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  1. [INFO] [launch]: All log files can be found below /home/michele/.ros/log/2025-07-04-10-13-16-843173-Linux-10959
  2. [INFO] [launch]: Default logging verbosity is set to INFO
  3. [INFO] [rviz2-1]: process started with pid [10969]
  4. [INFO] [robot_state_publisher-2]: process started with pid [10970]
  5. [INFO] [move_group-3]: process started with pid [10971]
  6. [INFO] [gazebo-4]: process started with pid [10972]
  7. [INFO] [create-5]: process started with pid [10973]
  8. [INFO] [parameter_bridge-6]: process started with pid [10974]
  9. [INFO] [spawner-7]: process started with pid [10976]
  10. [INFO] [spawner-8]: process started with pid [10977]
  11. [INFO] [spawner-9]: process started with pid [10978]
  12. [create-5] [INFO] [1751587997.860897638] [ros_gz_sim]: Requesting list of world names.
  13. [robot_state_publisher-2] [INFO] [1751587997.868708164] [robot_state_publisher]: Robot initialized
  14. [spawner-7] [INFO] [1751587997.878169240] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
  15. [move_group-3] [INFO] [1751587997.889584433] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
  16. [move_group-3] [INFO] [1751587997.889857507] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'alpha_5_example'...
  17. [move_group-3] [WARN] [1751587997.890046720] [move_group.moveit.moveit.core.robot_model]: Link alpha_standard_jaws_base_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
  18. [move_group-3] [WARN] [1751587997.890244797] [move_group.moveit.moveit.core.robot_model]: Could not identify parent group for end-effector 'jaws'
  19. [move_group-3] [INFO] [1751587997.896651825] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1
  20. [move_group-3] [INFO] [1751587997.896973240] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'gripper': 1
  21. [move_group-3] [INFO] [1751587997.934273826] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
  22. [move_group-3] [INFO] [1751587997.934643826] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
  23. [move_group-3] [INFO] [1751587997.935947127] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
  24. [move_group-3] [INFO] [1751587997.936447531] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
  25. [move_group-3] [INFO] [1751587997.936463639] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
  26. [move_group-3] [INFO] [1751587997.936567327] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
  27. [move_group-3] [INFO] [1751587997.936923947] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
  28. [move_group-3] [INFO] [1751587997.936994846] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
  29. [move_group-3] [INFO] [1751587997.937720371] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
  30. [move_group-3] [INFO] [1751587997.937739020] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
  31. [move_group-3] [INFO] [1751587997.938159140] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
  32. [move_group-3] [INFO] [1751587997.938535981] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
  33. [move_group-3] [WARN] [1751587997.939571467] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
  34. [move_group-3] [ERROR] [1751587997.939600132] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
  35. [move_group-3] [INFO] [1751587997.972581346] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
  36. [gazebo-4] [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"
  37. [move_group-3] [INFO] [1751587997.974889547] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  38. [move_group-3] [INFO] [1751587997.975860609] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  39. [move_group-3] [INFO] [1751587997.975873984] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  40. [move_group-3] [INFO] [1751587997.976154799] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  41. [move_group-3] [INFO] [1751587997.976170456] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  42. [move_group-3] [INFO] [1751587997.976202917] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  43. [move_group-3] [INFO] [1751587997.976209871] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  44. [move_group-3] [INFO] [1751587997.976219444] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  45. [gazebo-4] [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"
  46. [gazebo-4] [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"
  47. [move_group-3] [INFO] [1751587997.978604650] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  48. [gazebo-4] [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"
  49. [move_group-3] [INFO] [1751587997.981189334] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  50. [move_group-3] [INFO] [1751587997.981206265] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  51. [gazebo-4] [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"
  52. [gazebo-4] [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"
  53. [move_group-3] [INFO] [1751587997.983964741] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  54. [move_group-3] [INFO] [1751587997.983997753] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  55. [move_group-3] [INFO] [1751587997.984746564] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  56. [gazebo-4] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
  57. [gazebo-4] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
  58. [gazebo-4] [Msg] Received world [/home/michele/reach_ws/src/reach_robotics_sdk/install/bpl_alpha_description/share/bpl_alpha_description/worlds/empty.world] from the GUI.
  59. [gazebo-4] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
  60. [gazebo-4] [Msg] Gazebo Sim Server v8.9.0
  61. [gazebo-4] [Msg] Loading SDF world file[/home/michele/reach_ws/src/reach_robotics_sdk/install/bpl_alpha_description/share/bpl_alpha_description/worlds/empty.world].
