cob_bringup_sim

IniDirectory loaded from Parameter-Server is: /home/imaterna/git/care-o-bot/cob_robots/cob_hardware_config/cob3-3/config/base/

Undercarriage control successfully initialized.

'tactile_data' topic advertized

PointCloudConverter initialized to transform from PointCloud (/points_in) to PointCloud2 (/points2_out).

gazebo_services running

The input topic '/stereo/left/image_raw' is not yet advertised

The input topic '/stereo/left/camera_info' is not yet advertised

Starting to spin physics dynamic reconfigure node...

waiting for service spawn_urdf_model

The input topic '/stereo/right/image_raw' is not yet advertised

waiting for service spawn_urdf_model

multiple inconsistent <selfCollide> exists due to fixed joint reduction, overwriting previous value [true] with [false].

urdf2gazebo: link(sdh_grasp_link) has no inertia, parent joint(sdh_grasp_joint) is ignored.

urdf2gazebo: link(sdh_grasp_link) has no inertia, not modeled in gazebo.

urdf2gazebo: link(sdh_tip_link) has no inertia, parent joint(sdh_tip_joint) is ignored.

urdf2gazebo: link(sdh_tip_link) has no inertia, not modeled in gazebo.

multiple inconsistent <turnGravityOff> exists due to fixed joint reduction, overwriting previous value [false] with [true].

INFO: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.

INFO: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.

INFO: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.

gazebo_ros_camera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

gazebo_ros_prosilica simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

trigger_mode trigger_mode streaming

gazebo_ros_prosilica simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

trigger_mode trigger_mode streaming

starting gazebo_ros_controller_manager plugin in ns: /

Callback thread id=0x7f6ce83c2400

spawn status: SpawnModel: successfully spawned model

Loaded controllers: torso_controller

You've passed in true for auto_start for the C++ action server at [/arm_controller/joint_trajectory_action]. You should always pass in false to avoid race conditions.

You've passed in true for auto_start for the C++ action server at [/arm_controller/follow_joint_trajectory]. You should always pass in false to avoid race conditions.

Loaded controllers: arm_controller

Loaded controllers: sdh_controller

Loaded controllers: head_controller

spawn status: SpawnModel: successfully spawned model

Started controllers: torso_controller

Started controllers: arm_controller

Loaded controllers: tray_controller

Started controllers: sdh_controller

Started controllers: head_controller

Started controllers: tray_controller

Loaded controllers: base_fr_caster_rotation_controller, base_fl_caster_rotation_controller, base_br_caster_rotation_controller, base_bl_caster_rotation_controller, base_fr_caster_r_wheel_controller, base_fl_caster_r_wheel_controller, base_br_caster_r_wheel_controller, base_bl_caster_r_wheel_controller

Started controllers: base_fr_caster_rotation_controller, base_fl_caster_rotation_controller, base_br_caster_rotation_controller, base_bl_caster_rotation_controller, base_fr_caster_r_wheel_controller, base_fl_caster_r_wheel_controller, base_br_caster_r_wheel_controller, base_bl_caster_r_wheel_controller