity_left_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_left/sensor/ir_intensity_left/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_left/sensor/ir_intensity_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  98. [parameter_bridge-19] [INFO] [1736611869.195641280] [ir_intensity_front_left_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  99. [kidnap_estimator_publisher-32] [INFO] [1736611869.202381620] [kidnap_estimator_publisher]: Advertised topic: kidnap_status
  100. [kidnap_estimator_publisher-32] [INFO] [1736611869.204014092] [kidnap_estimator_publisher]: Subscription to topic: hazard_detection
  101. [parameter_bridge-23] [INFO] [1736611869.207771976] [ir_intensity_side_left_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  102. [parameter_bridge-16] [INFO] [1736611869.208074540] [cliff_side_right_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/base_link/sensor/cliff_side_right/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/base_link/sensor/cliff_side_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  103. [parameter_bridge-18] [INFO] [1736611869.212429592] [ir_intensity_front_center_right_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  104. [parameter_bridge-14] [INFO] [1736611869.219394051] [cliff_front_right_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/base_link/sensor/cliff_front_right/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/base_link/sensor/cliff_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  105. [parameter_bridge-17] [INFO] [1736611869.257133993] [ir_intensity_front_center_left_bridge]: Creating GZ->ROS Bridge: [/world/depot/model/create3/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (ignition.msgs.LaserScan) -> /world/depot/model/create3/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
  106. [rviz2-37] [INFO] [1736611869.386514996] [rviz2]: Stereo is NOT SUPPORTED
  107. [rviz2-37] [INFO] [1736611869.386581820] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
  108. [rviz2-37] [INFO] [1736611869.396411898] [rviz2]: Stereo is NOT SUPPORTED
  109. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
  110. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
  111. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
  112. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
  113. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
  114. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
  115. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  116. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  117. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  118. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  119. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  120. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  121. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  122. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  123. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  124. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  125. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  126. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  127. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  128. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  129. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  130. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  131. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  132. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  133. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  134. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  135. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  136. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  137. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  138. [gazebo-1] [Wrn] [SdfEntityCreator.cc:925] Custom material scripts are not supported.
  139. [gazebo-1] [Wrn] [SystemLoader.cc:75] Trying to load deprecated plugin [ignition-gazebo-joint-controller-system]. Using [gz-sim-joint-controller-system] instead.
  140. [gazebo-1] [Wrn] [SystemLoader.cc:136] Trying to load deprecated plugin name [ignition::gazebo::systems::JointController]. Using [gz::sim::systems::JointController] instead.
  141. [gazebo-1] [Wrn] [SystemLoader.cc:75] Trying to load deprecated plugin [ignition-gazebo-joint-controller-system]. Using [gz-sim-joint-controller-system] instead.
  142. [gazebo-1] [Wrn] [SystemLoader.cc:136] Trying to load deprecated plugin name [ignition::gazebo::systems::JointController]. Using [gz::sim::systems::JointController] instead.
  143. [gazebo-1] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
  144. [gazebo-1] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
  145. [gazebo-1] [Msg] Received world [depot.sdf] from the GUI.
  146. [gazebo-1] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
  147. [gazebo-1] [Msg] Gazebo Sim Server v8.7.0
  148. [gazebo-1] [Msg] Loading SDF world file[/home/sebastian/create3_ws/install/irobot_create_gz_bringup/share/irobot_create_gz_bringup/worlds/depot.sdf].
