unable to correctly publish the base_link->map

Hey, Thanks for your quick response! After commenting out the first robot, I still got the same problem.
Here is the full logs,
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which ign) gazebo-1]: process started with pid [446882]
[INFO] [parameter_bridge-2]: process started with pid [446885]
[INFO] [mapf_solver_server-3]: process started with pid [446887]
[INFO] [map_server-4]: process started with pid [446890]
[INFO] [lifecycle_manager-5]: process started with pid [446892]
[INFO] [create-6]: process started with pid [446894]
[INFO] [static_transform_publisher-7]: process started with pid [446896]
[INFO] [static_transform_publisher-8]: process started with pid [446898]
[INFO] [parameter_bridge-9]: process started with pid [446900]
[mapf_solver_server-3] [INFO] [1723036576.422638368] [rclcpp]: Launched MAPF solver server for the simple environment.
[static_transform_publisher-7] [INFO] [1723036576.423182461] [SmallDeliveryRobot_0.static_transform_publisher_b83kINRgQuoDbo33]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from 'base_link' to 'SmallDeliveryRobot_0/imu_link/imu'
[lifecycle_manager-5] [INFO] [1723036576.424354658] [lifecycle_manager_node]: Creating
[lifecycle_manager-5] [INFO] [1723036576.425055384] [lifecycle_manager_node]: Creating and initializing lifecycle service clients
[lifecycle_manager-5] [INFO] [1723036576.427796996] [lifecycle_manager_node]: Starting managed nodes bringup...
[lifecycle_manager-5] [INFO] [1723036576.427819714] [lifecycle_manager_node]: Configuring map_server
[map_server-4] [INFO] [1723036576.428113152] [map_server]: 
[map_server-4]  map_server lifecycle node launched. 
[map_server-4]  Waiting on external lifecycle transitions to activate
[map_server-4]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-4] [INFO] [1723036576.428159518] [map_server]: Creating
[map_server-4] [INFO] [1723036576.428266306] [map_server]: Configuring
[map_server-4] [INFO] [map_io]: Loading yaml file: /home/hanzheng/ros2_ws/install/remroc/share/remroc/worlds/maps/simple.yaml
[map_server-4] [DEBUG] [map_io]: resolution: 0.05
[map_server-4] [DEBUG] [map_io]: origin[0]: -5.08
[map_server-4] [DEBUG] [map_io]: origin[1]: -5.09
[map_server-4] [DEBUG] [map_io]: origin[2]: 0
[map_server-4] [DEBUG] [map_io]: free_thresh: 0.25
[map_server-4] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-4] [DEBUG] [map_io]: mode: trinary
[map_server-4] [DEBUG] [map_io]: negate: 0
[static_transform_publisher-8] [INFO] [1723036576.428478493] [SmallDeliveryRobot_0.static_transform_publisher_8v1JQFivh1CheRe7]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('-0.285500', '0.000000', '0.431800')
[static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-8] from 'base_link' to 'SmallDeliveryRobot_0/scan_omni/scan_omni'
[map_server-4] [INFO] [map_io]: Loading image_file: /home/hanzheng/ros2_ws/install/remroc/share/remroc/worlds/maps/simple.pgm
[map_server-4] [DEBUG] [map_io]: Read map /home/hanzheng/ros2_ws/install/remroc/share/remroc/worlds/maps/simple.pgm: 203 X 204 map @ 0.05 m/cell
[lifecycle_manager-5] [INFO] [1723036576.431525874] [lifecycle_manager_node]: Activating map_server
[map_server-4] [INFO] [1723036576.431554266] [map_server]: Activating
[map_server-4] [INFO] [1723036576.431603830] [map_server]: Creating bond (map_server) to lifecycle manager.
[parameter_bridge-2] [INFO] [1723036576.442834048] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/simple/clock (ignition.msgs.Clock) -> /world/simple/clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-9] [INFO] [1723036576.443707908] [SmallDeliveryRobot_0.ros_gz_bridge]: Creating ROS->GZ Bridge: [/model/SmallDeliveryRobot_0/cmd_vel (geometry_msgs/msg/Twist) -> /model/SmallDeliveryRobot_0/cmd_vel (ignition.msgs.Twist)] (Lazy 0)
[parameter_bridge-9] [INFO] [1723036576.444767989] [SmallDeliveryRobot_0.ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/SmallDeliveryRobot_0/odometry (ignition.msgs.Odometry) -> /model/SmallDeliveryRobot_0/odometry (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-9] [INFO] [1723036576.445637621] [SmallDeliveryRobot_0.ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/simple/model/SmallDeliveryRobot_0/link/imu_link/sensor/imu/imu (ignition.msgs.IMU) -> /world/simple/model/SmallDeliveryRobot_0/link/imu_link/sensor/imu/imu (sensor_msgs/msg/Imu)] (Lazy 0)
[parameter_bridge-9] [INFO] [1723036576.446467110] [SmallDeliveryRobot_0.ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/simple/model/SmallDeliveryRobot_0/link/scan_omni/sensor/scan_omni/scan (ignition.msgs.LaserScan) -> /world/simple/model/SmallDeliveryRobot_0/link/scan_omni/sensor/scan_omni/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-9] [INFO] [1723036576.446835193] [SmallDeliveryRobot_0.ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/simple/model/SmallDeliveryRobot_0/link/scan_omni/sensor/scan_omni/scan/points (ignition.msgs.PointCloudPacked) -> /world/simple/model/SmallDeliveryRobot_0/link/scan_omni/sensor/scan_omni/scan/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[lifecycle_manager-5] [INFO] [1723036576.532588473] [lifecycle_manager_node]: Server map_server connected with bond.