  62. [gazebo-4] [Msg] Serving entity system service on [/entity/system/add]
  63. [gazebo-4] [Dbg] [Physics.cc:883] 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]
  64. [gazebo-4] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Physics] for entity [1]
  65. [gazebo-4] [Msg] Create service on [/world/empty/create]
  66. [gazebo-4] [Msg] Remove service on [/world/empty/remove]
  67. [gazebo-4] [Msg] Pose service on [/world/empty/set_pose]
  68. [gazebo-4] [Msg] Pose service on [/world/empty/set_pose_vector]
  69. [gazebo-4] [Msg] Light configuration service on [/world/empty/light_config]
  70. [gazebo-4] [Msg] Physics service on [/world/empty/set_physics]
  71. [gazebo-4] [Msg] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
  72. [gazebo-4] [Msg] Enable collision service on [/world/empty/enable_collision]
  73. [gazebo-4] [Msg] Disable collision service on [/world/empty/disable_collision]
  74. [gazebo-4] [Msg] Material service on [/world/empty/visual_config]
  75. [gazebo-4] [Msg] Material service on [/world/empty/wheel_slip]
  76. [gazebo-4] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::UserCommands] for entity [1]
  77. [gazebo-4] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
  78. [gazebo-4] [Dbg] [Sensors.cc:697] Configuring Sensors system
  79. [gazebo-4] [Dbg] [Sensors.cc:557] SensorsPrivate::Run
  80. [gazebo-4] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Sensors] for entity [1]
  81. [gazebo-4] [Dbg] [Sensors.cc:532] SensorsPrivate::RenderThread started
  82. [gazebo-4] [Dbg] [Sensors.cc:337] Waiting for init
  83. [gazebo-4] [Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Contact] for entity [1]
  84. [gazebo-4] [Msg] Loaded level [default]
  85. [gazebo-4] [Msg] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
  86. [gazebo-4] [Msg] Serving GUI information on [/world/empty/gui/info]
  87. [move_group-3] [INFO] [1751587997.990477761] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP'
  88. [move_group-3] [INFO] [1751587997.992748543] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  89. [move_group-3] [INFO] [1751587997.992934298] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  90. [move_group-3] [INFO] [1751587997.992942175] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  91. [move_group-3] [INFO] [1751587997.993168294] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  92. [move_group-3] [INFO] [1751587997.993179357] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  93. [move_group-3] [INFO] [1751587997.993197826] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  94. [move_group-3] [INFO] [1751587997.993202404] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  95. [move_group-3] [INFO] [1751587997.993211813] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  96. [move_group-3] [INFO] [1751587997.995230821] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  97. [move_group-3] [INFO] [1751587997.995751175] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  98. [move_group-3] [INFO] [1751587997.995779087] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  99. [move_group-3] [INFO] [1751587997.996241825] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  100. [move_group-3] [INFO] [1751587997.996262639] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  101. [move_group-3] [INFO] [1751587997.996562373] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  102. [move_group-3] [INFO] [1751587998.000146351] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  103. [move_group-3] [INFO] [1751587998.003181577] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
  104. [move_group-3] [INFO] [1751587998.003202779] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
  105. [move_group-3] [INFO] [1751587998.004574086] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC]
  106. [move_group-3] [INFO] [1751587998.004591654] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
  107. [move_group-3] [INFO] [1751587998.005464677] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN]
  108. [move_group-3] [INFO] [1751587998.005490765] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
  109. [move_group-3] [INFO] [1751587998.006325454] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP]
  110. [move_group-3] [INFO] [1751587998.006341774] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner'
  111. [move_group-3] [INFO] [1751587998.008435339] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  112. [move_group-3] [INFO] [1751587998.008603149] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  113. [move_group-3] [INFO] [1751587998.008611459] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  114. [move_group-3] [INFO] [1751587998.008785268] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  115. [move_group-3] [INFO] [1751587998.008797395] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  116. [move_group-3] [INFO] [1751587998.008816837] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  117. [move_group-3] [INFO] [1751587998.008821677] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  118. [move_group-3] [INFO] [1751587998.008831683] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  119. [move_group-3] [INFO] [1751587998.010825696] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  120. [move_group-3] [INFO] [1751587998.011571740] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  121. [move_group-3] [INFO] [1751587998.011587343] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  122. [move_group-3] [INFO] [1751587998.011909715] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  123. [rviz2-1] [INFO] [1751587998.040718463] [rviz2]: Stereo is NOT SUPPORTED
  124. [rviz2-1] [INFO] [1751587998.040838134] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
  125. [gazebo-4] [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"
  126. [gazebo-4] [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"
  127. [gazebo-4] [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"
  128. [rviz2-1] [INFO] [1751587998.066478961] [rviz2]: Stereo is NOT SUPPORTED
  129. [move_group-3] [INFO] [1751587998.075343184] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller
  130. [move_group-3] [INFO] [1751587998.077359102] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for gripper_controller
  131. [move_group-3] [INFO] [1751587998.077562060] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
  132. [move_group-3] [INFO] [1751587998.077601975] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
  133. [move_group-3] [INFO] [1751587998.078018029] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
  134. [move_group-3] [INFO] [1751587998.078043939] [move_group]: MoveGroup debug mode is ON
  135. [create-5] [INFO] [1751587998.091272508] [ros_gz_sim]: Waiting messages on topic [robot_description].
  136. [move_group-3] [INFO] [1751587998.097723813] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action
  137. [move_group-3] [INFO] [1751587998.101946285] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  138. [move_group-3] [INFO] [1751587998.102130081] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  139. [move_group-3] [INFO] [1751587998.102918729] [move_group.moveit.moveit.ros.move_group.executable]:
  140. [move_group-3]
  141. [move_group-3] ********************************************************
  142. [move_group-3] * MoveGroup using:
  143. [move_group-3] * - apply_planning_scene_service
  144. [move_group-3] * - clear_octomap_service
  145. [move_group-3] * - get_group_urdf
  146. [move_group-3] * - load_geometry_from_file
  147. [move_group-3] * - CartesianPathService
  148. [move_group-3] * - execute_trajectory_action
  149. [move_group-3] * - get_planning_scene_service
  150. [move_group-3] * - kinematics_service
  151. [move_group-3] * - move_action
  152. [move_group-3] * - motion_plan_service
  153. [move_group-3] * - query_planners_service
  154. [move_group-3] * - state_validation_service
  155. [move_group-3] * - save_geometry_to_file
  156. [move_group-3] * - SequenceAction
  157. [move_group-3] * - SequenceService
  158. [move_group-3] ********************************************************
  159. [move_group-3]
  160. [move_group-3] [INFO] [1751587998.103010623] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl
  161. [move_group-3] [INFO] [1751587998.103024961] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete
  162. [move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
  163. [move_group-3] Loading 'move_group/ClearOctomapService'...
  164. [move_group-3] Loading 'move_group/GetUrdfService'...
  165. [move_group-3] Loading 'move_group/LoadGeometryFromFileService'...
  166. [move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
  167. [move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
  168. [move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
  169. [move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
  170. [move_group-3] Loading 'move_group/MoveGroupMoveAction'...