  149. [gazebo-1] [Msg] Serving entity system service on [/entity/system/add]
  150. [gazebo-1] [Dbg] [Physics.cc:871] Loaded [gz::physics::dartsim::Plugin] from library [/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
  151. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Physics] for entity [1]
  152. [gazebo-1] [Msg] Create service on [/world/depot/create]
  153. [gazebo-1] [Msg] Remove service on [/world/depot/remove]
  154. [gazebo-1] [Msg] Pose service on [/world/depot/set_pose]
  155. [gazebo-1] [Msg] Pose service on [/world/depot/set_pose_vector]
  156. [gazebo-1] [Msg] Light configuration service on [/world/depot/light_config]
  157. [gazebo-1] [Msg] Physics service on [/world/depot/set_physics]
  158. [gazebo-1] [Msg] SphericalCoordinates service on [/world/depot/set_spherical_coordinates]
  159. [gazebo-1] [Msg] Enable collision service on [/world/depot/enable_collision]
  160. [gazebo-1] [Msg] Disable collision service on [/world/depot/disable_collision]
  161. [gazebo-1] [Msg] Material service on [/world/depot/visual_config]
  162. [gazebo-1] [Msg] Material service on [/world/depot/wheel_slip]
  163. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::UserCommands] for entity [1]
  164. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
  165. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Contact] for entity [1]
  166. [gazebo-1] [Msg] Joint velocity initialized to [1]
  167. [gazebo-1] [Dbg] [JointController.cc:161] [JointController] Velocity mode
  168. [gazebo-1] [Msg] JointController subscribing to Double messages on [/model/Depot/joint/fan1_joint/cmd_vel]
  169. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [ignition::gazebo::systems::JointController] for entity [4]
  170. [gazebo-1] [Msg] Joint velocity initialized to [2]
  171. [gazebo-1] [Dbg] [JointController.cc:161] [JointController] Velocity mode
  172. [gazebo-1] [Msg] JointController subscribing to Double messages on [/model/Depot/joint/fan2_joint/cmd_vel]
  173. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [ignition::gazebo::systems::JointController] for entity [4]
  174. [gazebo-1] [Msg] Loaded level [default]
  175. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
  176. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
  177. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
  178. [create-8] [INFO] [1736611869.663279415] [ros_gz_sim]: Waiting messages on topic [standard_dock_description].
  179. [joint_state_publisher-5] [INFO] [1736611869.730701928] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
  180. [spawner-25] [INFO] [1736611869.733749770] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
  181. [create-8] [INFO] [1736611869.861539900] [ros_gz_sim]: Entity creation successfull.
  182. [create-7] [INFO] [1736611869.863243334] [ros_gz_sim]: Waiting messages on topic [robot_description].
  183. [create-7] [INFO] [1736611869.874636616] [ros_gz_sim]: Entity creation successfull.
  184. [INFO] [create-8]: process has finished cleanly [pid 54223]
  185. [INFO] [create-7]: process has finished cleanly [pid 54222]
  186. [gazebo-1] [Msg] Gazebo Sim GUI v8.7.0
  187. [gazebo-1] [Dbg] [Gui.cc:275] Waiting for subscribers to [/gazebo/starting_world]...
  188. [gazebo-1] [Dbg] [Application.cc:96] Initializing application.
  189. [gazebo-1] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface
  190. [gazebo-1] [GUI] [Dbg] [Application.cc:657] Create main window
  191. [gazebo-1] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
  192. [gazebo-1] [GUI] [Dbg] [Gui.cc:355] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
  193. [gazebo-1] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
  194. [gazebo-1] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/depot/state]...
  195. [gazebo-1] [GUI] [Msg] Loading config [/home/sebastian/create3_ws/install/irobot_create_gz_bringup/share/irobot_create_gz_bringup/gui/create3/gui.config]
  196. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
  197. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  198. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  199. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
  200. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  201. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
  202. [gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
  203. [gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so]
  204. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
  205. [gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window
  206. [gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so]
  207. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
  208. [gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
  209. [gazebo-1] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
  210. [gazebo-1] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
  211. [gazebo-1] [GUI] [Msg] Added plugin [Interactive view control] to main window
  212. [gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libInteractiveViewControl.so]
  213. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
  214. [gazebo-1] [GUI] [Msg] Using world control service [/world/depot/control]
  215. [gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats]
  216. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file::/Create3Hmi/Create3Hmi.qml:49:7: Unable to assign [undefined] to QString
  217. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] QObject::connect: No such signal gz::gui::Create3Hmi::AddMsg(QString)
  218. [gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
  219. [gazebo-1] [GUI] [Dbg] [WorldControl.cc:237] Using an evem[Msg] Serving world controls on [/world/depot/control], [/world/depot/control/state] and [/world/depot/playback/control]
  220. [gazebo-1] [Msg] Serving GUI information on [/world/depot/gui/info]
  221. [gazebo-1] [Msg] World [depot] initialized with [1ms] physics profile.
  222. [gazebo-1] [Msg] Serving world SDF generation service on [/world/depot/generate_world_sdf]
  223. [gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
  224. [gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
  225. [gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
  226. [gazebo-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
  227. [gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
  228. [gazebo-1] [Msg] Server control service on [/server_control].