[lifecycle_manager-5] [INFO] [1723036576.532665747] [lifecycle_manager_node]: Managed nodes are active
[lifecycle_manager-5] [INFO] [1723036576.532682782] [lifecycle_manager_node]: Creating bond timer...
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI...
[ruby $(which ign) gazebo-1] [Msg] Received world [sdfs/simple_5_0.sdf] from the GUI.
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo Server v6.16.0
[ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/home/hanzheng/ros2_ws/install/remroc/share/remroc/worlds/sdfs/simple_5_0.sdf].
[ruby $(which ign) gazebo-1] [Msg] Serving entity system service on [/entity/system/add]
[ruby $(which ign) gazebo-1] [Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:506] Configuring Sensors system
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:431] SensorsPrivate::Run
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Sensors] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:411] SensorsPrivate::RenderThread started
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:258] Waiting for init
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Imu] for entity [1]
[ruby $(which ign) gazebo-1] [Msg] Create service on [/world/simple/create]
[ruby $(which ign) gazebo-1] [Msg] Remove service on [/world/simple/remove]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/simple/set_pose]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/simple/set_pose_vector]
[ruby $(which ign) gazebo-1] [Msg] Light configuration service on [/world/simple/light_config]
[ruby $(which ign) gazebo-1] [Msg] Physics service on [/world/simple/set_physics]
[ruby $(which ign) gazebo-1] [Msg] SphericalCoordinates service on [/world/simple/set_spherical_coordinates]
[ruby $(which ign) gazebo-1] [Msg] Enable collision service on [/world/simple/enable_collision]
[ruby $(which ign) gazebo-1] [Msg] Disable collision service on [/world/simple/disable_collision]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/simple/visual_config]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/simple/wheel_slip]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ruby $(which ign) gazebo-1] [Msg] Loaded level [3]
[ruby $(which ign) gazebo-1] [Msg] Serving world controls on [/world/simple/control], [/world/simple/control/state] and [/world/simple/playback/control]
[ruby $(which ign) gazebo-1] [Msg] Serving GUI information on [/world/simple/gui/info]
[ruby $(which ign) gazebo-1] [Msg] World [simple] initialized with [1ms] physics profile.
[create-6] [INFO] [1723036576.852276846] [launch_node_SmallDeliveryRobot_0]: Requested creation of entity.
[create-6] [INFO] [1723036576.852349080] [launch_node_SmallDeliveryRobot_0]: OK creation of entity.
[INFO] [create-6]: process has finished cleanly [pid 446894]
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [Msg] Serving wor[Msg] Ignition Gazebo GUI    v6.16.0
[ruby $(which ign) gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which ign) gazebo-1] [Dbg] [Application.cc:92] Initializing application.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/simple/gui/info]...
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/simple/state]...
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading config [/home/hanzheng/.ignition/gazebo/6/gui.config]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Interactive view control] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/simple/stats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Using world control service [/world/simple/control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/simple/stats]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/simple/stats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[INFO] [ekf_node-10]: process started with pid [447118]
[INFO] [amcl-11]: process started with pid [447120]
[INFO] [controller_server-12]: process started with pid [447122]
[INFO] [planner_server-13]: process started with pid [447124]
[INFO] [behavior_server-14]: process started with pid [447126]
[INFO] [bt_navigator-15]: process started with pid [447128]
[INFO] [lifecycle_manager-16]: process started with pid [447130]
[lifecycle_manager-16] [INFO] [1723036577.983230355] [SmallDeliveryRobot_0.lifecycle_manager_node]: Creating
[lifecycle_manager-16] [INFO] [1723036577.985044568] [SmallDeliveryRobot_0.lifecycle_manager_node]: Creating and initializing lifecycle service clients
[controller_server-12] [INFO] [1723036577.985723063] [SmallDeliveryRobot_0.controller_server_node]: 
[controller_server-12]  controller_server_node lifecycle node launched. 
[controller_server-12]  Waiting on external lifecycle transitions to activate
[controller_server-12]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-11] [INFO] [1723036577.986628497] [SmallDeliveryRobot_0.amcl_node]: 
[amcl-11]       amcl_node lifecycle node launched. 
[amcl-11]       Waiting on external lifecycle transitions to activate
[amcl-11]       See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-13] [INFO] [1723036577.986696568] [SmallDeliveryRobot_0.planner_server_node]: 
[planner_server-13]     planner_server_node lifecycle node launched. 
