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  1. patrick@patrick-ub:~/ws$ roslaunch bluerov_ffg thruster_cmd.launch
  2. ... logging to /home/patrick/.ros/log/ef82a582-c96c-11e7-bb3b-08002725d4f8/roslaunch-patrick-ub-32568.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. xacro: Traditional processing is deprecated. Switch to --inorder processing!
  8. To check for compatibility of your document, use option --check-order.
  9. For more infos, see http://wiki.ros.org/xacro#Processing_Order
  10. started roslaunch server http://patrick-ub:41399/
  11.  
  12. SUMMARY
  13. ========
  14.  
  15. PARAMETERS
  16.  * /brov/controllers/config/body/cascaded_position: False
  17.  * /brov/controllers/config/body/command: thruster_command
  18.  * /brov/controllers/config/body/control_type: thruster
  19.  * /brov/controllers/config/body/default: velocity
  20.  * /brov/controllers/config/body/dynamic_reconfigure: True
  21.  * /brov/controllers/config/body/state: state
  22.  * /brov/controllers/config/body/use_pid: True
  23.  * /brov/controllers/config/body/velocity_setpoint: body_velocity_set...
  24.  * /brov/controllers/pitch/position/antiwindup: True
  25.  * /brov/controllers/pitch/position/d: 10
  26.  * /brov/controllers/pitch/position/i: 5
  27.  * /brov/controllers/pitch/position/i_clamp: 27
  28.  * /brov/controllers/pitch/position/p: 100
  29.  * /brov/controllers/pitch/velocity/antiwindup: True
  30.  * /brov/controllers/pitch/velocity/d: 0
  31.  * /brov/controllers/pitch/velocity/i: 0
  32.  * /brov/controllers/pitch/velocity/i_clamp: 27
  33.  * /brov/controllers/pitch/velocity/p: 1
  34.  * /brov/controllers/roll/position/antiwindup: True
  35.  * /brov/controllers/roll/position/d: 1
  36.  * /brov/controllers/roll/position/i: 0
  37.  * /brov/controllers/roll/position/i_clamp: 10
  38.  * /brov/controllers/roll/position/p: 10
  39.  * /brov/controllers/roll/velocity/antiwindup: True
  40.  * /brov/controllers/roll/velocity/d: 0
  41.  * /brov/controllers/roll/velocity/i: 0
  42.  * /brov/controllers/roll/velocity/i_clamp: 10
  43.  * /brov/controllers/roll/velocity/p: 1
  44.  * /brov/controllers/x/position/antiwindup: True
  45.  * /brov/controllers/x/position/d: 10
  46.  * /brov/controllers/x/position/i: 5
  47.  * /brov/controllers/x/position/i_clamp: 60
  48.  * /brov/controllers/x/position/p: 100
  49.  * /brov/controllers/x/velocity/antiwindup: True
  50.  * /brov/controllers/x/velocity/d: 0
  51.  * /brov/controllers/x/velocity/i: 0
  52.  * /brov/controllers/x/velocity/i_clamp: 60
  53.  * /brov/controllers/x/velocity/p: 1
  54.  * /brov/controllers/y/position/antiwindup: True
  55.  * /brov/controllers/y/position/d: 10
  56.  * /brov/controllers/y/position/i: 5
  57.  * /brov/controllers/y/position/i_clamp: 30
  58.  * /brov/controllers/y/position/p: 100
  59.  * /brov/controllers/y/velocity/antiwindup: True
  60.  * /brov/controllers/y/velocity/d: 0
  61.  * /brov/controllers/y/velocity/i: 0
  62.  * /brov/controllers/y/velocity/i_clamp: 30
  63.  * /brov/controllers/y/velocity/p: 1
  64.  * /brov/controllers/yaw/position/antiwindup: True
  65.  * /brov/controllers/yaw/position/d: 10
  66.  * /brov/controllers/yaw/position/i: 5
  67.  * /brov/controllers/yaw/position/i_clamp: 10
  68.  * /brov/controllers/yaw/position/p: 100
  69.  * /brov/controllers/yaw/velocity/antiwindup: True
  70.  * /brov/controllers/yaw/velocity/d: 0
  71.  * /brov/controllers/yaw/velocity/i: 0
  72.  * /brov/controllers/yaw/velocity/i_clamp: 10
  73.  * /brov/controllers/yaw/velocity/p: 1
  74.  * /brov/controllers/z/position/antiwindup: True
  75.  * /brov/controllers/z/position/d: 10
  76.  * /brov/controllers/z/position/i: 5
  77.  * /brov/controllers/z/position/i_clamp: 60
  78.  * /brov/controllers/z/position/p: 100
  79.  * /brov/controllers/z/velocity/antiwindup: True
  80.  * /brov/controllers/z/velocity/d: 0
  81.  * /brov/controllers/z/velocity/i: 0
  82.  * /brov/controllers/z/velocity/i_clamp: 60
  83.  * /brov/controllers/z/velocity/p: 1
  84.  * /brov/robot_description: <?xml version="1....