  229. [gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
  230. [gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
  231. [gazebo-1] [Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 3
  232. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
  233. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (1)
  234. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::PosePublisher] for entity [32]
  235. [gazebo-1] [Dbg] [UserCommands.cc:1318] Created entity [32] named [standard_dock]
  236. [gazebo-1] Warning [Utils.cc:132] [/sdf/model[@name="create3"]/joint[@name="wheel_drop_left_joint"]/physics/ode/provide_feedback:<urdf-string>:L0]: XML Element[provide_feedback], child of element[ode], not defined in SDF. Copying[provide_feedback] as children of [ode].
  237. [gazebo-1] Warning [Utils.cc:132] [/sdf/model[@name="create3"]/joint[@name="wheel_drop_right_joint"]/physics/ode/provide_feedback:<urdf-string>:L0]: XML Element[provide_feedback], child of element[ode], not defined in SDF. Copying[provide_feedback] as children of [ode].
  238. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  239. [gazebo-1] [Wrn] [SdfEntityCreator.cc:935] Using an internal gazebo.material to parse Gazebo/DarkGrey
  240. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  241. [gazebo-1] [Wrn] [SdfEntityCreator.cc:935] Using an internal gazebo.material to parse Gazebo/DarkGrey
  242. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  243. [gazebo-1] [Wrn] [SdfEntityCreator.cc:935] Using an internal gazebo.material to parse Gazebo/DarkGrey
  244. [gazebo-1] [Wrn] [SdfEntityCreator.cc:919] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  245. [gazebo-1] [Wrn] [SdfEntityCreator.cc:935] Using an internal gazebo.material to parse Gazebo/DarkGrey
  246. [gazebo-1] [INFO] [1736611871.320408275] [gz_ros_control]: [gz_ros2_control] Fixed joint [bumper_joint] (Entity=89)] is skipped
  247. [gazebo-1] [INFO] [1736611871.320515675] [gz_ros_control]: [gz_ros2_control] Fixed joint [front_caster_joint] (Entity=90)] is skipped
  248. [gazebo-1] [INFO] [1736611871.320525049] [gz_ros_control]: [gz_ros2_control] Fixed joint [imu_joint] (Entity=91)] is skipped
  249. [gazebo-1] [INFO] [1736611871.320531774] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_front_center_left_joint] (Entity=92)] is skipped
  250. [gazebo-1] [INFO] [1736611871.320538697] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_front_center_right_joint] (Entity=93)] is skipped
  251. [gazebo-1] [INFO] [1736611871.320545133] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_front_left_joint] (Entity=94)] is skipped
  252. [gazebo-1] [INFO] [1736611871.320551629] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_front_right_joint] (Entity=95)] is skipped
  253. [gazebo-1] [INFO] [1736611871.320557788] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_left_joint] (Entity=96)] is skipped
  254. [gazebo-1] [INFO] [1736611871.320563675] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_right_joint] (Entity=97)] is skipped
  255. [gazebo-1] [INFO] [1736611871.320570187] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_intensity_side_left_joint] (Entity=98)] is skipped
  256. [gazebo-1] [INFO] [1736611871.320576593] [gz_ros_control]: [gz_ros2_control] Fixed joint [ir_omni_joint] (Entity=99)] is skipped
  257. [gazebo-1] [INFO] [1736611871.320582467] [gz_ros_control]: [gz_ros2_control] Fixed joint [mouse_joint] (Entity=100)] is skipped
  258. [gazebo-1] [INFO] [1736611871.321522107] [gz_ros_control]: Loading controller_manager
  259. [gazebo-1] [INFO] [1736611871.337877766] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
  260. [gazebo-1] [WARN] [1736611871.338091336] [gz_ros_control]: Waiting RM to load and initialize hardware...
  261. [gazebo-1] libEGL warning: egl: failed to create dri2 screen
  262. [gazebo-1] libEGL warning: egl: failed to create dri2 screen
  263. [gazebo-1] libEGL warning: egl: failed to create dri2 screen
  264. [gazebo-1] [WARN] [1736611872.337063916] [controller_manager]: Waiting for data on 'robot_description' topic to finish initialization
  265. [gazebo-1] [INFO] [1736611872.378405873] [controller_manager]: Received robot description from topic.