[planner_server-13]     Waiting on external lifecycle transitions to activate
[planner_server-13]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-11] [INFO] [1723036577.986878814] [SmallDeliveryRobot_0.amcl_node]: Creating
[planner_server-13] [INFO] [1723036577.987543527] [SmallDeliveryRobot_0.planner_server_node]: Creating
[controller_server-12] [INFO] [1723036577.988134247] [SmallDeliveryRobot_0.controller_server_node]: Creating controller server
[behavior_server-14] [INFO] [1723036577.989181939] [SmallDeliveryRobot_0.behavior_server_node]: 
[behavior_server-14]    behavior_server_node lifecycle node launched. 
[behavior_server-14]    Waiting on external lifecycle transitions to activate
[behavior_server-14]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-15] [INFO] [1723036577.991798204] [SmallDeliveryRobot_0.bt_navigator_node]: 
[bt_navigator-15]       bt_navigator_node lifecycle node launched. 
[bt_navigator-15]       Waiting on external lifecycle transitions to activate
[bt_navigator-15]       See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-15] [INFO] [1723036577.991855174] [SmallDeliveryRobot_0.bt_navigator_node]: Creating
[planner_server-13] [INFO] [1723036577.993502190] [SmallDeliveryRobot_0.global_costmap.global_costmap]: 
[planner_server-13]     global_costmap lifecycle node launched. 
[planner_server-13]     Waiting on external lifecycle transitions to activate
[planner_server-13]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-12] [INFO] [1723036577.993503173] [SmallDeliveryRobot_0.local_costmap.local_costmap]: 
[controller_server-12]  local_costmap lifecycle node launched. 
[controller_server-12]  Waiting on external lifecycle transitions to activate
[controller_server-12]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-13] [INFO] [1723036577.993719108] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Creating Costmap
[controller_server-12] [INFO] [1723036577.993720353] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Creating Costmap
[ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene.
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:296] Loading window config
[ruby $(which ign) gazebo-1] [GUI] [Msg] Using server control service [/server_control]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [MinimalScene.cc:602] Create scene [scene]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have [Wrn] [Model.hh:69] `operator<<`. Component will not be serialized.
[ruby $(which ign) gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [TransformControl.cc:531] Transforld SDF generation service on [/world/simple/generate_world_sdf]
[ruby $(which ign) gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ruby $(which ign) gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ruby $(which ign) gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ruby $(which ign) gazebo-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[ruby $(which ign) gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ruby $(which ign) gazebo-1] [Msg] Server control service on [/server_control].
[ruby $(which ign) gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ruby $(which ign) gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 4
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (1)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (2)
[ruby $(which ign) gazebo-1] [Msg] DiffDrive subscribing to twist messages on [/model/SmallDeliveryRobot_0/cmd_vel]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::DiffDrive] for entity [28]
[ruby $(which ign) gazebo-1] [Dbg] [UserCommands.cc:1303] Created entity [28] named [SmallDeliveryRobot_0]
[ruby $(which ign) gazebo-1] [Dbg] [SimulationFeatures.cc:71] Simulation timestep set to: 0.002
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:610] Initialization needed
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:270] Initializing render context
[ruby $(which ign) gazebo-1] [Msg] Loading plugin [ignition-rendering-ogre]
[ruby $(which ign) gazebo-1] [Dbg] [ImuSensor.cc:148] IMU data for [SmallDeliveryRobot_0::imu_link::imu] advertised on [world/simple/model/SmallDeliveryRobot_0/link/imu_link/sensor/imu/imu]
[ruby $(which ign) gazebo-1] [Msg] Serving scene information on [/world/simple/scene/info]
[ruby $(which ign) gazebo-1] [Msg] Serving graph information on [/world/simple/scene/graph]
[ruby $(which ign) gazebo-1] [Msg] Serving full state on [/world/simple/state]
[ruby $(which ign) gazebo-1] [Msg] Serving full state (async) on [/world/simple/state_async]
[ruby $(which ign) gazebo-1] [Msg] Publishing scene information on [/world/simple/scene/info]
[ruby $(which ign) gazebo-1] [Msg] Publishing entity deletions on [/world/simple/scene/deletion]
[ruby $(which ign) gazebo-1] [Msg] Publishing state changes on [/world/simple/state]
[ruby $(which ign) gazebo-1] [Msg] Publishing pose messages on [/world/simple/pose/info]
[ruby $(which ign) gazebo-1] [Msg] Publishing dynamic pose messages on [/world/simple/dynamic_pose/info]
[ruby $(which ign) gazebo-1] [Dbg] [EntityComponentManager.cc:1623] Updated state thread iterators: 24 threads processing around 3 entities each.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[lifecycle_manager-16] [INFO] [1723036579.079805759] [SmallDeliveryRobot_0.lifecycle_manager_node]: Starting managed nodes bringup...
[lifecycle_manager-16] [INFO] [1723036579.079836152] [SmallDeliveryRobot_0.lifecycle_manager_node]: Configuring amcl_node
[amcl-11] [INFO] [1723036579.079970959] [SmallDeliveryRobot_0.amcl_node]: Configuring
[amcl-11] [INFO] [1723036579.080024543] [SmallDeliveryRobot_0.amcl_node]: initTransforms
[amcl-11] [INFO] [1723036579.083444266] [SmallDeliveryRobot_0.amcl_node]: initPubSub
[amcl-11] [INFO] [1723036579.085254890] [SmallDeliveryRobot_0.amcl_node]: Subscribed to map topic.