  171. [move_group-3] Loading 'move_group/MoveGroupPlanService'...
  172. [move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
  173. [move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
  174. [move_group-3] Loading 'move_group/SaveGeometryToFileService'...
  175. [move_group-3] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
  176. [move_group-3] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
  177. [move_group-3]
  178. [move_group-3] You can start planning now!
  179. [move_group-3]
  180. [create-5] [INFO] [1751587998.190645464] [ros_gz_sim]: Entity creation successful.
  181. [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
  182. [rviz2-1] at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
  183. [rviz2-1] [WARN] [1751587998.195051314] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
  184. [INFO] [create-5]: process has finished cleanly [pid 10973]
  185. [gazebo-4] [Msg] World [empty] initialized with [[Msg] Gazebo Sim GUI v8.9.0
  186. [gazebo-4] [Dbg] [Gui.cc:275] Waiting for subscribers to [/gazebo/starting_world]...
  187. [gazebo-4] [Dbg] [Application.cc:96] Initializing application.
  188. [gazebo-4] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface
  189. [gazebo-4] [GUI] [Dbg] [Application.cc:657] Create main window
  190. [gazebo-4] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
  191. [gazebo-4] [GUI] [Dbg] [Gui.cc:355] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
  192. [gazebo-4] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
  193. [gazebo-4] [GUI] [Dbg] [Gui.cc:413] Requesting GUI from [/world/empty/gui/info]...
  194. [gazebo-4] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/empty/state]...
  195. [gazebo-4] [GUI] [Msg] Loading config [/home/michele/.gz/sim/8/gui.config]
  196. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
  197. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  198. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  199. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
  200. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  201. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
  202. [gazebo-4] [GUI] [Msg] Added plugin [3D View] to main window
  203. [gazebo-4] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so]
  204. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin]
  205. [gazebo-4] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
  206. [gazebo-4] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
  207. [gazebo-4] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
  208. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
  209. [gazebo-4] [GUI] [Msg] Added plugin [Scene Manager] to main window
  210. [gazebo-4] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so]
  211. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
  212. [gazebo-4] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
  213. [gazebo-4] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
  214. [gazebo-4] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
  215. [gazebo-4] [GUI] [Msg] Added plugin [Interactive view control] to main window
  216. [gazebo-4] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libInteractiveViewControl.so]
  217. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking]
  218. [gazebo-4] [GUI] [Msg] Added plugin [Camera tracking] to main window
  219. [gazebo-4] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libCameraTracking.so]
  220. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager]
  221. [gazebo-4] [GUI] [Msg] Listening to stats on [/world/empty/stats]
  222. [gazebo-4] [GUI] [Msg] Added plugin [Marker Manager] to main window
  223. [gazebo-4] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMarkerManager.so]
  224. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities]
  225. [gazebo-4] [GUI] [Msg] Added plugin [Select entities] to main window
  226. [gazebo-4] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSelectEntities.so]
  227. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn]
  228. [gazebo-4] [GUI] [Msg] Added plugin [Spawn] to main window
  229. [gazebo-4] [GUI] [Msg] Loaded plugin [Spawn] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSpawn.so]
  230. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
  231. [gazebo-4] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
  232. [gazebo-4] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
  233. [gazebo-4] [GUI] [Msg] View center of mass service on [/gui/view/com]
  234. [gazebo-4] [GUI] [Msg] View inertia service on [/gui/view/inertia]
  235. [gazebo-4] [GUI] [Msg] View collisions service on [/gui/view/collisions]
  236. [gazebo-4] [GUI] [Msg] View joints service on [/gui/view/joints]
  237. [gazebo-4] [GUI] [Msg] View frames service on [/gui/view/frames]
  238. [gazebo-4] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
  239. [gazebo-4] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
  240. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
  241. [gazebo-4] [GUI] [Msg] Using world control service [/world/empty/control]
  242. [gazebo-4] [GUI] [Msg] Listening to stats on [/world/empty/stats]
  243. [gazebo-4] [GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
  244. [gazebo-4] [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"
  245. [gazebo-4] [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"
  246. [gazebo-4] [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"
  247. [gazebo-4] [GUI] [Wrn] [Application.cc:908] [QT] file::/ComponentInspector/ComponentInspector.qml:251:3: QML Dialog: Binding loop detected for property "implicitHeight"
  248. [parameter_bridge-6] [INFO] [1751587998.861255099] [ros_gz_bridge]: Creating GZ->ROS Bridge: [clock (gz.msgs.Clock) -> clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
  249. [parameter_bridge-6] [INFO] [1751587998.863051220] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/manipulator_controller/joint_trajectory (trajectory_msgs/msg/JointTrajectory) -> /model/alpha_5/joint_trajectory (gz.msgs.JointTrajectory)] (Lazy 0)
  250. [gazebo-4] [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"
  251. [gazebo-4] [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"
  252. [gazebo-4] [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"
  253. [gazebo-4] [GUI] [Msg] Added plugin [World control] to main window
  254. [gazebo-4] [GUI] [Msg] Loaded plugin [WorldControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldControl.so]
  255. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
  256. [gazebo-4] [GUI] [Msg] Listening to stats on [/world/empty/stats]
  257. [gazebo-4] [GUI] [Msg] Added plugin [World stats] to main window
  258. [gazebo-4] [GUI] [Msg] Loaded plugin [WorldStats] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldStats.so]
  259. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
  260. [gazebo-4] [GUI] [Msg] Added plugin [Shapes] to main window