  266. [gazebo-1] [INFO] [1736611872.385938122] [gz_ros_control]: The position_proportional_gain has been set to: 0.1
  267. [gazebo-1] [INFO] [1736611872.386026927] [gz_ros_control]: Loading joint: left_wheel_joint
  268. [gazebo-1] [INFO] [1736611872.386040349] [gz_ros_control]: State:
  269. [gazebo-1] [INFO] [1736611872.386050014] [gz_ros_control]: velocity
  270. [gazebo-1] [INFO] [1736611872.386065124] [gz_ros_control]: position
  271. [gazebo-1] [INFO] [1736611872.386077717] [gz_ros_control]: Command:
  272. [gazebo-1] [INFO] [1736611872.386086525] [gz_ros_control]: velocity
  273. [gazebo-1] [INFO] [1736611872.386182259] [gz_ros_control]: Loading sensor: imu
  274. [gazebo-1] [INFO] [1736611872.386197167] [gz_ros_control]: State:
  275. [gazebo-1] [INFO] [1736611872.386241982] [gz_ros_control.resource_manager]: Initialize hardware 'left_wheel_controller'
  276. [gazebo-1] [INFO] [1736611872.386348998] [gz_ros_control.resource_manager]: Successful initialization of hardware 'left_wheel_controller'
  277. [gazebo-1] [WARN] [1736611872.386370935] [gz_ros_control.resource_manager]: Importing state interfaces for the hardware 'left_wheel_controller' returned no state interfaces.
  278. [gazebo-1] [INFO] [1736611872.386424805] [gz_ros_control]: The position_proportional_gain has been set to: 0.1
  279. [gazebo-1] [INFO] [1736611872.386445178] [gz_ros_control]: Loading joint: right_wheel_joint
  280. [gazebo-1] [INFO] [1736611872.386454093] [gz_ros_control]: State:
  281. [gazebo-1] [INFO] [1736611872.386462242] [gz_ros_control]: velocity
  282. [gazebo-1] [INFO] [1736611872.386470863] [gz_ros_control]: position
  283. [gazebo-1] [INFO] [1736611872.386479980] [gz_ros_control]: Command:
  284. [gazebo-1] [INFO] [1736611872.386487406] [gz_ros_control]: velocity
  285. [gazebo-1] [INFO] [1736611872.386505275] [gz_ros_control]: Loading sensor: imu
  286. [gazebo-1] [INFO] [1736611872.386514525] [gz_ros_control]: State:
  287. [gazebo-1] [INFO] [1736611872.386523023] [gz_ros_control.resource_manager]: Initialize hardware 'right_wheel_controller'
  288. [gazebo-1] [INFO] [1736611872.386550117] [gz_ros_control.resource_manager]: Successful initialization of hardware 'right_wheel_controller'
  289. [gazebo-1] [WARN] [1736611872.386563094] [gz_ros_control.resource_manager]: Importing state interfaces for the hardware 'right_wheel_controller' returned no state interfaces.
  290. [gazebo-1] [INFO] [1736611872.386610852] [resource_manager]: 'configure' hardware 'right_wheel_controller'
  291. [gazebo-1] [INFO] [1736611872.386652677] [gz_ros_control]: System Successfully configured!
  292. [gazebo-1] [INFO] [1736611872.386663586] [resource_manager]: Successful 'configure' of hardware 'right_wheel_controller'
  293. [gazebo-1] [INFO] [1736611872.386673522] [resource_manager]: 'activate' hardware 'right_wheel_controller'
  294. [gazebo-1] [INFO] [1736611872.386678902] [resource_manager]: Successful 'activate' of hardware 'right_wheel_controller'
  295. [gazebo-1] [INFO] [1736611872.386683454] [resource_manager]: 'configure' hardware 'left_wheel_controller'
  296. [gazebo-1] [INFO] [1736611872.386687087] [gz_ros_control]: System Successfully configured!
  297. [gazebo-1] [INFO] [1736611872.386695329] [resource_manager]: Successful 'configure' of hardware 'left_wheel_controller'
  298. [gazebo-1] [INFO] [1736611872.386700082] [resource_manager]: 'activate' hardware 'left_wheel_controller'
  299. [gazebo-1] [INFO] [1736611872.386704013] [resource_manager]: Successful 'activate' of hardware 'left_wheel_controller'
  300. [gazebo-1] [INFO] [1736611872.386720990] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
  301. [gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't have `operator<<`. Component will not be serialized.
  302. [gazebo-1] [Wrn] [Component.hh:127] Trying to serialize component with data type [St10shared_ptrIN3sdf3v147ElementEE], which doesn't have `operator<<`. Component will not be serialized.