[lifecycle_manager-16] [INFO] [1723036579.087992355] [SmallDeliveryRobot_0.lifecycle_manager_node]: Configuring controller_server_node
[controller_server-12] [INFO] [1723036579.088442234] [SmallDeliveryRobot_0.controller_server_node]: Configuring controller interface
[controller_server-12] [INFO] [1723036579.088666003] [SmallDeliveryRobot_0.controller_server_node]: getting goal checker plugins..
[controller_server-12] [INFO] [1723036579.088825710] [SmallDeliveryRobot_0.controller_server_node]: Controller frequency set to 20.0000Hz
[controller_server-12] [INFO] [1723036579.088875145] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Configuring
[controller_server-12] [INFO] [1723036579.094056432] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Using plugin "static_layer"
[amcl-11] [INFO] [1723036579.095798840] [SmallDeliveryRobot_0.amcl_node]: Received a 203 X 204 map @ 0.050 m/pix
[controller_server-12] [INFO] [1723036579.095950907] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-12] [INFO] [1723036579.096907488] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-12] [INFO] [1723036579.096927268] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-12] [INFO] [1723036579.097259643] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Subscribed to Topics: scan point_cloud
[controller_server-12] [INFO] [1723036579.101176386] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-12] [INFO] [1723036579.101229096] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-12] [INFO] [1723036579.102501852] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-12] [INFO] [1723036579.108373938] [SmallDeliveryRobot_0.local_costmap.local_costmap]: StaticLayer: Resizing static layer to 203 X 204 at 0.050000 m/pix
[controller_server-12] [INFO] [1723036579.108528898] [SmallDeliveryRobot_0.controller_server_node]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-12] [INFO] [1723036579.109095329] [SmallDeliveryRobot_0.controller_server_node]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-12] [INFO] [1723036579.109723868] [SmallDeliveryRobot_0.controller_server_node]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-12] [INFO] [1723036579.111530953] [SmallDeliveryRobot_0.controller_server_node]: Created controller : FollowPath of type nav2_mppi_controller::MPPIController
[controller_server-12] [INFO] [1723036579.112442615] [SmallDeliveryRobot_0.controller_server_node]: Controller period is equal to model dt. Control sequence shifting is ON
[controller_server-12] [INFO] [1723036579.113648323] [SmallDeliveryRobot_0.controller_server_node]: ConstraintCritic instantiated with 1 power and 4.000000 weight.
[controller_server-12] [INFO] [1723036579.113887009] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::ConstraintCritic
[controller_server-12] [INFO] [1723036579.114640965] [SmallDeliveryRobot_0.controller_server_node]: ObstaclesCritic instantiated with 1 power and 20.000000 / 1.500000 weights. Critic will collision check based on circular cost.
[controller_server-12] [INFO] [1723036579.114658169] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::ObstaclesCritic
[controller_server-12] [INFO] [1723036579.114812782] [SmallDeliveryRobot_0.controller_server_node]: GoalCritic instantiated with 1 power and 5.000000 weight.
[controller_server-12] [INFO] [1723036579.114821318] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::GoalCritic
[controller_server-12] [INFO] [1723036579.115321690] [SmallDeliveryRobot_0.controller_server_node]: GoalAngleCritic instantiated with 1 power, 3.000000 weight, and 0.400000 angular threshold.
[controller_server-12] [INFO] [1723036579.115347460] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::GoalAngleCritic
[controller_server-12] [INFO] [1723036579.116341481] [SmallDeliveryRobot_0.controller_server_node]: ReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight
[controller_server-12] [INFO] [1723036579.116376810] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::PathAlignCritic
[controller_server-12] [INFO] [1723036579.117153137] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::PathFollowCritic
[controller_server-12] [INFO] [1723036579.118945192] [SmallDeliveryRobot_0.controller_server_node]: PathAngleCritic instantiated with 1 power and 2.000000 weight. Reversing allowed.
[controller_server-12] [INFO] [1723036579.119007653] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::PathAngleCritic
[controller_server-12] [INFO] [1723036579.119615485] [SmallDeliveryRobot_0.controller_server_node]: PreferForwardCritic instantiated with 1 power and 5.000000 weight.