  261. [gazebo-4] [GUI] [Msg] Loaded plugin [Shapes] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libShapes.so]
  262. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [Lights]
  263. [gazebo-4] [GUI] [Msg] Added plugin [Lights] to main window
  264. [gazebo-4] [GUI] [Msg] Loaded plugin [Lights] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libLights.so]
  265. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
  266. [gazebo-4] [GUI] [Msg] Added plugin [Transform control] to main window
  267. [gazebo-4] [GUI] [Msg] Loaded plugin [TransformControl] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libTransformControl.so]
  268. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot]
  269. [gazebo-4] [GUI] [Msg] Screenshot service on [/gui/screenshot]
  270. [gazebo-4] [GUI] [Msg] Added plugin [Screenshot] to main window
  271. [gazebo-4] [GUI] [Msg] Loaded plugin [Screenshot] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libScreenshot.so]
  272. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste]
  273. [gazebo-4] [GUI] [Msg] Added plugin [Copy/Paste] to main window
  274. [gazebo-4] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libCopyPaste.so]
  275. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector]
  276. [gazebo-4] [GUI] [Msg] Added plugin [Component inspector] to main window
  277. [gazebo-4] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libComponentInspector.so]
  278. [gazebo-4] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree]
  279. [gazebo-4] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
  280. [gazebo-4] [GUI] [Msg] Added plugin [Entity tree] to main window
  281. [gazebo-4] [GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
  282. [gazebo-4] libEGL warning: egl: failed to create dri2 screen
  283. [gazebo-4] libEGL warning: egl: failed to create dri2 screen
  284. [gazebo-4] libEGL warning: egl: failed to create dri2 screen
  285. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  286. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  287. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  288. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  289. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  290. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  291. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  292. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  293. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  294. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  295. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  296. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  297. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  298. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  299. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  300. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  301. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  302. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  303. [gazebo-4] [Wrn] [SdfEntityCreator.cc:933] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
  304. [gazebo-4] [Wrn] [SdfEntityCreator.cc:949] Using an internal gazebo.material to parse Gazebo/alpha_black
  305. [gazebo-4] [Wrn] [SdfEntityCreator.cc:965] Material Gazebo/alpha_black not recognized or supported, using default.
  306. [gazebo-4] [INFO] [1751588000.115136713] [gz_ros_control]: [gz_ros2_control] Fixed joint [world_to_base] (Entity=36)] is skipped
  307. [gazebo-4] [INFO] [1751588000.118625136] [gz_ros_control]: Loading controller_manager
  308. [gazebo-4] [INFO] [1751588000.136936988] [controller_manager]: Using ROS clock for triggering controller manager cycles.
  309. [gazebo-4] [INFO] [1751588000.141372121] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
  310. [gazebo-4] [WARN] [1751588000.143398115] [gz_ros_control]: Waiting RM to load and initialize hardware...
  311. [gazebo-4] [INFO] [1751588000.151975043] [controller_manager]: Received robot description from topic.
  312. [gazebo-4] [INFO] [1751588000.157496247] [gz_ros_control]: The position_proportional_gain has been set to: 0.1
  313. [gazebo-4] [INFO] [1751588000.157556754] [gz_ros_control]: Loading joint: alpha_axis_a
  314. [gazebo-4] [INFO] [1751588000.157562413] [gz_ros_control]: State:
  315. [gazebo-4] [INFO] [1751588000.157566039] [gz_ros_control]: position
  316. [gazebo-4] [INFO] [1751588000.157571841] [gz_ros_control]: velocity
  317. [gazebo-4] [INFO] [1751588000.157578493] [gz_ros_control]: Command:
  318. [gazebo-4] [INFO] [1751588000.157581746] [gz_ros_control]: position
  319. [gazebo-4] [INFO] [1751588000.157595408] [gz_ros_control]: Loading joint: alpha_axis_b
  320. [gazebo-4] [INFO] [1751588000.157598936] [gz_ros_control]: State:
  321. [gazebo-4] [INFO] [1751588000.157601733] [gz_ros_control]: position
  322. [gazebo-4] [INFO] [1751588000.157605194] [gz_ros_control]: velocity
  323. [gazebo-4] [INFO] [1751588000.157608191] [gz_ros_control]: Command:
  324. [gazebo-4] [INFO] [1751588000.157611008] [gz_ros_control]: position
  325. [gazebo-4] [INFO] [1751588000.157621221] [gz_ros_control]: Loading joint: alpha_axis_c
  326. [gazebo-4] [INFO] [1751588000.157624425] [gz_ros_control]: State:
  327. [gazebo-4] [INFO] [1751588000.157627638] [gz_ros_control]: position
  328. [gazebo-4] [INFO] [1751588000.157630950] [gz_ros_control]: velocity
  329. [gazebo-4] [INFO] [1751588000.157633913] [gz_ros_control]: Command:
  330. [gazebo-4] [INFO] [1751588000.157636619] [gz_ros_control]: position
  331. [gazebo-4] [INFO] [1751588000.157645742] [gz_ros_control]: Loading joint: alpha_axis_d
  332. [gazebo-4] [INFO] [1751588000.157648914] [gz_ros_control]: State:
  333. [gazebo-4] [INFO] [1751588000.157651691] [gz_ros_control]: position
  334. [gazebo-4] [INFO] [1751588000.157654361] [gz_ros_control]: velocity
  335. [gazebo-4] [INFO] [1751588000.157657145] [gz_ros_control]: Command:
  336. [gazebo-4] [INFO] [1751588000.157659799] [gz_ros_control]: position
  337. [gazebo-4] [INFO] [1751588000.157668137] [gz_ros_control]: Loading joint: alpha_axis_e
  338. [gazebo-4] [INFO] [1751588000.157671311] [gz_ros_control]: State:
  339. [gazebo-4] [INFO] [1751588000.157674227] [gz_ros_control]: position
  340. [gazebo-4] [INFO] [1751588000.157678018] [gz_ros_control]: velocity
  341. [gazebo-4] [INFO] [1751588000.157681578] [gz_ros_control]: Command:
  342. [gazebo-4] [INFO] [1751588000.157684200] [gz_ros_control]: position
  343. [gazebo-4] [INFO] [1751588000.157734303] [gz_ros_control.resource_manager]: Initialize hardware 'GazeboSystem'
  344. [gazebo-4] [INFO] [1751588000.157799949] [gz_ros_control.resource_manager]: Successful initialization of hardware 'GazeboSystem'
  345. [gazebo-4] [INFO] [1751588000.157916834] [resource_manager]: 'configure' hardware 'GazeboSystem'
  346. [gazebo-4] [INFO] [1751588000.157923483] [gz_ros_control]: System Successfully configured!
