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Pitt-RAS / iarc7_motion

Motion Planning and Control code for generic multirotor, developed for IARC Mission 7
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Log Files during roslaunch Empty, can't launch morse #113

Closed EnderWiggin14 closed 6 years ago

EnderWiggin14 commented 6 years ago

Upon trying to run this command

roslaunch iarc7_simulator morse.launch

the process "morselauncher[computer name]" fails. It is claimed that a log file is produced, but when opened, the file is empty.

Running ROS Kinetic on Ubuntu 16.04.

Regards, Michael Vander Wal

Liam-Berti commented 6 years ago

Hi Michael, I would recommend for you to try our Docker script (https://github.com/Pitt-RAS/IARC7_ROS_Docker_Configurator) to get started as it's difficult to debug different systems given the scope of the project. The docker container has a current install of ROS, openCV, and MORSE. Just follow the instructions from (https://github.com/Pitt-RAS/iarc7_common/wiki/Installation#setting-up-a-workspace-with-wstool), ignoring the MORSE section, and following the CPU users section if you don't have CUDA.

EnderWiggin14 commented 6 years ago

Liam,

I have done as you have suggested. It took a bit of time before our team was able to do this, but unfortunately it still doesn't work. The morse _launcher process died.

Best Regards, Michael Vander Wal

On Fri, Feb 23, 2018 at 8:41 PM, Liam Berti notifications@github.com wrote:

Hi Michael, I would recommend for you to try our Docker script ( https://github.com/Pitt-RAS/IARC7_ROS_Docker_Configurator) to get started as it's difficult to debug different systems given the scope of the project. The docker container has a current install of ROS, openCV, and MORSE. Just follow the instructions from (https://github.com/Pitt-RAS/ iarc7_common/wiki/Installation#setting-up-a-workspace-with-wstool), ignoring the MORSE section, and following the CPU users section if you don't have CUDA.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/Pitt-RAS/iarc7_motion/issues/113#issuecomment-368195394, or mute the thread https://github.com/notifications/unsubscribe-auth/AReEuLBhmUpwaoWykezNLF4f-LHQI_kiks5tX4FhgaJpZM4SRrBE .

aftersomemath commented 6 years ago

Can you post the contents of /tmp/morse.log after attempting to run morse.launch?

EnderWiggin14 commented 6 years ago

I wish I could. Please bear with me I’m not a Computer Scientist or Software Engineer, but upon running morse.launch in the docker bash terminal I am greeted with “command not found.”

Sent from my iPhone

On Mar 23, 2018, at 5:46 PM, Levi Burner notifications@github.com wrote:

Can you post the contents /tmp/morse.log after attempting to run morse.launch?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.

aftersomemath commented 6 years ago

All good, I should have been more clear.

After running:

roslaunch iarc7_simulator morse.launch --screen

Could you post the contents of the log file that should be in /tmp/morse.log?

EnderWiggin14 commented 6 years ago

Sorry for the long response time. I apparently had clicked on this email chain without seeing anything new so I didn't think I received a response.

The contents are simply this,

On Fri, Mar 23, 2018 at 6:59 PM, Levi Burner notifications@github.com wrote:

All good, I should have been more clear.

After running:

roslaunch iarc7_simulator morse.launch --screen

Could you post the contents of the log file that should be in /tmp/morse.log?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/Pitt-RAS/iarc7_motion/issues/113#issuecomment-375834483, or mute the thread https://github.com/notifications/unsubscribe-auth/AReEuNLU3rOSFhLWsHJ7CHWL3O7oKx5Gks5thZpVgaJpZM4SRrBE .

aftersomemath commented 6 years ago

It is possible that the simulator named "sim" was not imported. Check out the the last command block at the end of this section https://github.com/Pitt-RAS/iarc7_common/wiki/Installation#installing-morse that contains the command 'morse import sim'.

Also was 'morse check' run? It is important to make sure it can find everything it needs.

EnderWiggin14 commented 6 years ago

Here is another log file.

The sim now launches, but still errors. Nothing can be done in the simulator upon launching.

On Thu, Mar 29, 2018 at 5:00 PM, Levi Burner notifications@github.com wrote:

It is possible that the simulator named "sim" was not imported. Check out the the last command block at the end of this section https://github.com/Pitt-RAS/iarc7_common/wiki/ Installation#installing-morse that contains the command 'morse import sim'.

Also was 'morse check' run? It is important to make sure it can find everything it needs.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/Pitt-RAS/iarc7_motion/issues/113#issuecomment-377398019, or mute the thread https://github.com/notifications/unsubscribe-auth/AReEuD9s3m3cBjFHX-WRCG8FLHdmaX8Gks5tjWeWgaJpZM4SRrBE .

amiller27 commented 6 years ago

Did you intend to attach a log file to your post? I don't see a log file.

Is the error the same as before, or is it a different one now?

The simulator doesn't have an interface with buttons to interact with it; all the interaction is through ROS, the simulator just provides physics, simulated sensor data, and rendering. All you should see when you run morse.launch successfully is a drone in the middle of the floor surrounded by some roombas; nothing will move.

I should point out here that our entire system is intended for users who are very familiar with ROS and software development for ROS. It doesn't really get easier once the sim is set up.

EnderWiggin14 commented 6 years ago

I did send one, or at least my email account claims to have record of it. It was sent as a pdf it would appear. Your information regarding that at this point it is all ROS, I’m guessing, the information we need to know. I will be in touch if I learn more.

To answer the question about what “error” we are seeing now is that the terminal is throwing red error text left and right, but that could be from a failure to have ROS nodes available to talk to it.

Sent from my iPhone

On Mar 29, 2018, at 5:32 PM, Aaron Miller notifications@github.com wrote:

Did you intend to attach a log file to your post? I don't see a log file.

Is the error the same as before, or is it a different one now?

The simulator doesn't have an interface with buttons to interact with it; all the interaction is through ROS, the simulator just provides physics, simulated sensor data, and rendering. All you should see when you run morse.launch successfully is a drone in the middle of the floor surrounded by some roombas; nothing will move.

I should point out here that our entire system is intended for users who are very familiar with ROS and software development for ROS. It doesn't really get easier once the sim is set up.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.

amiller27 commented 6 years ago

I'm not sure if github lets you send files as email attachments to attach to comments. If you go to this thread on github.com (at https://github.com/Pitt-RAS/iarc7_motion/issues/113) you can make a comment with a file attached.

Running morse.launch alone will spit out a bunch of errors as you said because it depends on other things. If you run roslaunch iarc7_launch main.launch, it'll run the entire software stack, and you shouldn't see errors (assuming you either have CUDA or followed the instructions for CPU users here). You can also run any of the launchfiles in the iarc7_abstract package to demonstrate various behaviors.

EnderWiggin14 commented 6 years ago

Aaron,

I ran iarc7_launch main.launch and the simulator comes up with the roombas. The terminal is still throwing red like no tomorrow. I also was unable to see any interaction between the simulator and the python files in iarc7_abstract.

Here is the contents of the morse.log file. I apologize, this was this simplest way for me to send you this; however, it likely isn't the simplest for you.