  303. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz_ros2_control::GazeboSimROS2ControlPlugin] for entity [48]
  304. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::PosePublisher] for entity [48]
  305. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Contact] for entity [48]
  306. [gazebo-1] [Dbg] [Sensors.cc:697] Configuring Sensors system
  307. [gazebo-1] [Dbg] [Sensors.cc:557] SensorsPrivate::Run
  308. [gazebo-1] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Sensors] for entity [48]
  309. [gazebo-1] [Dbg] [Sensors.cc:532] [Dbg] [UserCommands.cc:1318] [Dbg] [Sensors.cc:532] SensorsPrivate::RenderThread startedCreated entity [48] named [create3]
  310. [gazebo-1]
  311. [gazebo-1] [Dbg] [Sensors.cc:337] Waiting for init
  312. [gazebo-1] [Msg] Contact system publishing on /bumper_contact
  313. [gazebo-1] [Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
  314. [gazebo-1] [Dbg] [SDFFeatures.cc:864] The geometry element of collision [bumper_collision] couldn't be created
  315. [gazebo-1] [Msg] Serving scene information on [/world/depot/scene/info]
  316. [gazebo-1] [Msg] Serving graph information on [/world/depot/scene/graph]
  317. [gazebo-1] [Msg] Serving full state on [/world/depot/state]
  318. [gazebo-1] [Msg] Serving full state (async) on [/world/depot/state_async]
  319. [gazebo-1] [Msg] Publishing scene information on [/world/depot/scene/info]
  320. [gazebo-1] [Msg] Publishing entity deletions on [/world/depot/scene/deletion]
  321. [gazebo-1] [Msg] Publishing state changes on [/world/depot/state]
  322. [gazebo-1] [Msg] Publishing pose messages on [/world/depot/pose/info]
  323. [gazebo-1] [Msg] Publishing dynamic pose messages on [/world/depot/dynamic_pose/info]
  324. [gazebo-1] [Dbg] [EntityComponentManager.cc:1656] Updated state thread iterators: 32 threads processing around 4 entities each.
  325. [gazebo-1] [Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (0)
  326. [gazebo-1] [Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (1)
  327. [gazebo-1] [Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 8
  328. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
  329. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (1)
  330. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (2)
  331. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (3)
  332. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (4)
  333. [gazebo-1] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (5)
  334. [gazebo-1] [WARN] [1736611873.369058212] [gz_ros_control]: Desired controller update period (0.001 s) is slower than the gazebo simulation period (0 s).
  335. [gazebo-1] [Dbg] nt to share WorldControl msgs with the server
  336. [gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
  337. [gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldControl.so]
  338. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
  339. [gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats]
  340. [gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
  341. [gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldStats.so]
  342. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
  343. [gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window
  344. [gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libTransformControl.so]
  345. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
  346. [gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window
  347. [gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libShapes.so]
  348. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [Create3Hmi]
  349. [gazebo-1] [GUI] [Msg] Added plugin [Create3 HMI] to main window
  350. [gazebo-1] [GUI] [Msg] Loaded plugin [Create3Hmi] from path [/home/sebastian/create3_ws/install/irobot_create_gz_plugins/share/irobot_create_gz_plugins/lib/libCreate3Hmi.so]
  351. [gazebo-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [Teleop]
  352. [gazebo-1] [GUI] [Msg] A new topic has been entered: '/cmd_vel '
  353. [gazebo-1] [GUI] [Msg] Added plugin [Teleop] to main window
  354. [gazebo-1] [GUI] [Msg] Loaded plugin [Teleop] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libTeleop.so]
  355. [gazebo-1] [GUI] [Dbg] [Application.cc:671] Applying config
  356. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  357. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
  358. [gazebo-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  359. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene]
  360. [gazebo-1] [GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL
  361. [gazebo-1] [GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
  362. [gazebo-1] [GUI] [Dbg] [InteractiveViewControl.cc:176] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
  363. [gazebo-1] Warning [Utils.cc:132] [/sdf/model[@name="create3"]/joint[@name="wheel_drop_left_joint"]/physics/ode/provide_feedback:<data-string>:L964]: XML Element[provide_feedback], child of element[ode], not defined in SDF. Copying[provide_feedback] as children of [ode].
  364. [gazebo-1] Warning [Utils.cc:132] [/sdf/model[@name="create3"]/joint[@name="wheel_drop_right_joint"]/physics/ode/provide_feedback:<data-string>:L1085]: XML Element[provide_feedback], child of element[ode], not defined in SDF. Copying[provide_feedback] as children of [ode].