  347. [gazebo-4] [INFO] [1751588000.157936320] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
  348. [gazebo-4] [INFO] [1751588000.157946233] [resource_manager]: 'activate' hardware 'GazeboSystem'
  349. [gazebo-4] [INFO] [1751588000.157957859] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
  350. [gazebo-4] [INFO] [1751588000.158044471] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
  351. [gazebo-4] [INFO] [1751588000.381412043] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
  352. [gazebo-4] [INFO] [1751588000.381474725] [controller_manager]: Loading controller 'joint_state_broadcaster'
  353. [gazebo-4] [INFO] [1751588000.387642245] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /home/michele/reach_ws/src/reach_robotics_sdk/install/bpl_alpha_description/share/bpl_alpha_description/config/alpha_5_controllers.yaml -p use_sim_time:=true --param use_sim_time:=true
  354. [spawner-7] [INFO] [1751588000.397410403] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
  355. [gazebo-4] [INFO] [1751588000.398324900] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
  356. [gazebo-4] [INFO] [1751588000.398614876] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
  357. [gazebo-4] [INFO] [1751588000.411613531] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
  358. [gazebo-4] [INFO] [1751588001.114676246] [controller_manager]: Received robot description from topic.
  359. [gazebo-4] [WARN] [1751588001.114722881] [controller_manager]: ResourceManager has already loaded a urdf. Ignoring attempt to reload a robot description.
  360. [rviz2-1] [ERROR] [1751588001.229747539] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
  361. [rviz2-1] [INFO] [1751588001.242973523] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
  362. [rviz2-1] [INFO] [1751588001.307000185] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
  363. [rviz2-1] [INFO] [1751588001.307074656] [rviz2.moveit.core.robot_model]: Loading robot model 'alpha_5_example'...
  364. [rviz2-1] [WARN] [1751588001.307275490] [rviz2.moveit.core.robot_model]: Link alpha_standard_jaws_base_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
  365. [rviz2-1] [WARN] [1751588001.307471790] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'jaws'
  366. [rviz2-1] [INFO] [1751588001.319204710] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1
  367. [rviz2-1] [INFO] [1751588001.320377105] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'gripper': 1
  368. [rviz2-1] [INFO] [1751588001.342711815] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
  369. [rviz2-1] [INFO] [1751588001.343524235] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
  370. [rviz2-1] [INFO] [1751588001.487117233] [interactive_marker_display_98141331814832]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
  371. [rviz2-1] [INFO] [1751588001.493917136] [rviz2.moveit.ros.motion_planning_frame]: group gripper
  372. [rviz2-1] [INFO] [1751588001.493997429] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
  373. [rviz2-1] [INFO] [1751588001.501305890] [interactive_marker_display_98141331814832]: Sending request for interactive markers
  374. [rviz2-1] [INFO] [1751588001.508887823] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group gripper.
  375. [rviz2-1] [INFO] [1751588001.509765890] [rviz2.moveit.ros.motion_planning_frame]: group gripper
  376. [rviz2-1] [INFO] [1751588001.533733594] [interactive_marker_display_98141331814832]: Service response received for initialization
  377. [gazebo-4] [Err] [Physics.cc:1785] Attempting to create a mimic constraint for joint [alpha_standard_jaws_rs1_130_joint] but the chosen physics engine does not support mimic constraints, so no constraint will be created.
  378. [gazebo-4] [GUI] [Msg] 0mdefault_physics] physics profile.
  379. [gazebo-4] [Msg] Serving world SDF generation service on [/world/empty/generate_world_sdf]
  380. [gazebo-4] [Msg] Serving world names on [/gazebo/worlds]
  381. [gazebo-4] [Msg] Resource path add service on [/gazebo/resource_paths/add].
  382. [gazebo-4] [Msg] Resource path get service on [/gazebo/resource_paths/get].
  383. [gazebo-4] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
  384. [gazebo-4] [Msg] Resource paths published on [/gazebo/resource_paths].
  385. [gazebo-4] [Msg] Server control service on [/server_control].
  386. [gazebo-4] [Msg] Found no publishers on /stats, adding root stats topic
  387. [gazebo-4] [Msg] Found no publishers on /clock, adding root clock topic
  388. [gazebo-4] [Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 4
  389. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
  390. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (1)
  391. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (2)
  392. [gazebo-4] [Dbg] [SystemManager.cc:80] Loaded system [gz_ros2_control::GazeboSimROS2ControlPlugin] for entity [10]
  393. [gazebo-4] [Dbg] [UserCommands.cc:1318] Created entity [10] named [alpha_5_example]
  394. [gazebo-4] [Msg] Serving scene information on [/world/empty/scene/info]
  395. [gazebo-4] [Msg] Serving graph information on [/world/empty/scene/graph]
  396. [gazebo-4] [Msg] Serving full state on [/world/empty/state]
  397. [gazebo-4] [Msg] Serving full state (async) on [/world/empty/state_async]
  398. [gazebo-4] [Msg] Publishing scene information on [/world/empty/scene/info]
  399. [gazebo-4] [Msg] Publishing entity deletions on [/world/empty/scene/deletion]
  400. [gazebo-4] [Msg] Publishing state changes on [/world/empty/state]
  401. [gazebo-4] [Msg] Publishing pose messages on [/world/empty/pose/info]
  402. [gazebo-4] [Msg] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]
  403. [gazebo-4] [Dbg] [EntityComponentManager.cc:1656] Updated state thread iterators: 16 threads processing around 3 entities each.