[controller_server-12] [INFO] [1723036579.119641188] [SmallDeliveryRobot_0.controller_server_node]: Critic loaded : mppi::critics::PreferForwardCritic
[controller_server-12] [INFO] [1723036579.124484904] [SmallDeliveryRobot_0.controller_server_node]: Optimizer reset
[controller_server-12] [INFO] [1723036579.125883552] [MPPIController]: Configured MPPI Controller: FollowPath
[controller_server-12] [INFO] [1723036579.125897499] [SmallDeliveryRobot_0.controller_server_node]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-16] [INFO] [1723036579.129871900] [SmallDeliveryRobot_0.lifecycle_manager_node]: Configuring planner_server_node
[planner_server-13] [INFO] [1723036579.129973031] [SmallDeliveryRobot_0.planner_server_node]: Configuring
[planner_server-13] [INFO] [1723036579.129995876] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Configuring
[planner_server-13] [INFO] [1723036579.132719848] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-13] [INFO] [1723036579.134208833] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-13] [INFO] [1723036579.134677349] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-13] [INFO] [1723036579.134688152] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-13] [INFO] [1723036579.134989340] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-13] [INFO] [1723036579.140280274] [SmallDeliveryRobot_0.planner_server_node]: Created global planner plugin GridBased of type nav2_smac_planner/SmacPlannerHybrid
[planner_server-13] [INFO] [1723036579.140303303] [SmallDeliveryRobot_0.planner_server_node]: Configuring GridBased of type SmacPlannerHybrid
[planner_server-13] [INFO] [1723036579.141144816] [SmallDeliveryRobot_0.planner_server_node]: Even sized heuristic lookup table size set 400.000000, increasing size by 1 to make odd
[planner_server-13] [INFO] [1723036579.144878187] [SmallDeliveryRobot_0.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 203 X 204 at 0.050000 m/pix
[ruby $(which ign) gazebo-1] [Wrn] [OgreGpuRays.cc:258] Horizontal FOV for GPU rays is capped at 180 degrees.
[planner_server-13] [INFO] [1723036579.860099997] [SmallDeliveryRobot_0.planner_server_node]: Configured plugin GridBased of type SmacPlannerHybrid with maximum iterations 1000000, max on approach iterations 1000, and not allowing unknown traversal. Tolerance 0.50.Using motion model: Dubin.
[planner_server-13] [INFO] [1723036579.860127488] [SmallDeliveryRobot_0.planner_server_node]: Planner Server has GridBased  planners available.
[lifecycle_manager-16] [INFO] [1723036579.862850661] [SmallDeliveryRobot_0.lifecycle_manager_node]: Configuring behavior_server_node
[behavior_server-14] [INFO] [1723036579.862991901] [SmallDeliveryRobot_0.behavior_server_node]: Configuring
[behavior_server-14] [INFO] [1723036579.865923858] [SmallDeliveryRobot_0.behavior_server_node]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-14] [INFO] [1723036579.866249853] [SmallDeliveryRobot_0.behavior_server_node]: Configuring spin
[behavior_server-14] [INFO] [1723036579.868028548] [SmallDeliveryRobot_0.behavior_server_node]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-14] [INFO] [1723036579.868586592] [SmallDeliveryRobot_0.behavior_server_node]: Configuring backup
[behavior_server-14] [INFO] [1723036579.870257610] [SmallDeliveryRobot_0.behavior_server_node]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-14] [INFO] [1723036579.871079221] [SmallDeliveryRobot_0.behavior_server_node]: Configuring drive_on_heading
[behavior_server-14] [INFO] [1723036579.872625953] [SmallDeliveryRobot_0.behavior_server_node]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-14] [INFO] [1723036579.873345085] [SmallDeliveryRobot_0.behavior_server_node]: Configuring assisted_teleop
[behavior_server-14] [INFO] [1723036579.874855731] [SmallDeliveryRobot_0.behavior_server_node]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-14] [INFO] [1723036579.875137999] [SmallDeliveryRobot_0.behavior_server_node]: Configuring wait
[lifecycle_manager-16] [INFO] [1723036579.876333776] [SmallDeliveryRobot_0.lifecycle_manager_node]: Configuring bt_navigator_node
[bt_navigator-15] [INFO] [1723036579.876419713] [SmallDeliveryRobot_0.bt_navigator_node]: Configuring
[lifecycle_manager-16] [INFO] [1723036579.896466363] [SmallDeliveryRobot_0.lifecycle_manager_node]: Activating amcl_node
[amcl-11] [INFO] [1723036579.896535035] [SmallDeliveryRobot_0.amcl_node]: Activating
[amcl-11] [INFO] [1723036579.896556619] [SmallDeliveryRobot_0.amcl_node]: initialPoseReceived
[amcl-11] [INFO] [1723036579.896597498] [SmallDeliveryRobot_0.amcl_node]: Setting pose (0.678000): 3.635 4.000 -1.570
[amcl-11] [INFO] [1723036579.896871454] [SmallDeliveryRobot_0.amcl_node]: Creating bond (amcl_node) to lifecycle manager.
[amcl-11] [INFO] [1723036579.952947010] [SmallDeliveryRobot_0.amcl_node]: createLaserObject
[lifecycle_manager-16] [INFO] [1723036579.998989368] [SmallDeliveryRobot_0.lifecycle_manager_node]: Server amcl_node connected with bond.
[lifecycle_manager-16] [INFO] [1723036579.999070876] [SmallDeliveryRobot_0.lifecycle_manager_node]: Activating controller_server_node
[controller_server-12] [INFO] [1723036579.999479526] [SmallDeliveryRobot_0.controller_server_node]: Activating
[controller_server-12] [INFO] [1723036579.999614049] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Activating
[controller_server-12] [INFO] [1723036579.999666738] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Checking transform
[controller_server-12] [INFO] [1723036580.000043797] [SmallDeliveryRobot_0.local_costmap.local_costmap]: start
[controller_server-12] [WARN] [1723036580.202702480] [SmallDeliveryRobot_0.controller_server_node]: Parameter controller_server_node.verbose not found
[controller_server-12] [INFO] [1723036580.209225921] [SmallDeliveryRobot_0.controller_server_node]: Optimizer reset
[controller_server-12] [INFO] [1723036580.210024070] [MPPIController]: Activated MPPI Controller: FollowPath
[controller_server-12] [INFO] [1723036580.210080227] [SmallDeliveryRobot_0.controller_server_node]: Creating bond (controller_server_node) to lifecycle manager.