  365. [gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized.
  366. [gazebo-1] [GUI] [Wrn] [Component.hh:172] Trying to deserialize component with data type [St10shared_ptrIN3sdf3v147ElementEE], which doesn't have `operator>>`. Component will not be deserialized.
  367. [gazebo-1] [Wrn] [ColladaLoader.cc:1895] emission texture not supported
  368. [gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1895] emission texture not supported
  369. [gazebo-1] [Wrn] [ColladaLoader.cc:1895] emission texture not supported
  370. [gazebo-1] [Wrn] [ColladaLoader.cc:1895] emission texture not supported
  371. [gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1895] emission texture not supported
  372. [gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1895] emission texture not supported
  373. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: ROOF. Checking first set with index: 0
  374. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: WALLS. Checking first set with index: 0
  375. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: PILLERS. Checking first set with index: 0
  376. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: FANS. Checking first set with index: 0
  377. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: INTERCOM. Checking first set with index: 0
  378. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: FireAlarm. Checking first set with index: 0
  379. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: FireAlarmPole. Checking first set with index: 0
  380. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: Pipes. Checking first set with index: 0
  381. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: STAIRS. Checking first set with index: 0
  382. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: BOXSET. Checking first set with index: 0
  383. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: FLOOR. Checking first set with index: 0
  384. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: FanBack. Checking first set with index: 0
  385. [gazebo-1] [INFO] [1736611874.730878791] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
  386. [gazebo-1] [INFO] [1736611874.730928830] [controller_manager]: Loading controller 'joint_state_broadcaster'
  387. [gazebo-1] [INFO] [1736611874.733719516] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /home/sebastian/create3_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml --ros-args --remap ~/odom:=odom --remap /tf:=tf --remap /tf_static:=tf_static --remap /diagnostics:=diagnostics --param use_sim_time:=true
  388. [spawner-25] [INFO] [1736611874.751223243] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
  389. [gazebo-1] [INFO] [1736611874.752451226] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
  390. [gazebo-1] [INFO] [1736611874.752618284] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
  391. [gazebo-1] [INFO] [1736611874.762829206] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
  392. [gazebo-1] [Wrn] [SubMesh.cc:460] Multiple texture coordinate sets exist in submesh: FAN1. Checking first set with index: 0
  393. [gazebo-1] [Wrn] [ColladaLoader.cc:2395] Triangle input semantic: 'COLOR' is currently not supported
  394. [gazebo-1] [Wrn] [ColladaLoader.cc:2395] Triangle input semantic: 'COLOR' is currently not supported
  395. [gazebo-1] [SimulationRunner.cc:544] Creating postupdate worker thread (6)
  396. [gazebo-1] [Dbg] [Sensors.cc:953] Initialization needed
  397. [gazebo-1] [Dbg] [Sensors.cc:349] Initializing render context
  398. [gazebo-1] [Msg] Loading plugin [gz-rendering-ogre]
  399. [gazebo-1] [Dbg] [RenderUtil.cc:2643] Create scene [scene]
  400. [gazebo-1] [Dbg] [Sensors.cc:391] Rendering Thread initialized
  401. [gazebo-1] [Dbg] [Sensors.cc:953] Initialization needed
  402. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [standard_dock::green_buoy_link::green_buoy] advertised on [world/depot/model/standard_dock/link/green_buoy_link/sensor/green_buoy/scan]
  403. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [standard_dock::green_buoy_link::green_buoy] advertised on [world/depot/model/standard_dock/link/green_buoy_link/sensor/green_buoy/scan/points]
  404. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [standard_dock::halo_link::halo] advertised on [world/depot/model/standard_dock/link/halo_link/sensor/halo/scan]
  405. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [standard_dock::halo_link::halo] advertised on [world/depot/model/standard_dock/link/halo_link/sensor/halo/scan/points]
  406. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [standard_dock::red_buoy_link::red_buoy] advertised on [world/depot/model/standard_dock/link/red_buoy_link/sensor/red_buoy/scan]
  407. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [standard_dock::red_buoy_link::red_buoy] advertised on [world/depot/model/standard_dock/link/red_buoy_link/sensor/red_buoy/scan/points]
  408. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [standard_dock::yellow_buoy_link::yellow_buoy] advertised on [world/depot/model/standard_dock/link/yellow_buoy_link/sensor/yellow_buoy/scan]
  409. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [standard_dock::yellow_buoy_link::yellow_buoy] advertised on [world/depot/model/standard_dock/link/yellow_buoy_link/sensor/yellow_buoy/scan/points]
  410. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::base_link::cliff_front_left] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_front_left/scan]
  411. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::base_link::cliff_front_left] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_front_left/scan/points]