  404. [gazebo-4] [Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (2)[Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (1)
  405. [gazebo-4] )[Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (0))
  406. [gazebo-4]
  407. [gazebo-4] [Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 5
  408. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
  409. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (1)
  410. [gazebo-4] [WARN] [1751588002.155992568] [gz_ros_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
  411. [gazebo-4] [INFO] [1751588002.164531412] [controller_manager]: Successfully switched controllers!
  412. [spawner-7] [INFO] [1751588002.176494709] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
  413. [spawner-9] [INFO] [1751588002.306240655] [spawner_gripper_controller]: waiting for service /controller_manager/list_controllers to become available...
  414. [INFO] [spawner-7]: process has finished cleanly [pid 10976]
  415. [gazebo-4] [INFO] [1751588003.308164110] [controller_manager]: Loading controller : 'gripper_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
  416. [gazebo-4] [INFO] [1751588003.308195020] [controller_manager]: Loading controller 'gripper_controller'
  417. [gazebo-4] [INFO] [1751588003.312333403] [controller_manager]: Controller 'gripper_controller' node arguments: --ros-args --params-file /home/michele/reach_ws/src/reach_robotics_sdk/install/bpl_alpha_description/share/bpl_alpha_description/config/alpha_5_controllers.yaml -p use_sim_time:=true --param use_sim_time:=true
  418. [spawner-9] [INFO] [1751588003.340606585] [spawner_gripper_controller]: Loaded gripper_controller
  419. [gazebo-4] [INFO] [1751588003.341721757] [controller_manager]: Configuring controller: 'gripper_controller'
  420. [gazebo-4] [INFO] [1751588003.341933901] [gripper_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  421. [gazebo-4] [INFO] [1751588003.341980356] [gripper_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  422. [gazebo-4] [INFO] [1751588003.342027813] [gripper_controller]: Using 'splines' interpolation method.
  423. [gazebo-4] [INFO] [1751588003.345752597] [gripper_controller]: Action status changes will be monitored at 20.00 Hz.
  424. [gazebo-4] [INFO] [1751588003.361817005] [controller_manager]: Activating controllers: [ gripper_controller ]
  425. [gazebo-4] [INFO] [1751588003.370220279] [controller_manager]: Successfully switched controllers!
  426. [spawner-9] [INFO] [1751588003.380996486] [spawner_gripper_controller]: Configured and activated gripper_controller
  427. [gazebo-4] [INFO] [1751588003.529995909] [controller_manager]: Loading controller : 'manipulator_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
  428. [gazebo-4] [INFO] [1751588003.530033905] [controller_manager]: Loading controller 'manipulator_controller'
  429. [gazebo-4] [INFO] [1751588003.530186413] [controller_manager]: Controller 'manipulator_controller' node arguments: --ros-args --params-file /home/michele/reach_ws/src/reach_robotics_sdk/install/bpl_alpha_description/share/bpl_alpha_description/config/alpha_5_controllers.yaml -p use_sim_time:=true --param use_sim_time:=true
  430. [spawner-8] [INFO] [1751588003.570921972] [spawner_manipulator_controller]: Loaded manipulator_controller
  431. [gazebo-4] [INFO] [1751588003.572313936] [controller_manager]: Configuring controller: 'manipulator_controller'
  432. [gazebo-4] [INFO] [1751588003.572448610] [manipulator_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  433. [gazebo-4] [INFO] [1751588003.572463361] [manipulator_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  434. [gazebo-4] [INFO] [1751588003.572471610] [manipulator_controller]: Using 'splines' interpolation method.
  435. [gazebo-4] [INFO] [1751588003.573494250] [manipulator_controller]: Action status changes will be monitored at 20.00 Hz.
  436. [INFO] [spawner-9]: process has finished cleanly [pid 10978]
  437. [gazebo-4] [INFO] [1751588003.589629059] [controller_manager]: Activating controllers: [ manipulator_controller ]
  438. [gazebo-4] [INFO] [1751588003.598233603] [controller_manager]: Successfully switched controllers!
  439. [spawner-8] [INFO] [1751588003.609617491] [spawner_manipulator_controller]: Configured and activated manipulator_controller
  440. [INFO] [spawner-8]: process has finished cleanly [pid 10977]
  441. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (2)
  442. [gazebo-4] [Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (3)
  443. [gazebo-4] [WARN] [1751588184.147516759] [controller_manager.rclcpp]: failed to send response to /controller_manager/list_controllers (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
  444. [rviz2-1] [INFO] [1751588402.695104632] [rviz2.moveit.ros.motion_planning_frame]: group manipulator
  445. [rviz2-1] [INFO] [1751588402.695135520] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
  446. [rviz2-1] [INFO] [1751588402.704305199] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group manipulator.
  447. [rviz2-1] [INFO] [1751588409.836104242] [rviz2.moveit.ros.move_group_interface]: MoveGroup action client/server ready
  448. [move_group-3] [INFO] [1751588409.838155015] [move_group.moveit.moveit.ros.move_group.move_action]: MoveGroupMoveAction: Received request
  449. [rviz2-1] [INFO] [1751588409.838358228] [rviz2.moveit.ros.move_group_interface]: Planning request accepted
  450. [move_group-3] [INFO] [1751588409.838451133] [move_group.moveit.moveit.ros.move_group.move_action]: executing..
