patrick@patrick-ub:~/ws$ roslaunch bluerov_ffg thruster_cmd.launch
... logging to /home/patrick/.ros/log/ef82a582-c96c-11e7-bb3b-08002725d4f8/roslaunch-patrick-ub-32568.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://patrick-ub:41399/

SUMMARY
========

PARAMETERS
 * /brov/controllers/config/body/cascaded_position: False
 * /brov/controllers/config/body/command: thruster_command
 * /brov/controllers/config/body/control_type: thruster
 * /brov/controllers/config/body/default: velocity
 * /brov/controllers/config/body/dynamic_reconfigure: True
 * /brov/controllers/config/body/state: state
 * /brov/controllers/config/body/use_pid: True
 * /brov/controllers/config/body/velocity_setpoint: body_velocity_set...
 * /brov/controllers/pitch/position/antiwindup: True
 * /brov/controllers/pitch/position/d: 10
 * /brov/controllers/pitch/position/i: 5
 * /brov/controllers/pitch/position/i_clamp: 27
 * /brov/controllers/pitch/position/p: 100
 * /brov/controllers/pitch/velocity/antiwindup: True
 * /brov/controllers/pitch/velocity/d: 0
 * /brov/controllers/pitch/velocity/i: 0
 * /brov/controllers/pitch/velocity/i_clamp: 27
 * /brov/controllers/pitch/velocity/p: 1
 * /brov/controllers/roll/position/antiwindup: True
 * /brov/controllers/roll/position/d: 1
 * /brov/controllers/roll/position/i: 0
 * /brov/controllers/roll/position/i_clamp: 10
 * /brov/controllers/roll/position/p: 10
 * /brov/controllers/roll/velocity/antiwindup: True
 * /brov/controllers/roll/velocity/d: 0
 * /brov/controllers/roll/velocity/i: 0
 * /brov/controllers/roll/velocity/i_clamp: 10
 * /brov/controllers/roll/velocity/p: 1
 * /brov/controllers/x/position/antiwindup: True
 * /brov/controllers/x/position/d: 10
 * /brov/controllers/x/position/i: 5
 * /brov/controllers/x/position/i_clamp: 60
 * /brov/controllers/x/position/p: 100
 * /brov/controllers/x/velocity/antiwindup: True
 * /brov/controllers/x/velocity/d: 0
 * /brov/controllers/x/velocity/i: 0
 * /brov/controllers/x/velocity/i_clamp: 60
 * /brov/controllers/x/velocity/p: 1
 * /brov/controllers/y/position/antiwindup: True
 * /brov/controllers/y/position/d: 10
 * /brov/controllers/y/position/i: 5
 * /brov/controllers/y/position/i_clamp: 30
 * /brov/controllers/y/position/p: 100
 * /brov/controllers/y/velocity/antiwindup: True
 * /brov/controllers/y/velocity/d: 0
 * /brov/controllers/y/velocity/i: 0
 * /brov/controllers/y/velocity/i_clamp: 30
 * /brov/controllers/y/velocity/p: 1
 * /brov/controllers/yaw/position/antiwindup: True
 * /brov/controllers/yaw/position/d: 10
 * /brov/controllers/yaw/position/i: 5
 * /brov/controllers/yaw/position/i_clamp: 10
 * /brov/controllers/yaw/position/p: 100
 * /brov/controllers/yaw/velocity/antiwindup: True
 * /brov/controllers/yaw/velocity/d: 0
 * /brov/controllers/yaw/velocity/i: 0
 * /brov/controllers/yaw/velocity/i_clamp: 10
 * /brov/controllers/yaw/velocity/p: 1
 * /brov/controllers/z/position/antiwindup: True
 * /brov/controllers/z/position/d: 10
 * /brov/controllers/z/position/i: 5
 * /brov/controllers/z/position/i_clamp: 60
 * /brov/controllers/z/position/p: 100
 * /brov/controllers/z/velocity/antiwindup: True
 * /brov/controllers/z/velocity/d: 0
 * /brov/controllers/z/velocity/i: 0
 * /brov/controllers/z/velocity/i_clamp: 60
 * /brov/controllers/z/velocity/p: 1
 * /brov/robot_description: <?xml version="1....
 * /brov/thrusters/joint_state_publisher/use_gui: True
 * /brov/thrusters/robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /terrain_description: <?xml version="1....
 * /use_sim_time: True

NODES
  /brov/
    spawner (gazebo_ros/spawn_model)
  /brov/thrusters/
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    terrain_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [32588]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ef82a582-c96c-11e7-bb3b-08002725d4f8
process[rosout-1]: started with pid [32601]
started core service [/rosout]
process[gazebo-2]: started with pid [32625]
process[gazebo_gui-3]: started with pid [32630]
process[brov/spawner-4]: started with pid [32632]
process[brov/thrusters/joint_state_publisher-5]: started with pid [32636]
process[terrain_spawner-6]: started with pid [32637]
<module 'gazebo_msgs.srv.trajectory_msgs' from '/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_msgs/srv/trajectory_msgs/__init__.pyc'>
<module 'gazebo_msgs.srv.trajectory_msgs' from '/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_msgs/srv/trajectory_msgs/__init__.pyc'>
SpawnModel script started
[INFO] [1510685539.156758, 0.000000]: Loading model XML from ros parameter
[INFO] [1510685539.160679, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1510685539.185553416]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1510685539.197319549]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1510685539.345411, 0.000000]: Loading model XML from ros parameter
[INFO] [1510685539.347519, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1510685539.704409631]: Loading freefloating_fluid plugin
[ INFO] [1510685539.709780504]: Loaded freefloating_fluid plugin.
[INFO] [1510685539.771778, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1510685539.873832, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1510685539.879582143]: Adding thr1 as a fixed thruster
[ INFO] [1510685539.879664119]: Adding thr2 as a fixed thruster
[ INFO] [1510685539.879707143]: Adding thr3 as a fixed thruster
[ INFO] [1510685539.879739061]: Adding thr4 as a fixed thruster
[ INFO] [1510685539.879775024]: Adding thr5 as a fixed thruster
[ INFO] [1510685539.879800785]: Adding thr6 as a fixed thruster
[INFO] [1510685539.954971, 0.000000]: Calling service /gazebo/spawn_sdf_model
[WARN] [1510685540.078496, 0.000000]: Could not process inbound connection: topic types do not match: [geometry_msgs/Wrench] vs. [sensor_msgs/JointState]{'topic': '/brov/thruster_command', 'tcp_nodelay': '0', 'md5sum': '4f539cf138b23283b520fd271b567936', 'type': 'geometry_msgs/Wrench', 'callerid': '/gazebo'}
[brov/spawner-4] process has finished cleanly
log file: /home/patrick/.ros/log/ef82a582-c96c-11e7-bb3b-08002725d4f8/brov-spawner-4*.log
[ INFO] [1510685540.928128281]: Started FreeFloating Control Plugin for brov.
[INFO] [1510685541.166249, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[terrain_spawner-6] process has finished cleanly
log file: /home/patrick/.ros/log/ef82a582-c96c-11e7-bb3b-08002725d4f8/terrain_spawner-6*.log
[ INFO] [1510685564.180941876, 0.001000000]: Found linear damping
[ INFO] [1510685564.181060531, 0.001000000]: Found angular damping
[ INFO] [1510685564.181288861, 0.001000000]: Added 1 buoy links from brov
[ INFO] [1510685564.203476032, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1510685564.296542951, 0.110000000]: Physics dynamic reconfigure ready.