[lifecycle_manager-16] [INFO] [1723036580.317001016] [SmallDeliveryRobot_0.lifecycle_manager_node]: Server controller_server_node connected with bond.
[lifecycle_manager-16] [INFO] [1723036580.317115901] [SmallDeliveryRobot_0.lifecycle_manager_node]: Activating planner_server_node
[planner_server-13] [INFO] [1723036580.317581488] [SmallDeliveryRobot_0.planner_server_node]: Activating
[planner_server-13] [INFO] [1723036580.317660817] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Activating
[planner_server-13] [INFO] [1723036580.317680795] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Checking transform
[planner_server-13] [INFO] [1723036580.317764614] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 1.056000 but the earliest data is at time 3.700000, when looking up transform from frame [base_link] to frame [map]
[planner_server-13] [INFO] [1723036580.817806148] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 1.552000 but the earliest data is at time 3.700000, when looking up transform from frame [base_link] to frame [map]
[planner_server-13] [INFO] [1723036581.317796080] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 2.050000 but the earliest data is at time 3.700000, when looking up transform from frame [base_link] to frame [map]
[planner_server-13] [INFO] [1723036581.817791597] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 2.508000 but the earliest data is at time 3.700000, when looking up transform from frame [base_link] to frame [map]
[amcl-11] [INFO] [1723036582.265908819] [SmallDeliveryRobot_0.amcl_node]: Message Filter dropping message: frame 'SmallDeliveryRobot_0/scan_omni/scan_omni' at time 0.004 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-13] [INFO] [1723036582.317795058] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 3.004000 but the earliest data is at time 3.700000, when looking up transform from frame [base_link] to frame [map]
[planner_server-13] [INFO] [1723036582.817795939] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 3.532000 but the earliest data is at time 3.700000, when looking up transform from frame [base_link] to frame [map]
[INFO] [robot_state_publisher-17]: process started with pid [447478]
[robot_state_publisher-17] [INFO] [1723036583.250704303] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: "map" passed to lookupTransform argument target_frame does not exist. 
[robot_state_publisher-17] [INFO] [1723036583.272439313] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: "map" passed to lookupTransform argument target_frame does not exist. 
[robot_state_publisher-17] [INFO] [1723036583.308536822] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: "map" passed to lookupTransform argument target_frame does not exist. 
[planner_server-13] [INFO] [1723036583.317885052] [SmallDeliveryRobot_0.global_costmap.global_costmap]: start
[robot_state_publisher-17] [INFO] [1723036583.344051529] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation at time 4.060000, but only time 7.000000 is in the buffer, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.378271527] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation at time 4.092000, but only time 7.000000 is in the buffer, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.411166321] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation at time 4.126000, but only time 7.000000 is in the buffer, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.445377860] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.158000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.478417617] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.192000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.512191739] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.224000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.547437936] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.258000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.580882063] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.290000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.612297778] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.324000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.647573962] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.356000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.681164739] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.390000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.716143875] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.422000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.750473200] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.456000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.784126715] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.488000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.817939433] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.522000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.852733834] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.554000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.886555318] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.588000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.918262005] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.620000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.952370696] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.654000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036583.986322500] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.686000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.021669118] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.720000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.058157075] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.752000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.088637891] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.786000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.122854937] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.818000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.158418696] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.852000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.191138174] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.884000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.228326393] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.918000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.258510123] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.950000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.291598354] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 4.984000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.326835276] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.016000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.363263379] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.050000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[planner_server-13] [INFO] [1723036584.368097234] [SmallDeliveryRobot_0.planner_server_node]: Activating plugin GridBased of type SmacPlannerHybrid
[planner_server-13] [INFO] [1723036584.369859559] [SmallDeliveryRobot_0.planner_server_node]: Creating bond (planner_server_node) to lifecycle manager.
[robot_state_publisher-17] [INFO] [1723036584.394341886] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.082000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.429071944] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.116000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.463632029] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.150000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[lifecycle_manager-16] [INFO] [1723036584.476737074] [SmallDeliveryRobot_0.lifecycle_manager_node]: Server planner_server_node connected with bond.
[lifecycle_manager-16] [INFO] [1723036584.476829874] [SmallDeliveryRobot_0.lifecycle_manager_node]: Activating behavior_server_node
[behavior_server-14] [INFO] [1723036584.477295630] [SmallDeliveryRobot_0.behavior_server_node]: Activating
[behavior_server-14] [INFO] [1723036584.477351523] [SmallDeliveryRobot_0.behavior_server_node]: Activating spin
[behavior_server-14] [INFO] [1723036584.477374209] [SmallDeliveryRobot_0.behavior_server_node]: Activating backup
[behavior_server-14] [INFO] [1723036584.477393121] [SmallDeliveryRobot_0.behavior_server_node]: Activating drive_on_heading
[behavior_server-14] [INFO] [1723036584.477408040] [SmallDeliveryRobot_0.behavior_server_node]: Activating assisted_teleop
[behavior_server-14] [INFO] [1723036584.477422796] [SmallDeliveryRobot_0.behavior_server_node]: Activating wait
[behavior_server-14] [INFO] [1723036584.477446830] [SmallDeliveryRobot_0.behavior_server_node]: Creating bond (behavior_server_node) to lifecycle manager.