  451. [move_group-3] [INFO] [1751588409.846029614] [move_group.moveit.moveit.ros.move_group.move_action]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
  452. [move_group-3] [INFO] [1751588409.846080734] [move_group.moveit.moveit.ros.move_group.capability]: Using planning pipeline 'ompl'
  453. [move_group-3] [INFO] [1751588409.846385120] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames'
  454. [move_group-3] [INFO] [1751588409.846422735] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds'
  455. [move_group-3] [INFO] [1751588409.846444535] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds'
  456. [move_group-3] [INFO] [1751588409.846493333] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateCollision'
  457. [move_group-3] [INFO] [1751588409.847338642] [move_group.moveit.moveit.planners.ompl.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
  458. [move_group-3] [INFO] [1751588409.847535199] [move_group]: Calling Planner 'OMPL'
  459. [move_group-3] [INFO] [1751588409.862311547] [move_group]: Calling PlanningResponseAdapter 'AddTimeOptimalParameterization'
  460. [move_group-3] [INFO] [1751588409.895204871] [move_group]: Calling PlanningResponseAdapter 'ValidateSolution'
  461. [move_group-3] [INFO] [1751588409.897396234] [move_group]: Calling PlanningResponseAdapter 'DisplayMotionPath'
  462. [move_group-3] [WARN] [1751588409.897926723] [move_group.moveit.moveit.ros.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner.
  463. [move_group-3] [INFO] [1751588409.898190579] [move_group.moveit.moveit.ros.move_group.move_action]: Motion plan was computed successfully.
  464. [rviz2-1] [INFO] [1751588409.898849678] [rviz2.moveit.ros.move_group_interface]: Planning request complete!
  465. [rviz2-1] [INFO] [1751588409.898942475] [rviz2.moveit.ros.move_group_interface]: time taken to generate plan: 0.0143933 seconds
  466. [move_group-3] [INFO] [1751588423.731923715] [move_group.moveit.moveit.ros.move_group.clear_octomap_service]: Execution request received
  467. [rviz2-1] [INFO] [1751588423.731981033] [rviz2.moveit.ros.move_group_interface]: Execute request accepted
  468. [move_group-3] [INFO] [1751588423.732054360] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
  469. [move_group-3] [INFO] [1751588423.732084200] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
  470. [move_group-3] [INFO] [1751588423.732262771] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
  471. [move_group-3] [INFO] [1751588423.740225105] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Starting trajectory execution ...
  472. [move_group-3] [INFO] [1751588423.740325495] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
  473. [move_group-3] [INFO] [1751588423.740350584] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
  474. [move_group-3] [INFO] [1751588423.740564818] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to manipulator_controller
  475. [gazebo-4] [INFO] [1751588423.741441228] [manipulator_controller]: Received new action goal
  476. [gazebo-4] [INFO] [1751588423.741522613] [manipulator_controller]: Accepted new action goal
  477. [move_group-3] [INFO] [1751588423.741682909] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: manipulator_controller started execution
  478. [move_group-3] [INFO] [1751588423.741698406] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
  479. [gazebo-4] [INFO] [1751588462.777942093] [manipulator_controller]: Goal reached, success!
  480. [move_group-3] [INFO] [1751588462.792245645] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'manipulator_controller' successfully finished
  481. [move_group-3] [INFO] [1751588462.798452495] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
  482. [move_group-3] [INFO] [1751588462.798600756] [move_group.moveit.moveit.ros.move_group.clear_octomap_service]: Execution completed: SUCCEEDED
  483. [rviz2-1] [INFO] [1751588462.798854628] [rviz2.moveit.ros.move_group_interface]: Execute request success!
  484. [move_group-3] [INFO] [1751588771.530450924] [move_group.moveit.moveit.ros.move_group.move_action]: MoveGroupMoveAction: Received request
  485. [rviz2-1] [INFO] [1751588771.530572775] [rviz2.moveit.ros.move_group_interface]: Plan and Execute request accepted
  486. [move_group-3] [INFO] [1751588771.530590599] [move_group.moveit.moveit.ros.move_group.move_action]: executing..
  487. [move_group-3] [INFO] [1751588771.538294130] [move_group.moveit.moveit.ros.move_group.move_action]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
  488. [move_group-3] [INFO] [1751588771.538437191] [move_group.moveit.moveit.ros.plan_execution]: Planning attempt 1 of at most 1
  489. [move_group-3] [INFO] [1751588771.538504381] [move_group.moveit.moveit.ros.move_group.capability]: Using planning pipeline 'ompl'
  490. [move_group-3] [INFO] [1751588771.538598805] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames'
  491. [move_group-3] [INFO] [1751588771.538618547] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds'
  492. [move_group-3] [INFO] [1751588771.538628982] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds'
  493. [move_group-3] [ERROR] [1751588771.538649516] [move_group.moveit.moveit.ros.check_start_state_bounds]: Joint 'alpha_axis_d' from the starting state is outside bounds by: [-7.1652e-16 ] should be in the range [0 ], [1.9 ].
  494. [move_group-3] [ERROR] [1751588771.538682096] [move_group.moveit.moveit.ros.check_start_state_bounds]: Joint 'alpha_axis_b' from the starting state is outside bounds by: [-4.38525e-15 ] should be in the range [0 ], [6.2 ].
  495. [move_group-3] [ERROR] [1751588771.538709100] [move_group]: PlanningRequestAdapter 'CheckStartStateBounds' failed, because 'Start state out of bounds.'. Aborting planning pipeline.