ALSA lib confmisc.c:768:(parse_card) cannot find card '0' ALSA lib conf.c:4292:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings ALSA lib conf.c:4292:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory ALSA lib confmisc.c:1251:(snd_func_refer) error evaluating name ALSA lib conf.c:4292:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory ALSA lib conf.c:4771:(snd_config_expand) Evaluate error: No such file or directory ALSA lib pcm.c:2266:(snd_pcm_open_noupdate) Unknown PCM default AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory

[PRE-INITIALIZATION] [ 0.012] Python Version: 3.5.2 [ 0.012] Blender Version: 2.78.0 [ 0.012] Python path: ['/usr/local/share/morse/data', '/usr/local/share/morse/data/props', '/home/michael/iarc7/src/iarc7_simulator/sim', '/home/michael/iarc7/src/iarc7_simulator/sim/data/sim/sensors', '/home/michael/iarc7/src/iarc7_simulator/sim/data/sim/robots', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/python/lib/python3.5/site-packages', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/scripts/addons_contrib', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/scripts/addons', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/scripts/startup', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/scripts/modules', '/home/michael/iarc7/src/iarc7_simulator/sim/src', '/usr/local/bin', '/home/michael/iarc7/devel/lib/python2.7/dist-packages', '/opt/ros/kinetic/lib/python2.7/dist-packages', '/usr/lib/python35.zip', '/usr/lib/python3.5', '/usr/lib/python3.5/plat-x86_64-linux-gnu', '/usr/lib/python3.5/lib-dynload', '/usr/local/lib/python3.5/dist-packages', '/usr/lib/python3/dist-packages', '/usr/local/lib/python3/dist-packages', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/python/lib/python35.zip', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/python/lib/python3.5', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/python/lib/python3.5/plat-linux', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/python/lib/python3.5/lib-dynload', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/scripts/freestyle/modules', '/opt/blender-2.78c-linux-glibc219-x86_64/2.78/scripts/addons/modules', '/home/michael/.config/blender/2.78/scripts/addons/modules', '/usr/local/lib/python3/dist-packages/morse/blender', '/usr/local/lib/python3/dist-packages/morse/blender/human_interaction'] [ 0.012] PID: 7192 [ 0.012] [core.morse_time] Morse configured in Fixed Simulation Step Mode with time step of 0.016667 sec ( 1.0 / 60) [ 0.012] No passive objects in the scene. [ 0.058] [robots.fakerobot] fake_robot initialization [ 0.058] [robots.fakerobot] Component initialized [ 0.059] [robots.TargetRoomba] roomba0 initialization [ 0.059] [robots.Roomba] roomba0 initialization [ 0.059] [robots.Roomba] Component initialized [ 0.059] [robots.TargetRoomba] Component initialized [ 0.059] [robots.TargetRoomba] roomba1 initialization [ 0.060] [robots.Roomba] roomba1 initialization [ 0.060] [robots.Roomba] Component initialized [ 0.060] [robots.TargetRoomba] Component initialized [ 0.060] [robots.TargetRoomba] roomba2 initialization [ 0.060] [robots.Roomba] roomba2 initialization [ 0.060] [robots.Roomba] Component initialized [ 0.060] [robots.TargetRoomba] Component initialized [ 0.060] [robots.TargetRoomba] roomba3 initialization [ 0.060] [robots.Roomba] roomba3 initialization [ 0.060] [robots.Roomba] Component initialized [ 0.060] [robots.TargetRoomba] Component initialized [ 0.060] [robots.TargetRoomba] roomba4 initialization [ 0.060] [robots.Roomba] roomba4 initialization [ 0.060] [robots.Roomba] Component initialized [ 0.060] [robots.TargetRoomba] Component initialized [ 0.061] [robots.TargetRoomba] roomba5 initialization [ 0.061] [robots.Roomba] roomba5 initialization [ 0.061] [robots.Roomba] Component initialized [ 0.061] [robots.TargetRoomba] Component initialized [ 0.061] [robots.TargetRoomba] roomba6 initialization [ 0.061] [robots.Roomba] roomba6 initialization [ 0.061] [robots.Roomba] Component initialized [ 0.061] [robots.TargetRoomba] Component initialized [ 0.061] [robots.TargetRoomba] roomba7 initialization [ 0.061] [robots.Roomba] roomba7 initialization [ 0.061] [robots.Roomba] Component initialized [ 0.061] [robots.TargetRoomba] Component initialized [ 0.061] [robots.TargetRoomba] roomba8 initialization [ 0.061] [robots.Roomba] roomba8 initialization [ 0.061] [robots.Roomba] Component initialized [ 0.062] [robots.TargetRoomba] Component initialized [ 0.062] [robots.TargetRoomba] roomba9 initialization [ 0.062] [robots.Roomba] roomba9 initialization [ 0.062] [robots.Roomba] Component initialized [ 0.062] [robots.TargetRoomba] Component initialized [ 0.062] [robots.Obstacle] obstacle0 initialization [ 0.062] [robots.Roomba] obstacle0 initialization [ 0.062] [robots.Roomba] Component initialized [ 0.062] [robots.Obstacle] Component initialized [ 0.062] [robots.Obstacle] obstacle1 initialization [ 0.062] [robots.Roomba] obstacle1 initialization [ 0.063] [robots.Roomba] Component initialized [ 0.063] [robots.Obstacle] Component initialized [ 0.063] [robots.Obstacle] obstacle2 initialization [ 0.063] [robots.Roomba] obstacle2 initialization [ 0.063] [robots.Roomba] Component initialized [ 0.063] [robots.Obstacle] Component initialized [ 0.063] [robots.Obstacle] obstacle3 initialization [ 0.063] [robots.Roomba] obstacle3 initialization [ 0.063] [robots.Roomba] Component initialized [ 0.063] [robots.Obstacle] Component initialized [ 0.063] [robots.Quadcopter] Quadcopter initialization [ 0.064] [robots.Quadcopter] Component initialized [ 0.108] [sensors.velocity] Quadcopter.velocity initialization [ 0.108] [sensors.velocity] Component initialized, runs at 60.00 Hz [ 0.109] Component Quadcopter.velocity added to Quadcopter [ 0.109] [sensors.laserscanner] Quadcopter.laserscanner initialization [ 0.109] [sensors.laserscanner] Sick: Using arc object: 'Arc_360' [ 0.113] [sensors.laserscanner] Component initialized, runs at 10.00 Hz [ 0.113] Component Quadcopter.laserscanner (level: raw) added to Quadcopter [ 0.113] [sensors.LidarLite] Quadcopter.sharpir initialization [ 0.113] Component Quadcopter.sharpir added to Quadcopter [ 0.113] [sensors.LidarLite] Quadcopter.lidar initialization [ 0.113] Component Quadcopter.lidar added to Quadcopter [ 0.113] [sensors.imu] Quadcopter.imu initialization [ 0.114] [sensors.imu] IMU Component initialized, runs at 60.00 Hz [ 0.115] Component Quadcopter.imu added to Quadcopter [ 0.115] [sensors.pose] Quadcopter.pose initialization [ 0.115] [sensors.pose] Component initialized, runs at 60.00 Hz [ 0.115] Component Quadcopter.pose added to Quadcopter [ 0.115] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.115] Component Quadcopter.odom (level: integrated) added to Quadcopter [ 0.115] [actuators.thrust] Quadcopter.thrust initialization [ 0.115] Component Quadcopter.thrust added to Quadcopter [ 0.115] [actuators.rotorcraft_attitude] Quadcopter.motion initialization [ 0.116] [actuators.rotorcraft_attitude] Component initialized, runs at 60.00 Hz [ 0.116] Component Quadcopter.motion added to Quadcopter [ 0.116] [sensors.ContactSwitch] Quadcopter.next_switch initialization [ 0.116] [sensors.ContactSwitch] Component initialized [ 0.116] Component Quadcopter.next_switch added to Quadcopter [ 0.116] [sensors.ContactSwitch] Quadcopter.next_switch_001 initialization [ 0.116] [sensors.ContactSwitch] Component initialized [ 0.116] Component Quadcopter.next_switch_001 added to Quadcopter [ 0.116] [sensors.ContactSwitch] Quadcopter.next_switch_002 initialization [ 0.116] [sensors.ContactSwitch] Component initialized [ 0.116] Component Quadcopter.next_switch_002 added to Quadcopter [ 