[robot_state_publisher-17] [INFO] [1723036584.496626591] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.182000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.529489820] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.214000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.563405255] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.250000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[lifecycle_manager-16] [INFO] [1723036584.584742179] [SmallDeliveryRobot_0.lifecycle_manager_node]: Server behavior_server_node connected with bond.
[lifecycle_manager-16] [INFO] [1723036584.584772058] [SmallDeliveryRobot_0.lifecycle_manager_node]: Activating bt_navigator_node
[bt_navigator-15] [INFO] [1723036584.584943708] [SmallDeliveryRobot_0.bt_navigator_node]: Activating
[robot_state_publisher-17] [INFO] [1723036584.595932850] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.280000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[bt_navigator-15] [INFO] [1723036584.611136175] [SmallDeliveryRobot_0.bt_navigator_node]: Creating bond (bt_navigator_node) to lifecycle manager.
[robot_state_publisher-17] [INFO] [1723036584.630533957] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.314000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.666387257] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.350000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.699651251] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.380000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[lifecycle_manager-16] [INFO] [1723036584.712757003] [SmallDeliveryRobot_0.lifecycle_manager_node]: Server bt_navigator_node connected with bond.
[lifecycle_manager-16] [INFO] [1723036584.712858023] [SmallDeliveryRobot_0.lifecycle_manager_node]: Managed nodes are active
[lifecycle_manager-16] [INFO] [1723036584.712901812] [SmallDeliveryRobot_0.lifecycle_manager_node]: Creating bond timer...
[robot_state_publisher-17] [INFO] [1723036584.734008035] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.412000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.768365023] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.450000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.801575735] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.478000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.837239215] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.512000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.870479758] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.550000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.903900193] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.578000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.935966584] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.610000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036584.974125165] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.650000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.006245276] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.676000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.039102327] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.710000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.076778083] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.750000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.107749129] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.776000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.142556031] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.808000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.177291821] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.850000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.209514899] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.874000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.244259620] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.908000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.278758587] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.950000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[amcl-11] [INFO] [1723036585.312633419] [SmallDeliveryRobot_0.amcl_node]: Message Filter dropping message: frame 'SmallDeliveryRobot_0/scan_omni/scan_omni' at time 3.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[robot_state_publisher-17] [INFO] [1723036585.313373559] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 5.974000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.345587628] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.006000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.382627949] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.050000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.415129918] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.072000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.447642994] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.106000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.482078653] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.150000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.514694298] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.172000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.549850067] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.204000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.585556708] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.250000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.617236519] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.270000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.652483227] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.304000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.685946828] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.350000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.717839935] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.370000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.752614174] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.402000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.789460915] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.450000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.821661984] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.468000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.854925853] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.502000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.891426537] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.550000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.921481519] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.568000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.957870927] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.600000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036585.991890050] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.666000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.060299027] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.732000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.093822391] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.766000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.129208695] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.798000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.161647160] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.832000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.195818077] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.864000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.229021605] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.898000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.263304279] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.930000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.297462494] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.964000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[robot_state_publisher-17] [INFO] [1723036586.331725547] [SmallDeliveryRobot_0.robot_state_publisher]: Could not transform: Lookup would require extrapolation into the past.  Requested time 6.996000 but the earliest data is at time 7.000000, when looking up transform from frame [odom] to frame [map]