  496. [move_group-3] [INFO] [1751588771.538755097] [move_group.moveit.moveit.ros.move_group.move_action]: START_STATE_INVALID
  497. [rviz2-1] [INFO] [1751588771.538905951] [rviz2.moveit.ros.move_group_interface]: Plan and Execute request aborted
  498. [rviz2-1] [ERROR] [1751588771.539854077] [rviz2.moveit.ros.move_group_interface]: MoveGroupInterface::move() failed or timeout reached
  499. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
  500. [move_group-3] [INFO] [1751588785.181182578] [rclcpp]: signal_handler(signum=2)
  501. [robot_state_publisher-2] [INFO] [1751588785.181184229] [rclcpp]: signal_handler(signum=2)
  502. [parameter_bridge-6] [INFO] [1751588785.181182735] [rclcpp]: signal_handler(signum=2)
  503. [rviz2-1] [INFO] [1751588785.181190534] [rclcpp]: signal_handler(signum=2)
  504. [rviz2-1] [WARN] [1751588785.183395406] [interactive_marker_display_98141331814832]: Server not available while running, resetting
  505. [move_group-3] [INFO] [1751588785.216114866] [move_group.moveit.moveit.ros.moveit_cpp]: Deleting MoveItCpp
  506. [move_group-3] [INFO] [1751588785.232268301] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
  507. [move_group-3] [INFO] [1751588785.232844917] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor
  508. [move_group-3] [INFO] [1751588785.233124960] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor
  509. [rviz2-1]
  510. [rviz2-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
  511. [rviz2-1] This error state is being overwritten:
  512. [rviz2-1]
  513. [rviz2-1] 'rcl node's context is invalid, at ./src/rcl/node.c:404'
  514. [rviz2-1]
  515. [rviz2-1] with this new error message:
  516. [rviz2-1]
  517. [rviz2-1] 'publisher's context is invalid, at ./src/rcl/publisher.c:423'
  518. [rviz2-1]
  519. [rviz2-1] rcutils_reset_error() should be called after error handling to avoid this.
  520. [rviz2-1] <<<
  521. [rviz2-1] [INFO] [1751588785.256411328] [rviz2.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor
  522. [INFO] [parameter_bridge-6]: process has finished cleanly [pid 10974]
  523. [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 10970]
  524. [INFO] [move_group-3]: process has finished cleanly [pid 10971]
  525. [INFO] [rviz2-1]: process has finished cleanly [pid 10969]
  526. [gazebo-4] mLoaded plugin [EntityTree] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityTree.so]
  527. [gazebo-4] [GUI] [Dbg] [Application.cc:398] Loading window config
  528. [gazebo-4] [GUI] [Msg] Using server control service [/server_control]
  529. [gazebo-4] [GUI] [Dbg] [Application.cc:671] Applying config
  530. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
  531. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
  532. [gazebo-4] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
  533. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene]
  534. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL
  535. [gazebo-4] [GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
  536. [gazebo-4] [GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)]
  537. [gazebo-4] [GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
  538. [gazebo-4] [GUI] [Dbg] [MarkerManager.cc:169] Advertise /marker/list service.
  539. [gazebo-4] [GUI] [Dbg] [MarkerManager.cc:179] Advertise /marker/list.
  540. [gazebo-4] [GUI] [Dbg] [MarkerManager.cc:189] Advertise /marker_array.
  541. [gazebo-4] [GUI] [Dbg] [CameraTracking.cc:205] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
  542. [gazebo-4] [GUI] [Msg] Move to service on [/gui/move_to]
  543. [gazebo-4] [GUI] [Msg] Follow service on [/gui/follow] (deprecated)
  544. [gazebo-4] [GUI] [Msg] Tracking topic on [/gui/track]
  545. [gazebo-4] [GUI] [Msg] Tracking status topic on [/gui/currently_tracked]
  546. [gazebo-4] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
  547. [gazebo-4] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
  548. [gazebo-4] [GUI] [Msg] Follow offset service on [/gui/follow/offset] (deprecated)
  549. [gazebo-4] [GUI] [Dbg] [InteractiveViewControl.cc:176] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
  550. [gazebo-4] [GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
  551. [gazebo-4] [GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
  552. [gazebo-4] [GUI] [Dbg] [Gui.cc:535] Shutting down gz-sim-gui
  553. [gazebo-4] [GUI] [Dbg] [Application.cc:237] Terminating application.
  554. [gazebo-4] [GUI] [Dbg] [MinimalScene.cc:841] Destroy scene [scene]
  555. [gazebo-4] [INFO] [1751588785.501381303] [controller_manager.pal_statistics]: Async messages lost 0
  556. [gazebo-4] [INFO] [1751588785.501443261] [controller_manager.pal_statistics]: publish_async_failures_ 0
  557. [gazebo-4] [Dbg] [SignalHandler.cc:142] Received signal[2].
  558. [gazebo-4] [Dbg] [ServerPrivate.cc:122] Server received signal[2]
  559. [gazebo-4] [Dbg] [Sensors.cc:565] SensorsPrivate::Stop
  560. [gazebo-4] [Dbg] [Sensors.cc:391] Rendering Thread initialized
  561. [gazebo-4] [Dbg] [Sensors.cc:551] SensorsPrivate::RenderThread stopped
  562. [gazebo-4] [Dbg] [gz.cc:434] Shutting down gz-sim-server
  563. [gazebo-4] [Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (2)
  564. [gazebo-4] Exiting postupdate worker thread (11Exiting postupdate worker thread (0)
  565. [gazebo-4]
  566. [gazebo-4]
  567. [gazebo-4]
  568. [gazebo-4] [Dbg] [SimulationRunner.cc:560] Exiting postupdate worker thread (3)
  569. [gazebo-4] [Dbg] [Sensors.cc:565] SensorsPrivate::Stop
  570. [ERROR] [gazebo-4]: process has died [pid 10972, exit code -2, cmd 'ruby /opt/ros/jazzy/opt/gz_tools_vendor/bin/gz sim -r -v4 /home/michele/reach_ws/src/reach_robotics_sdk/install/bpl_alpha_description/share/bpl_alpha_description/worlds/empty.world --force-version 8'].
  571. [INFO] [launch]: process[gazebo-4] was required: shutting down launched system
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