0.116] [sensors.ContactSwitch] Quadcopter.next_switch_003 initialization [ 0.116] [sensors.ContactSwitch] Component initialized [ 0.117] Component Quadcopter.next_switch_003 added to Quadcopter [ 0.117] [sensors.OdometryAbsolutePose] roomba1.odom initialization [ 0.117] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.117] [sensors.OdometryAbsolutePose] Component initialized [ 0.117] Component roomba1.odom added to roomba1 [ 0.117] [actuators.v_omega] roomba1.motion initialization [ 0.117] [actuators.v_omega] Component initialized [ 0.117] Component roomba1.motion added to roomba1 [ 0.117] [sensors.BumpSensor] roomba1.next_bumper initialization [ 0.117] [sensors.BumpSensor] Component initialized [ 0.117] Component roomba1.next_bumper added to roomba1 [ 0.117] [sensors.BumpSensor] roomba1.next_bumper_001 initialization [ 0.117] [sensors.BumpSensor] Component initialized [ 0.118] Component roomba1.next_bumper_001 added to roomba1 [ 0.118] [sensors.BumpSensor] roomba1.next_bumper_002 initialization [ 0.118] [sensors.BumpSensor] Component initialized [ 0.118] Component roomba1.next_bumper_002 added to roomba1 [ 0.118] [sensors.BumpSensor] roomba1.next_bumper_003 initialization [ 0.118] [sensors.BumpSensor] Component initialized [ 0.118] Component roomba1.next_bumper_003 added to roomba1 [ 0.118] [sensors.BumpSensor] roomba1.next_bumper_004 initialization [ 0.118] [sensors.BumpSensor] Component initialized [ 0.118] Component roomba1.next_bumper_004 added to roomba1 [ 0.118] [sensors.BumpSensor] roomba1.next_bumper_005 initialization [ 0.118] [sensors.BumpSensor] Component initialized [ 0.118] Component roomba1.next_bumper_005 added to roomba1 [ 0.118] [sensors.TopTouchSensor] roomba1.TopTouchSensor initialization [ 0.119] [sensors.TopTouchSensor] Component initialized [ 0.119] Component roomba1.TopTouchSensor added to roomba1 [ 0.119] [sensors.OdometryAbsolutePose] roomba2.odom initialization [ 0.119] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.119] [sensors.OdometryAbsolutePose] Component initialized [ 0.119] Component roomba2.odom added to roomba2 [ 0.119] [actuators.v_omega] roomba2.motion initialization [ 0.119] [actuators.v_omega] Component initialized [ 0.119] Component roomba2.motion added to roomba2 [ 0.119] [sensors.BumpSensor] roomba2.next_bumper initialization [ 0.119] [sensors.BumpSensor] Component initialized [ 0.119] Component roomba2.next_bumper added to roomba2 [ 0.119] [sensors.BumpSensor] roomba2.next_bumper_001 initialization [ 0.120] [sensors.BumpSensor] Component initialized [ 0.120] Component roomba2.next_bumper_001 added to roomba2 [ 0.120] [sensors.BumpSensor] roomba2.next_bumper_002 initialization [ 0.120] [sensors.BumpSensor] Component initialized [ 0.120] Component roomba2.next_bumper_002 added to roomba2 [ 0.120] [sensors.BumpSensor] roomba2.next_bumper_003 initialization [ 0.120] [sensors.BumpSensor] Component initialized [ 0.120] Component roomba2.next_bumper_003 added to roomba2 [ 0.120] [sensors.BumpSensor] roomba2.next_bumper_004 initialization [ 0.120] [sensors.BumpSensor] Component initialized [ 0.120] Component roomba2.next_bumper_004 added to roomba2 [ 0.120] [sensors.BumpSensor] roomba2.next_bumper_005 initialization [ 0.120] [sensors.BumpSensor] Component initialized [ 0.120] Component roomba2.next_bumper_005 added to roomba2 [ 0.121] [sensors.TopTouchSensor] roomba2.TopTouchSensor initialization [ 0.121] [sensors.TopTouchSensor] Component initialized [ 0.121] Component roomba2.TopTouchSensor added to roomba2 [ 0.121] [sensors.OdometryAbsolutePose] roomba3.odom initialization [ 0.121] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.121] [sensors.OdometryAbsolutePose] Component initialized [ 0.121] Component roomba3.odom added to roomba3 [ 0.121] [actuators.v_omega] roomba3.motion initialization [ 0.121] [actuators.v_omega] Component initialized [ 0.121] Component roomba3.motion added to roomba3 [ 0.121] [sensors.BumpSensor] roomba3.next_bumper initialization [ 0.121] [sensors.BumpSensor] Component initialized [ 0.121] Component roomba3.next_bumper added to roomba3 [ 0.122] [sensors.BumpSensor] roomba3.next_bumper_001 initialization [ 0.122] [sensors.BumpSensor] Component initialized [ 0.122] Component roomba3.next_bumper_001 added to roomba3 [ 0.122] [sensors.BumpSensor] roomba3.next_bumper_002 initialization [ 0.122] [sensors.BumpSensor] Component initialized [ 0.122] Component roomba3.next_bumper_002 added to roomba3 [ 0.122] [sensors.BumpSensor] roomba3.next_bumper_003 initialization [ 0.122] [sensors.BumpSensor] Component initialized [ 0.122] Component roomba3.next_bumper_003 added to roomba3 [ 0.122] [sensors.BumpSensor] roomba3.next_bumper_004 initialization [ 0.122] [sensors.BumpSensor] Component initialized [ 0.122] Component roomba3.next_bumper_004 added to roomba3 [ 0.122] [sensors.BumpSensor] roomba3.next_bumper_005 initialization [ 0.122] [sensors.BumpSensor] Component initialized [ 0.122] Component roomba3.next_bumper_005 added to roomba3 [ 0.123] [sensors.TopTouchSensor] roomba3.TopTouchSensor initialization [ 0.123] [sensors.TopTouchSensor] Component initialized [ 0.123] Component roomba3.TopTouchSensor added to roomba3 [ 0.123] [sensors.OdometryAbsolutePose] roomba4.odom initialization [ 0.123] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.123] [sensors.OdometryAbsolutePose] Component initialized [ 0.123] Component roomba4.odom added to roomba4 [ 0.123] [actuators.v_omega] roomba4.motion initialization [ 0.123] [actuators.v_omega] Component initialized [ 0.123] Component roomba4.motion added to roomba4 [ 0.123] [sensors.BumpSensor] roomba4.next_bumper initialization [ 0.123] [sensors.BumpSensor] Component initialized [ 0.124] Component roomba4.next_bumper added to roomba4 [ 0.124] [sensors.BumpSensor] roomba4.next_bumper_001 initialization [ 0.124] [sensors.BumpSensor] Component initialized [ 0.124] Component roomba4.next_bumper_001 added to roomba4 [ 0.124] [sensors.BumpSensor] roomba4.next_bumper_002 initialization [ 0.124] [sensors.BumpSensor] Component initialized [ 0.124] Component roomba4.next_bumper_002 added to roomba4 [ 0.124] [sensors.BumpSensor] roomba4.next_bumper_003 initialization [ 0.124] [sensors.BumpSensor] Component initialized [ 0.124] Component roomba4.next_bumper_003 added to roomba4 [ 0.124] [sensors.BumpSensor] roomba4.next_bumper_004 initialization [ 0.124] [sensors.BumpSensor] Component initialized [ 0.124] Component roomba4.next_bumper_004 added to roomba4 [ 0.124] [sensors.BumpSensor] roomba4.next_bumper_005 initialization [ 0.125] [sensors.BumpSensor] Component initialized [ 0.125] Component roomba4.next_bumper_005 added to roomba4 [ 0.125] [sensors.TopTouchSensor] roomba4.TopTouchSensor initialization [ 0.125] [sensors.TopTouchSensor] Component initialized [ 0.125] Component roomba4.TopTouchSensor added to roomba4 [ 0.125] [sensors.OdometryAbsolutePose] roomba5.odom initialization [ 0.125] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.125] [sensors.OdometryAbsolutePose] Component initialized [ 0.125] Component roomba5.odom added to roomba5 [ 0.125] [actuators.v_omega] roomba5.motion initialization [ 0.125] [actuators.v_omega] Component initialized [ 0.125] Component roomba5.motion added to roomba5 [ 0.125] [sensors.BumpSensor] roomba5.next_bumper initialization [ 0.125] [sensors.BumpSensor] Component initialized [ 0.126] Component roomba5.next_bumper added to roomba5 [ 0.126] [sensors.BumpSensor] roomba5.next_bumper_001 initialization [ 0.126] [sensors.BumpSensor] Component initialized [ 0.126] Component roomba5.next_bumper_001 added to roomba5 [ 0.126] [sensors.BumpSensor] roomba5.next_bumper_002 initialization [ 0.126] [sensors.BumpSensor] Component