  85.  * /brov/thrusters/joint_state_publisher/use_gui: True
  86.  * /brov/thrusters/robot_description: <?xml version="1....
  87.  * /rosdistro: kinetic
  88.  * /rosversion: 1.12.7
  89.  * /terrain_description: <?xml version="1....
  90.  * /use_sim_time: True
  91.  
  92. NODES
  93.   /brov/
  94.     spawner (gazebo_ros/spawn_model)
  95.   /brov/thrusters/
  96.     joint_state_publisher (joint_state_publisher/joint_state_publisher)
  97.   /
  98.     gazebo (gazebo_ros/gzserver)
  99.     gazebo_gui (gazebo_ros/gzclient)
  100.     terrain_spawner (gazebo_ros/spawn_model)
  101.  
  102. auto-starting new master
  103. process[master]: started with pid [32588]
  104. ROS_MASTER_URI=http://localhost:11311
  105.  
  106. setting /run_id to ef82a582-c96c-11e7-bb3b-08002725d4f8
  107. process[rosout-1]: started with pid [32601]
  108. started core service [/rosout]
  109. process[gazebo-2]: started with pid [32625]
  110. process[gazebo_gui-3]: started with pid [32630]
  111. process[brov/spawner-4]: started with pid [32632]
  112. process[brov/thrusters/joint_state_publisher-5]: started with pid [32636]
  113. process[terrain_spawner-6]: started with pid [32637]
  114. <module 'gazebo_msgs.srv.trajectory_msgs' from '/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_msgs/srv/trajectory_msgs/__init__.pyc'>
  115. <module 'gazebo_msgs.srv.trajectory_msgs' from '/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_msgs/srv/trajectory_msgs/__init__.pyc'>
  116. SpawnModel script started
  117. [INFO] [1510685539.156758, 0.000000]: Loading model XML from ros parameter
  118. [INFO] [1510685539.160679, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
  119. [ INFO] [1510685539.185553416]: Finished loading Gazebo ROS API Plugin.
  120. [ INFO] [1510685539.197319549]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  121. SpawnModel script started
  122. [INFO] [1510685539.345411, 0.000000]: Loading model XML from ros parameter
  123. [INFO] [1510685539.347519, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
  124. [ INFO] [1510685539.704409631]: Loading freefloating_fluid plugin
  125. [ INFO] [1510685539.709780504]: Loaded freefloating_fluid plugin.
  126. [INFO] [1510685539.771778, 0.000000]: Calling service /gazebo/spawn_urdf_model
  127. [INFO] [1510685539.873832, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
  128. [ INFO] [1510685539.879582143]: Adding thr1 as a fixed thruster
  129. [ INFO] [1510685539.879664119]: Adding thr2 as a fixed thruster
  130. [ INFO] [1510685539.879707143]: Adding thr3 as a fixed thruster
  131. [ INFO] [1510685539.879739061]: Adding thr4 as a fixed thruster
  132. [ INFO] [1510685539.879775024]: Adding thr5 as a fixed thruster
  133. [ INFO] [1510685539.879800785]: Adding thr6 as a fixed thruster
  134. [INFO] [1510685539.954971, 0.000000]: Calling service /gazebo/spawn_sdf_model
  135. [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'}
  136. [brov/spawner-4] process has finished cleanly
  137. log file: /home/patrick/.ros/log/ef82a582-c96c-11e7-bb3b-08002725d4f8/brov-spawner-4*.log
  138. [ INFO] [1510685540.928128281]: Started FreeFloating Control Plugin for brov.
  139. [INFO] [1510685541.166249, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
  140. [terrain_spawner-6] process has finished cleanly
  141. log file: /home/patrick/.ros/log/ef82a582-c96c-11e7-bb3b-08002725d4f8/terrain_spawner-6*.log
  142. [ INFO] [1510685564.180941876, 0.001000000]: Found linear damping
  143. [ INFO] [1510685564.181060531, 0.001000000]: Found angular damping
  144. [ INFO] [1510685564.181288861, 0.001000000]: Added 1 buoy links from brov
  145. [ INFO] [1510685564.203476032, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  146. [ INFO] [1510685564.296542951, 0.110000000]: Physics dynamic reconfigure ready.
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