  412. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::base_link::cliff_front_right] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_front_right/scan]
  413. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::base_link::cliff_front_right] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_front_right/scan/points]
  414. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::base_link::cliff_side_left] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_side_left/scan]
  415. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::base_link::cliff_side_left] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_side_left/scan/points]
  416. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::base_link::cliff_side_right] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_side_right/scan]
  417. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::base_link::cliff_side_right] advertised on [world/depot/model/create3/link/base_link/sensor/cliff_side_right/scan/points]
  418. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/depot/model/create3/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan]
  419. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/depot/model/create3/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan/points]
  420. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/depot/model/create3/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan]
  421. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/depot/model/create3/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan/points]
  422. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/depot/model/create3/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan]
  423. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/depot/model/create3/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan/points]
  424. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/depot/model/create3/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan]
  425. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/depot/model/create3/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan/points]
  426. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_left::ir_intensity_left] advertised on [world/depot/model/create3/link/ir_intensity_left/sensor/ir_intensity_left/scan]
  427. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_left::ir_intensity_left] advertised on [world/depot/model/create3/link/ir_intensity_left/sensor/ir_intensity_left/scan/points]
  428. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_right::ir_intensity_right] advertised on [world/depot/model/create3/link/ir_intensity_right/sensor/ir_intensity_right/scan]
  429. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_right::ir_intensity_right] advertised on [world/depot/model/create3/link/ir_intensity_right/sensor/ir_intensity_right/scan/points]
  430. [gazebo-1] [Wrn] [OgreGpuRays.cc:292] Horizontal FOV for GPU rays is capped at 180 degrees.
  431. [gazebo-1] [Dbg] [Lidar.cc:139] Laser scans for [create3::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/depot/model/create3/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan]
  432. [gazebo-1] [Dbg] [GpuLidarSensor.cc:164] Lidar points for [create3::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/depot/model/create3/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan/points]
  433. [gazebo-1] [ERROR] [1736611879.762943989] [controller_manager]: Switch controller timed out after 5.000000 seconds!
  434. [spawner-25] [ERROR] [1736611879.764414013] [spawner_joint_state_broadcaster]: Failed to activate controller
  435. [ERROR] [spawner-25]: process has died [pid 54240, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --controller-manager-timeout 100 --ros-args -r __ns:=/'].
  436. [INFO] [spawner-41]: process started with pid [55308]
  437. [gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2395] Triangle input semantic: 'COLOR' is currently not supported
  438. [gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2395] Triangle input semantic: 'COLOR' is currently not supported
  439. [gazebo-1] [INFO] [1736611882.216043640] [controller_manager]: Loading controller : 'diffdrive_controller' of type 'diff_drive_controller/DiffDriveController'
  440. [gazebo-1] [INFO] [1736611882.216125055] [controller_manager]: Loading controller 'diffdrive_controller'
  441. [gazebo-1] [INFO] [1736611882.226652928] [controller_manager]: Controller 'diffdrive_controller' node arguments: --ros-args --params-file /home/sebastian/create3_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml --ros-args --remap ~/odom:=odom --remap /tf:=tf --remap /tf_static:=tf_static --remap /diagnostics:=diagnostics --param use_sim_time:=true
  442. [gazebo-1] Exception thrown during init stage with message: parameter 'linear.x.has_jerk_limits' has invalid type: Wrong parameter type, parameter {linear.x.has_jerk_limits} is of type {bool}, setting it to {double} is not allowed.
  443. [gazebo-1] [ERROR] [1736611882.286256379] [controller_manager]: Could not initialize the controller named 'diffdrive_controller'
  444. [spawner-41] [FATAL] [1736611882.333500834] [spawner_diffdrive_controller]: Failed loading controller diffdrive_controller
  445. [ERROR] [spawner-41]: process has died [pid 55308, exit code 1, cmd '/opt/ros/jazzy/lib/controller_manager/spawner diffdrive_controller -c controller_manager --controller-manager-timeout 100 --ros-args -r __ns:=/ --params-file /home/sebastian/create3_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml'].
  446.  
  447.  
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!