initialized [ 0.126] Component roomba5.next_bumper_002 added to roomba5 [ 0.126] [sensors.BumpSensor] roomba5.next_bumper_003 initialization [ 0.126] [sensors.BumpSensor] Component initialized [ 0.126] Component roomba5.next_bumper_003 added to roomba5 [ 0.126] [sensors.BumpSensor] roomba5.next_bumper_004 initialization [ 0.126] [sensors.BumpSensor] Component initialized [ 0.126] Component roomba5.next_bumper_004 added to roomba5 [ 0.126] [sensors.BumpSensor] roomba5.next_bumper_005 initialization [ 0.127] [sensors.BumpSensor] Component initialized [ 0.127] Component roomba5.next_bumper_005 added to roomba5 [ 0.127] [sensors.TopTouchSensor] roomba5.TopTouchSensor initialization [ 0.127] [sensors.TopTouchSensor] Component initialized [ 0.127] Component roomba5.TopTouchSensor added to roomba5 [ 0.127] [sensors.OdometryAbsolutePose] roomba6.odom initialization [ 0.127] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.127] [sensors.OdometryAbsolutePose] Component initialized [ 0.127] Component roomba6.odom added to roomba6 [ 0.127] [actuators.v_omega] roomba6.motion initialization [ 0.127] [actuators.v_omega] Component initialized [ 0.127] Component roomba6.motion added to roomba6 [ 0.127] [sensors.BumpSensor] roomba6.next_bumper initialization [ 0.127] [sensors.BumpSensor] Component initialized [ 0.128] Component roomba6.next_bumper added to roomba6 [ 0.128] [sensors.BumpSensor] roomba6.next_bumper_001 initialization [ 0.128] [sensors.BumpSensor] Component initialized [ 0.128] Component roomba6.next_bumper_001 added to roomba6 [ 0.128] [sensors.BumpSensor] roomba6.next_bumper_002 initialization [ 0.128] [sensors.BumpSensor] Component initialized [ 0.128] Component roomba6.next_bumper_002 added to roomba6 [ 0.128] [sensors.BumpSensor] roomba6.next_bumper_003 initialization [ 0.128] [sensors.BumpSensor] Component initialized [ 0.128] Component roomba6.next_bumper_003 added to roomba6 [ 0.128] [sensors.BumpSensor] roomba6.next_bumper_004 initialization [ 0.128] [sensors.BumpSensor] Component initialized [ 0.128] Component roomba6.next_bumper_004 added to roomba6 [ 0.128] [sensors.BumpSensor] roomba6.next_bumper_005 initialization [ 0.129] [sensors.BumpSensor] Component initialized [ 0.129] Component roomba6.next_bumper_005 added to roomba6 [ 0.129] [sensors.TopTouchSensor] roomba6.TopTouchSensor initialization [ 0.129] [sensors.TopTouchSensor] Component initialized [ 0.129] Component roomba6.TopTouchSensor added to roomba6 [ 0.129] [sensors.OdometryAbsolutePose] roomba7.odom initialization [ 0.129] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.129] [sensors.OdometryAbsolutePose] Component initialized [ 0.129] Component roomba7.odom added to roomba7 [ 0.129] [actuators.v_omega] roomba7.motion initialization [ 0.129] [actuators.v_omega] Component initialized [ 0.129] Component roomba7.motion added to roomba7 [ 0.129] [sensors.BumpSensor] roomba7.next_bumper initialization [ 0.130] [sensors.BumpSensor] Component initialized [ 0.130] Component roomba7.next_bumper added to roomba7 [ 0.130] [sensors.BumpSensor] roomba7.next_bumper_001 initialization [ 0.130] [sensors.BumpSensor] Component initialized [ 0.130] Component roomba7.next_bumper_001 added to roomba7 [ 0.130] [sensors.BumpSensor] roomba7.next_bumper_002 initialization [ 0.130] [sensors.BumpSensor] Component initialized [ 0.130] Component roomba7.next_bumper_002 added to roomba7 [ 0.130] [sensors.BumpSensor] roomba7.next_bumper_003 initialization [ 0.130] [sensors.BumpSensor] Component initialized [ 0.130] Component roomba7.next_bumper_003 added to roomba7 [ 0.130] [sensors.BumpSensor] roomba7.next_bumper_004 initialization [ 0.130] [sensors.BumpSensor] Component initialized [ 0.130] Component roomba7.next_bumper_004 added to roomba7 [ 0.130] [sensors.BumpSensor] roomba7.next_bumper_005 initialization [ 0.131] [sensors.BumpSensor] Component initialized [ 0.131] Component roomba7.next_bumper_005 added to roomba7 [ 0.131] [sensors.TopTouchSensor] roomba7.TopTouchSensor initialization [ 0.131] [sensors.TopTouchSensor] Component initialized [ 0.131] Component roomba7.TopTouchSensor added to roomba7 [ 0.131] [sensors.OdometryAbsolutePose] roomba8.odom initialization [ 0.131] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.131] [sensors.OdometryAbsolutePose] Component initialized [ 0.131] Component roomba8.odom added to roomba8 [ 0.131] [actuators.v_omega] roomba8.motion initialization [ 0.131] [actuators.v_omega] Component initialized [ 0.131] Component roomba8.motion added to roomba8 [ 0.131] [sensors.BumpSensor] roomba8.next_bumper initialization [ 0.132] [sensors.BumpSensor] Component initialized [ 0.132] Component roomba8.next_bumper added to roomba8 [ 0.132] [sensors.BumpSensor] roomba8.next_bumper_001 initialization [ 0.132] [sensors.BumpSensor] Component initialized [ 0.132] Component roomba8.next_bumper_001 added to roomba8 [ 0.132] [sensors.BumpSensor] roomba8.next_bumper_002 initialization [ 0.132] [sensors.BumpSensor] Component initialized [ 0.132] Component roomba8.next_bumper_002 added to roomba8 [ 0.132] [sensors.BumpSensor] roomba8.next_bumper_003 initialization [ 0.132] [sensors.BumpSensor] Component initialized [ 0.132] Component roomba8.next_bumper_003 added to roomba8 [ 0.132] [sensors.BumpSensor] roomba8.next_bumper_004 initialization [ 0.132] [sensors.BumpSensor] Component initialized [ 0.133] Component roomba8.next_bumper_004 added to roomba8 [ 0.133] [sensors.BumpSensor] roomba8.next_bumper_005 initialization [ 0.133] [sensors.BumpSensor] Component initialized [ 0.133] Component roomba8.next_bumper_005 added to roomba8 [ 0.133] [sensors.TopTouchSensor] roomba8.TopTouchSensor initialization [ 0.133] [sensors.TopTouchSensor] Component initialized [ 0.133] Component roomba8.TopTouchSensor added to roomba8 [ 0.133] [sensors.OdometryAbsolutePose] roomba9.odom initialization [ 0.133] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.133] [sensors.OdometryAbsolutePose] Component initialized [ 0.133] Component roomba9.odom added to roomba9 [ 0.133] [actuators.v_omega] roomba9.motion initialization [ 0.133] [actuators.v_omega] Component initialized [ 0.133] Component roomba9.motion added to roomba9 [ 0.134] [sensors.BumpSensor] roomba9.next_bumper initialization [ 0.134] [sensors.BumpSensor] Component initialized [ 0.134] Component roomba9.next_bumper added to roomba9 [ 0.134] [sensors.BumpSensor] roomba9.next_bumper_001 initialization [ 0.134] [sensors.BumpSensor] Component initialized [ 0.134] Component roomba9.next_bumper_001 added to roomba9 [ 0.134] [sensors.BumpSensor] roomba9.next_bumper_002 initialization [ 0.134] [sensors.BumpSensor] Component initialized [ 0.134] Component roomba9.next_bumper_002 added to roomba9 [ 0.134] [sensors.BumpSensor] roomba9.next_bumper_003 initialization [ 0.134] [sensors.BumpSensor] Component initialized [ 0.134] Component roomba9.next_bumper_003 added to roomba9 [ 0.134] [sensors.BumpSensor] roomba9.next_bumper_004 initialization [ 0.134] [sensors.BumpSensor] Component initialized [ 0.135] Component roomba9.next_bumper_004 added to roomba9 [ 0.135] [sensors.BumpSensor] roomba9.next_bumper_005 initialization [ 0.135] [sensors.BumpSensor] Component initialized [ 0.135] Component roomba9.next_bumper_005 added to roomba9 [ 0.135] [sensors.TopTouchSensor] roomba9.TopTouchSensor initialization [ 0.135] [sensors.TopTouchSensor] Component initialized [ 0.135] Component roomba9.TopTouchSensor added to roomba9 [ 0.135] [sensors.OdometryAbsolutePose] obstacle0.odom initialization [ 0.135] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.135] [sensors.OdometryAbsolutePose] Component initialized [ 0.135] Component obstacle0.odom added to obstacle0 [ 0.135] [actuators.v_omega] obstacle0.motion initialization [ 0.135] [actuators.v_omega] Component initialized [ 0.136] Component obstacle0.motion added to obstacle0 [ 0.136] [sensors.BumpSensor] obstacle0.next_bumper initialization [ 0.136] [sensors.BumpSensor] Component initialized [ 0.136] Component obstacle0.next_bumper added to obstacle0 [ 0.136] [sensors.BumpSensor] obstacle0.next_bumper_001 initialization [ 0.136] [sensors.BumpSensor] Component initialized [ 0.136] Component obstacle0.next_bumper_001 added to obstacle0 [ 0.136] [sensors.BumpSensor] obstacle0.next_bumper_002 initialization [ 0.136] [sensors.BumpSensor] Component initialized [ 0.136] Component obstacle0.next_bumper_002 added to obstacle0 [ 0.136] [sensors.BumpSensor] obstacle0.next_bumper_003 initialization [ 0.136] [sensors.BumpSensor] Component initialized [ 0.136] Component obstacle0.next_bumper_003 added to obstacle0 [ 0.136] [sensors.BumpSensor] obstacle0.next_bumper_004 initialization [ 0.137] [sensors.BumpSensor] Component initialized [ 0.137] Component obstacle0.next_bumper_004 added to obstacle0 [ 0.137] [sensors.BumpSensor] obstacle0.next_bumper_005 initialization [ 0.137] [sensors.BumpSensor] Component initialized [ 0.137] Component obstacle0.next_bumper_005 added to obstacle0 [ 0.137] [sensors.OdometryAbsolutePose] obstacle1.odom initialization [ 0.137] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.137] [sensors.OdometryAbsolutePose] Component initialized [ 0.137] Component obstacle1.odom added to obstacle1 [ 0.137] [actuators.v_omega] obstacle1.motion initialization [ 0.137] [actuators.v_omega] Component initialized [ 0.137] Component obstacle1.motion added to obstacle1 [ 0.137] [sensors.BumpSensor] obstacle1.next_bumper initialization [ 0.137] [sensors.BumpSensor] Component initialized [ 0.138] Component obstacle1.next_bumper added to obstacle1 [ 0.138] [sensors.BumpSensor] obstacle1.next_bumper_001 initialization [ 0.138] [sensors.BumpSensor] Component initialized [ 0.138] Component obstacle1.next_bumper_001 added to obstacle1 [ 0.138] [sensors.BumpSensor] obstacle1.next_bumper_002 initialization [ 0.138] [sensors.BumpSensor] Component initialized [ 0.138] Component obstacle1.next_bumper_002 added to obstacle1 [ 0.138] [sensors.BumpSensor] obstacle1.next_bumper_003 initialization [ 0.138] [sensors.BumpSensor] Component initialized [ 0.138] Component obstacle1.next_bumper_003 added to obstacle1 [ 0.138] [sensors.BumpSensor] obstacle1.next_bumper_004 initialization [ 0.138] [sensors.BumpSensor] Component initialized [ 0.138] Component obstacle1.next_bumper_004 added to obstacle1 [ 0.138] [sensors.BumpSensor] obstacle1.next_bumper_005 initialization [ 0.139] [sensors.BumpSensor] Component initialized [ 0.139] Component obstacle1.next_bumper_005 added to obstacle1 [ 0.139] [sensors.clock] fake_robot.clock initialization [ 0.139] [sensors.clock] Component initialized, runs at 60.00 Hz [ 0.139] Component fake_robot.clock added to fake_robot [ 0.139] [sensors.OdometryAbsolutePose] obstacle2.odom initialization [ 0.139] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.139] [sensors.OdometryAbsolutePose] Component initialized [ 0.139] Component obstacle2.odom added to obstacle2 [ 0.139] [actuators.v_omega] obstacle2.motion initialization [ 0.139] [actuators.v_omega] Component initialized [ 0.139] Component obstacle2.motion added to obstacle2 [ 0.139] [sensors.BumpSensor] obstacle2.next_bumper initialization [ 0.140] [sensors.BumpSensor] Component initialized [ 0.140] Component obstacle2.next_bumper added to obstacle2 [ 0.140] [sensors.BumpSensor] obstacle2.next_bumper_001 initialization [ 0.140] [sensors.BumpSensor] Component initialized [ 0.140] Component obstacle2.next_bumper_001 added to obstacle2 [ 0.140] [sensors.BumpSensor] obstacle2.next_bumper_002 initialization [ 0.140] [sensors.BumpSensor] Component initialized [ 0.140] Component obstacle2.next_bumper_002 added to obstacle2 [ 0.140] [sensors.BumpSensor] obstacle2.next_bumper_003 initialization [ 0.140] [sensors.BumpSensor] Component initialized [ 0.140] Component obstacle2.next_bumper_003 added to obstacle2 [ 0.140] [sensors.BumpSensor] obstacle2.next_bumper_004 initialization [ 0.140] [sensors.BumpSensor] Component initialized [ 0.140] Component obstacle2.next_bumper_004 added to obstacle2 [ 0.141] [sensors.BumpSensor] obstacle2.next_bumper_005 initialization [ 0.141] [sensors.BumpSensor] Component initialized [ 0.141] Component obstacle2.next_bumper_005 added to obstacle2 [ 0.141] [sensors.OdometryAbsolutePose] roomba0.odom initialization [ 0.141] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.141] [sensors.OdometryAbsolutePose] Component initialized [ 0.141] Component roomba0.odom added to roomba0 [ 0.141] [actuators.v_omega] roomba0.motion initialization [ 0.141] [actuators.v_omega] Component initialized [ 0.141] Component roomba0.motion added to roomba0 [ 0.141] [sensors.BumpSensor] roomba0.next_bumper initialization [ 0.141] [sensors.BumpSensor] Component initialized [ 0.141] Component roomba0.next_bumper added to roomba0 [ 0.142] [sensors.BumpSensor] roomba0.next_bumper_001 initialization [ 0.142] [sensors.BumpSensor] Component initialized [ 0.142] Component roomba0.next_bumper_001 added to roomba0 [ 0.142] [sensors.BumpSensor] roomba0.next_bumper_002 initialization [ 0.142] [sensors.BumpSensor] Component initialized [ 0.142] Component roomba0.next_bumper_002 added to roomba0 [ 0.142] [sensors.BumpSensor] roomba0.next_bumper_003 initialization [ 0.142] [sensors.BumpSensor] Component initialized [ 0.142] Component roomba0.next_bumper_003 added to roomba0 [ 0.142] [sensors.BumpSensor] roomba0.next_bumper_004 initialization [ 0.142] [sensors.BumpSensor] Component initialized [ 0.142] Component roomba0.next_bumper_004 added to roomba0 [ 0.142] [sensors.BumpSensor] roomba0.next_bumper_005 initialization [ 0.142] [sensors.BumpSensor] Component initialized [ 0.143] Component roomba0.next_bumper_005 added to roomba0 [ 0.143] [sensors.TopTouchSensor] roomba0.TopTouchSensor initialization [ 0.143] [sensors.TopTouchSensor] Component initialized [ 0.143] Component roomba0.TopTouchSensor added to roomba0 [ 0.143] [sensors.OdometryAbsolutePose] obstacle3.odom initialization [ 0.143] [sensors.odometry] Component initialized, runs at 60.00 Hz [ 0.143] [sensors.OdometryAbsolutePose] Component initialized [ 0.143] Component obstacle3.odom added to obstacle3 [ 0.143] [actuators.v_omega] obstacle3.motion initialization [ 0.143] [actuators.v_omega] Component initialized [ 0.143] Component obstacle3.motion added to obstacle3 [ 0.144] [sensors.BumpSensor] obstacle3.next_bumper initialization [ 0.144] [sensors.BumpSensor] Component initialized [ 0.144] Component obstacle3.next_bumper added to obstacle3 [ 0.144] [sensors.BumpSensor] obstacle3.next_bumper_001 initialization [ 0.144] [sensors.BumpSensor] Component initialized [ 0.144] Component obstacle3.next_bumper_001 added to obstacle3 [ 0.144] [sensors.BumpSensor] obstacle3.next_bumper_002 initialization [ 0.144] [sensors.BumpSensor] Component initialized [ 0.144] Component obstacle3.next_bumper_002 added to obstacle3 [ 0.144] [sensors.BumpSensor] obstacle3.next_bumper_003 initialization [ 0.144] [sensors.BumpSensor] Component initialized [ 0.144] Component obstacle3.next_bumper_003 added to obstacle3 [ 0.144] [sensors.BumpSensor] obstacle3.next_bumper_004 initialization [ 0.144] [sensors.BumpSensor] Component initialized [ 0.145] Component obstacle3.next_bumper_004 added to obstacle3 [ 0.145] [sensors.BumpSensor] obstacle3.next_bumper_005 initialization [ 0.145] [sensors.BumpSensor] Component initialized [ 0.145] Component obstacle3.next_bumper_005 added to obstacle3

[SUPERVISION SERVICES INITIALIZATION] [ 0.154] No multi-node scene configuration file found. Multi-node support disabled. [ 0.179] [middleware.socket_request_manager] Socket service manager now listening on port 4000. [ 0.179] [core.services] Successfully initialized the morse.middleware.socket_request_manager.SocketRequestManager request manager. [ 0.179] Adding 'morse.middleware.socket_request_manager.SocketRequestManager' to the middlewares for communication control [ 0.179] [core.request_manager] Socket service manager: Synchronous service 'distance_and_view' for component 'communication' successfully registered [ 0.179] Adding 'morse.middleware.socket_request_manager.SocketRequestManager' to the middlewares for time control [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'mode' for component 'time' successfully registered [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'now' for component 'time' successfully registered [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'set_time_scale' for component 'time' successfully registered [ 0.180] [core.request_manager] Socket service manager: Asynchronous service 'sleep' for component 'time' successfully registered [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'statistics' for component 'time' successfully registered [ 0.180] Adding 'morse.middleware.socket_request_manager.SocketRequestManager' to the middlewares for simulation control [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'activate' for component 'simulation' successfully registered [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'deactivate' for component 'simulation' successfully registered [ 0.180] [core.request_manager] Socket service manager: Synchronous service 'details' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'get_camarafp_position' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'get_camarafp_projection_matrix' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'get_camarafp_transform' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'get_scene_objects' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'list_robots' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'quit' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'reset_objects' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'restore_dynamics' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'set_camarafp_far_clip' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'set_camarafp_position' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'set_camarafp_projection_matrix' for component 'simulation' successfully registered [ 0.181] [core.request_manager] Socket service manager: Synchronous service 'set_camarafp_transform' for component 'simulation' successfully registered [ 0.182] [core.request_manager] Socket service manager: Synchronous service 'set_log_level' for component 'simulation' successfully registered [ 0.182] [core.request_manager] Socket service manager: Synchronous service 'set_object_dynamics' for component 'simulation' successfully registered [ 0.182] [core.request_manager] Socket service manager: Synchronous service 'set_object_position' for component 'simulation' successfully registered [ 0.182] [core.request_manager] Socket service manager: Synchronous service 'set_object_visibility' for component 'simulation' successfully registered [ 0.182] [core.request_manager] Socket service manager: Synchronous service 'suspend_dynamics' for component 'simulation' successfully registered [ 0.182] [core.request_manager] Socket service manager: Synchronous service 'terminate' for component 'simulation' successfully registered [SUPERVISION SERVICES INITIALIZED]

[SCENE INITIALIZATION] [ 0.332] [middleware.ros_request_manager] ROS node 'morse' successfully created. [ 0.333] [core.services] Successfully initialized the morse.middleware.ros_request_manager.RosRequestManager request manager. [ 0.333] [middleware.ros_request_manager] fake_robot.clock.get_configurations has no ROS-specific service type. Skipping it. [ 0.333] [core.request_manager] ROS Request Manager: Did not register service (could not complete the post-registration step). [ 0.333] [middleware.ros_request_manager] fake_robot.clock.get_local_data has no ROS-specific service type. Skipping it. [ 0.334] [core.request_manager] ROS Request Manager: Did not register service (could not complete the post-registration step). [ 0.334] [middleware.ros_request_manager] fake_robot.clock.get_properties has no ROS-specific service type. Skipping it. [ 0.334] [core.request_manager] ROS Request Manager: Did not register service (could not complete the post-registration step). [ 0.334] [middleware.ros_request_manager] fake_robot.clock.set_property has no ROS-specific service type. Skipping it. [ 0.334] [core.request_manager] ROS Request Manager: Did not register service (could not complete the post-registration step). [ 0.335] Component: 'fake_robot.clock' using middleware 'morse.middleware.ros_request_manager.RosRequestManager' for services [ 0.335] Component: 'roomba7.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.336] Datastream interface 'morse.middleware.ros_datastream.ROSDatastreamManager' created [ 0.457] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba7.next_bumper_002) [ 0.459] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba7.next_bumper_002) [ 0.459] Component: 'roomba4.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.461] [morse.ros] ROS node morse initialized OdometryPublisher(roomba4.odom) [ 0.463] [morse.ros] ROS publisher initialized for OdometryPublisher(roomba4.odom) [ 0.465] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'roomba4/base_link' [ 0.465] Component: 'roomba9.TopTouchSensor' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.465] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba9.TopTouchSensor) [ 0.468] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba9.TopTouchSensor) [ 0.468] Component: 'roomba6.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.469] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba6.next_bumper) [ 0.471] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba6.next_bumper) [ 0.471] Component: 'roomba1.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.472] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba1.next_bumper_002) [ 0.475] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba1.next_bumper_002) [ 0.475] Component: 'roomba5.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.475] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba5.next_bumper_001) [ 0.477] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba5.next_bumper_001) [ 0.477] Component: 'roomba7.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.477] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba7.next_bumper_001) [ 0.479] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba7.next_bumper_001) [ 0.479] Component: 'roomba8.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.480] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba8.next_bumper_001) [ 0.481] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba8.next_bumper_001) [ 0.482] Component: 'roomba4.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.482] [morse.ros] ROS node morse initialized TwistReader(roomba4.motion) [ 0.486] [morse.ros] ROS subscriber initialized for TwistReader(roomba4.motion) [ 0.486] Component: 'roomba6.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.486] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba6.next_bumper_001) [ 0.488] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba6.next_bumper_001) [ 0.488] Component: 'roomba0.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.489] [morse.ros] ROS node morse initialized OdometryPublisher(roomba0.odom) [ 0.491] [morse.ros] ROS publisher initialized for OdometryPublisher(roomba0.odom) [ 0.491] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'roomba0/base_link' [ 0.491] Component: 'Quadcopter.laserscanner' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.575] [morse.ros] ROS node morse initialized LaserScanPublisher(Quadcopter.laserscanner) [ 0.578] [morse.ros] ROS publisher initialized for LaserScanPublisher(Quadcopter.laserscanner) [ 0.578] Component: 'obstacle3.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.578] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle3.next_bumper_004) [ 0.580] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle3.next_bumper_004) [ 0.580] Component: 'roomba8.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.580] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba8.next_bumper) [ 0.582] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba8.next_bumper) [ 0.582] Component: 'Quadcopter.next_switch_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.582] [morse.ros] ROS node morse initialized BumpSensorPublisher(Quadcopter.next_switch_001) [ 0.584] [morse.ros] ROS publisher initialized for BumpSensorPublisher(Quadcopter.next_switch_001) [ 0.584] Component: 'roomba9.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.584] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba9.next_bumper_001) [ 0.587] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba9.next_bumper_001) [ 0.587] Component: 'roomba7.next_bumper_003' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.587] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba7.next_bumper_003) [ 0.589] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba7.next_bumper_003) [ 0.589] Component: 'roomba9.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.589] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba9.next_bumper_002) [ 0.591] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba9.next_bumper_002) [ 0.591] Component: 'roomba8.TopTouchSensor' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.591] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba8.TopTouchSensor) [ 0.593] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba8.TopTouchSensor) [ 0.593] Component: 'roomba0.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.593] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba0.next_bumper_002) [ 0.595] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba0.next_bumper_002) [ 0.595] Component: 'roomba5.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.595] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba5.next_bumper_005) [ 0.597] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba5.next_bumper_005) [ 0.597] Component: 'roomba9.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.597] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba9.next_bumper_005) [ 0.599] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba9.next_bumper_005) [ 0.599] Component: 'obstacle0.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.599] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle0.next_bumper) [ 0.601] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle0.next_bumper) [ 0.601] Component: 'obstacle3.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.601] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle3.next_bumper_005) [ 0.603] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle3.next_bumper_005) [ 0.603] Component: 'obstacle2.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.603] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle2.next_bumper_002) [ 0.605] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle2.next_bumper_002) [ 0.605] Component: 'roomba6.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.605] [morse.ros] ROS node morse initialized TwistReader(roomba6.motion) [ 0.608] [morse.ros] ROS subscriber initialized for TwistReader(roomba6.motion) [ 0.609] Component: 'obstacle2.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.609] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle2.next_bumper_001) [ 0.612] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle2.next_bumper_001) [ 0.612] Component: 'obstacle3.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.612] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle3.next_bumper_001) [ 0.614] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle3.next_bumper_001) [ 0.614] Component: 'Quadcopter.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.615] [morse.ros] ROS node morse initialized RotorcraftAttitudeReader(Quadcopter.motion) [ 0.618] [morse.ros] ROS subscriber initialized for RotorcraftAttitudeReader(Quadcopter.motion) [ 0.619] Component: 'roomba3.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.619] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba3.next_bumper) [ 0.622] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba3.next_bumper) [ 0.623] Component: 'roomba0.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.623] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba0.next_bumper_001) [ 0.626] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba0.next_bumper_001) [ 0.626] Component: 'roomba2.next_bumper_003' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.626] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba2.next_bumper_003) [ 0.628] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba2.next_bumper_003) [ 0.629] Component: 'roomba5.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.629] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba5.next_bumper_002) [ 0.632] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba5.next_bumper_002) [ 0.632] Component: 'obstacle3.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.633] [morse.ros] ROS node morse initialized TwistReader(obstacle3.motion) [ 0.636] [morse.ros] ROS subscriber initialized for TwistReader(obstacle3.motion) [ 0.636] Component: 'roomba8.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.637] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba8.next_bumper_004) [ 0.639] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba8.next_bumper_004) [ 0.639] Component: 'roomba0.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.639] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba0.next_bumper) [ 0.641] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba0.next_bumper) [ 0.641] Component: 'roomba2.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.641] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba2.next_bumper_005) [ 0.643] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba2.next_bumper_005) [ 0.643] Component: 'roomba8.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.643] [morse.ros] ROS node morse initialized TwistReader(roomba8.motion) [ 0.647] [morse.ros] ROS subscriber initialized for TwistReader(roomba8.motion) [ 0.647] Component: 'roomba3.next_bumper_001' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.647] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba3.next_bumper_001) [ 0.649] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba3.next_bumper_001) [ 0.649] Component: 'roomba3.next_bumper_003' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.650] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba3.next_bumper_003) [ 0.651] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba3.next_bumper_003) [ 0.651] Component: 'roomba0.TopTouchSensor' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.652] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba0.TopTouchSensor) [ 0.653] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba0.TopTouchSensor) [ 0.653] Component: 'obstacle1.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.653] [morse.ros] ROS node morse initialized OdometryPublisher(obstacle1.odom) [ 0.655] [morse.ros] ROS publisher initialized for OdometryPublisher(obstacle1.odom) [ 0.655] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'obstacle1/base_link' [ 0.655] Component: 'roomba8.next_bumper_003' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.656] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba8.next_bumper_003) [ 0.657] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba8.next_bumper_003) [ 0.657] Component: 'fake_robot.clock' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.658] [morse.ros] ROS node morse initialized ClockPublisher(fake_robot.clock) [ 0.660] [morse.ros] ROS publisher initialized for ClockPublisher(fake_robot.clock) [ 0.661] Component: 'roomba3.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.661] [morse.ros] ROS node morse initialized OdometryPublisher(roomba3.odom) [ 0.663] [morse.ros] ROS publisher initialized for OdometryPublisher(roomba3.odom) [ 0.663] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'roomba3/base_link' [ 0.663] Component: 'roomba2.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.663] [morse.ros] ROS node morse initialized TwistReader(roomba2.motion) [ 0.666] [morse.ros] ROS subscriber initialized for TwistReader(roomba2.motion) [ 0.666] Component: 'roomba2.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.667] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba2.next_bumper) [ 0.669] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba2.next_bumper) [ 0.669] Component: 'roomba5.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.669] [morse.ros] ROS node morse initialized TwistReader(roomba5.motion) [ 0.672] [morse.ros] ROS subscriber initialized for TwistReader(roomba5.motion) [ 0.673] Component: 'roomba1.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.674] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba1.next_bumper_004) [ 0.676] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba1.next_bumper_004) [ 0.676] Component: 'roomba0.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.676] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba0.next_bumper_004) [ 0.683] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba0.next_bumper_004) [ 0.683] Component: 'roomba3.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.684] [morse.ros] ROS node morse initialized TwistReader(roomba3.motion) [ 0.693] [morse.ros] ROS subscriber initialized for TwistReader(roomba3.motion) [ 0.694] Component: 'roomba1.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.694] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba1.next_bumper_005) [ 0.699] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba1.next_bumper_005) [ 0.699] Component: 'roomba3.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.699] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba3.next_bumper_004) [ 0.703] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba3.next_bumper_004) [ 0.703] Component: 'roomba3.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.703] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba3.next_bumper_005) [ 0.706] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba3.next_bumper_005) [ 0.706] Component: 'obstacle0.next_bumper_003' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.706] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle0.next_bumper_003) [ 0.709] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle0.next_bumper_003) [ 0.710] Component: 'roomba8.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.712] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba8.next_bumper_005) [ 0.715] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba8.next_bumper_005) [ 0.716] Component: 'roomba2.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.716] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba2.next_bumper_002) [ 0.718] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba2.next_bumper_002) [ 0.719] Component: 'obstacle2.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.719] [morse.ros] ROS node morse initialized OdometryPublisher(obstacle2.odom) [ 0.724] [morse.ros] ROS publisher initialized for OdometryPublisher(obstacle2.odom) [ 0.724] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'obstacle2/base_link' [ 0.724] Component: 'roomba7.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.724] [morse.ros] ROS node morse initialized TwistReader(roomba7.motion) [ 0.731] [morse.ros] ROS subscriber initialized for TwistReader(roomba7.motion) [ 0.732] Component: 'roomba1.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.732] [morse.ros] ROS node morse initialized OdometryPublisher(roomba1.odom) [ 0.734] [morse.ros] ROS publisher initialized for OdometryPublisher(roomba1.odom) [ 0.735] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'roomba1/base_link' [ 0.735] Component: 'roomba4.next_bumper_005' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.736] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba4.next_bumper_005) [ 0.744] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba4.next_bumper_005) [ 0.744] Component: 'roomba1.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.745] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba1.next_bumper) [ 0.749] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba1.next_bumper) [ 0.749] Component: 'roomba1.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.749] [morse.ros] ROS node morse initialized TwistReader(roomba1.motion) [ 0.752] [morse.ros] ROS subscriber initialized for TwistReader(roomba1.motion) [ 0.753] Component: 'obstacle0.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.753] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle0.next_bumper_004) [ 0.755] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle0.next_bumper_004) [ 0.755] Component: 'obstacle0.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.755] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle0.next_bumper_002) [ 0.757] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle0.next_bumper_002) [ 0.757] Component: 'obstacle2.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.758] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle2.next_bumper_004) [ 0.762] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle2.next_bumper_004) [ 0.762] Component: 'roomba9.motion' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.762] [morse.ros] ROS node morse initialized TwistReader(roomba9.motion) [ 0.765] [morse.ros] ROS subscriber initialized for TwistReader(roomba9.motion) [ 0.766] Component: 'roomba4.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.767] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba4.next_bumper_004) [ 0.769] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba4.next_bumper_004) [ 0.769] Component: 'obstacle1.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.769] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle1.next_bumper_004) [ 0.774] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle1.next_bumper_004) [ 0.775] Component: 'roomba9.next_bumper_004' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.775] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba9.next_bumper_004) [ 0.778] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba9.next_bumper_004) [ 0.778] Component: 'roomba8.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.779] [morse.ros] ROS node morse initialized OdometryPublisher(roomba8.odom) [ 0.782] [morse.ros] ROS publisher initialized for OdometryPublisher(roomba8.odom) [ 0.782] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'roomba8/base_link' [ 0.782] Component: 'roomba2.TopTouchSensor' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.782] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba2.TopTouchSensor) [ 0.795] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba2.TopTouchSensor) [ 0.795] Component: 'roomba4.next_bumper' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.796] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba4.next_bumper) [ 0.797] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba4.next_bumper) [ 0.798] Component: 'obstacle3.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.799] [morse.ros] ROS node morse initialized BumpSensorPublisher(obstacle3.next_bumper_002) [ 0.800] [morse.ros] ROS publisher initialized for BumpSensorPublisher(obstacle3.next_bumper_002) [ 0.801] Component: 'Quadcopter.lidar' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.801] [morse.ros] ROS node morse initialized LidarLitePublisher(Quadcopter.lidar) [ 0.803] [morse.ros] ROS publisher initialized for LidarLitePublisher(Quadcopter.lidar) [ 0.803] Component: 'roomba0.next_bumper_003' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.803] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba0.next_bumper_003) [ 0.805] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba0.next_bumper_003) [ 0.805] Component: 'roomba9.odom' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.805] [morse.ros] ROS node morse initialized OdometryPublisher(roomba9.odom) [ 0.807] [morse.ros] ROS publisher initialized for OdometryPublisher(roomba9.odom) [ 0.807] [ros.odometry] Initialized the ROS odometry sensor with frame_id 'map' and child_frame_id 'roomba9/base_link' [ 0.807] Component: 'roomba4.next_bumper_002' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.807] [morse.ros] ROS node morse initialized BumpSensorPublisher(roomba4.next_bumper_002) [ 0.810] [morse.ros] ROS publisher initialized for BumpSensorPublisher(roomba4.next_bumper_002) [ 0.810] Component: 'Quadcopter.imu' using datastream 'morse.middleware.ros_datastream.ROSDatastreamManager' [ 0.811] [morse.ros] ROS node morse initialized ImuPublisher(Quadcopter.imu) [ 0.813] [morse.ros] ROS publisher initialized for ImuPublisher(Quadcopter.imu) [ 0.813] Component

amiller27 commented 6 years ago

Yeah I can't really get anything from morse.log if the simulator is coming up correctly, which it looks like it is. The problem seems like it's external to the simulator itself. What are the red messages that get printed to the console?

Also, what do you mean you couldn't see any interaction between the simulator and iarc7_abstract? If you're looking for a direct link between the two, there isn't one; the simulator talks to lots of different nodes in the system, and the scripts in iarc7_abstract talk to other nodes, but they don't talk to each other directly. Here's an example node graph of the running simulator: rosgraph

You'll notice that /morse (the simulator) isn't directly connected to /takeoff_translate_land_abstract (the python script in iarc7_abstract)

amiller27 commented 6 years ago

Closing because of lack of activity. I'll reopen if this still needs resolution.