[INFO] [coordinator_mapf-18]: process started with pid [447797]
[coordinator_mapf-18] Traceback (most recent call last):
[coordinator_mapf-18]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
[coordinator_mapf-18]     return importlib.import_module(module_name, package=pkg_name)
[coordinator_mapf-18]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[coordinator_mapf-18]     return _bootstrap._gcd_import(name[level:], package, level)
[coordinator_mapf-18]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[coordinator_mapf-18]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[coordinator_mapf-18]   File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked
[coordinator_mapf-18] ModuleNotFoundError: No module named 'remroc_interfaces.remroc_interfaces_s__rosidl_typesupport_c'
[coordinator_mapf-18] 
[coordinator_mapf-18] During handling of the above exception, another exception occurred:
[coordinator_mapf-18] 
[coordinator_mapf-18] Traceback (most recent call last):
[coordinator_mapf-18]   File "/home/hanzheng/ros2_ws/install/remroc/lib/remroc/coordinator_mapf", line 33, in <module>
[coordinator_mapf-18]     sys.exit(load_entry_point('remroc==1.0.0', 'console_scripts', 'coordinator_mapf')())
[coordinator_mapf-18]   File "/home/hanzheng/ros2_ws/install/remroc/lib/python3.10/site-packages/remroc/coordinator_mapf.py", line 423, in main
[coordinator_mapf-18]     experiment = ExperimentAsync()
[coordinator_mapf-18]   File "/home/hanzheng/ros2_ws/install/remroc/lib/python3.10/site-packages/remroc/coordinator_mapf.py", line 138, in __init__
[coordinator_mapf-18]     self.cli = self.create_client(RemrocMapfsolver, 'mapf_solver')
[coordinator_mapf-18]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1413, in create_client
[coordinator_mapf-18]     check_is_valid_srv_type(srv_type)
[coordinator_mapf-18]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 51, in check_is_valid_srv_type
[coordinator_mapf-18]     check_for_type_support(srv_type)
[coordinator_mapf-18]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 29, in check_for_type_support
[coordinator_mapf-18]     msg_or_srv_type.__class__.__import_type_support__()
[coordinator_mapf-18]   File "/home/hanzheng/ros2_ws/install/remroc_interfaces/lib/python3.9/site-packages/remroc_interfaces/srv/_remroc_mapfsolver.py", line 289, in __import_type_support__
[coordinator_mapf-18]     module = import_type_support('remroc_interfaces')
[coordinator_mapf-18]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
[coordinator_mapf-18]     raise UnsupportedTypeSupport(pkg_name)
[coordinator_mapf-18] rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'remroc_interfaces'
[ERROR] [coordinator_mapf-18]: process has died [pid 447797, exit code 1, cmd '/home/hanzheng/ros2_ws/install/remroc/lib/remroc/coordinator_mapf --ros-args -r __node:=coordinator_node --params-file /tmp/launch_params_pdphrbem --params-file /tmp/launch_params_k05zwq0b'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[controller_server-12] [INFO] [1723036674.177195379] [rclcpp]: signal_handler(signum=2)
[controller_server-12] [INFO] [1723036674.177379433] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)
[static_transform_publisher-7] [INFO] [1723036674.177215483] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-8] [INFO] [1723036674.177221255] [rclcpp]: signal_handler(signum=2)
[ekf_node-10] [INFO] [1723036674.177195995] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-5] [INFO] [1723036674.177235190] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-5] [INFO] [1723036674.177393394] [lifecycle_manager_node]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_node)
[lifecycle_manager-5] [INFO] [1723036674.177478303] [lifecycle_manager_node]: Terminating bond timer...
[lifecycle_manager-16] [INFO] [1723036674.177273513] [rclcpp]: signal_handler(signum=2)
[bt_navigator-15] [INFO] [1723036674.177301555] [rclcpp]: signal_handler(signum=2)
[bt_navigator-15] [INFO] [1723036674.177454048] [SmallDeliveryRobot_0.bt_navigator_node]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator_node)
[bt_navigator-15] [INFO] [1723036674.177585563] [SmallDeliveryRobot_0.bt_navigator_node]: Deactivating
[bt_navigator-15] [INFO] [1723036674.177628365] [SmallDeliveryRobot_0.bt_navigator_node]: Destroying bond (bt_navigator_node) to lifecycle manager.
[parameter_bridge-2] [INFO] [1723036674.177334563] [rclcpp]: signal_handler(signum=2)
[controller_server-12] [INFO] [1723036674.177510491] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Deactivating
[lifecycle_manager-16] [INFO] [1723036674.177857304] [SmallDeliveryRobot_0.lifecycle_manager_node]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_node)
[lifecycle_manager-16] [INFO] [1723036674.177922769] [SmallDeliveryRobot_0.lifecycle_manager_node]: Terminating bond timer...
[behavior_server-14] [INFO] [1723036674.177427600] [rclcpp]: signal_handler(signum=2)
[behavior_server-14] [INFO] [1723036674.177688705] [SmallDeliveryRobot_0.behavior_server_node]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server_node)
[behavior_server-14] [INFO] [1723036674.177882445] [SmallDeliveryRobot_0.behavior_server_node]: Deactivating
[behavior_server-14] [INFO] [1723036674.177969469] [SmallDeliveryRobot_0.behavior_server_node]: Destroying bond (behavior_server_node) to lifecycle manager.
[behavior_server-14] [INFO] [1723036674.188420558] [SmallDeliveryRobot_0.behavior_server_node]: Cleaning up
[parameter_bridge-9] [INFO] [1723036674.177456907] [rclcpp]: signal_handler(signum=2)
[planner_server-13] [INFO] [1723036674.177453952] [rclcpp]: signal_handler(signum=2)
[planner_server-13] [INFO] [1723036674.178160328] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)
[planner_server-13] [INFO] [1723036674.178298637] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Deactivating
[amcl-11] [INFO] [1723036674.177472748] [rclcpp]: signal_handler(signum=2)
[amcl-11] [INFO] [1723036674.177643537] [SmallDeliveryRobot_0.amcl_node]: Running Nav2 LifecycleNode rcl preshutdown (amcl_node)
[amcl-11] [INFO] [1723036674.177773897] [SmallDeliveryRobot_0.amcl_node]: Deactivating
[amcl-11] [INFO] [1723036674.177812290] [SmallDeliveryRobot_0.amcl_node]: Destroying bond (amcl_node) to lifecycle manager.
[amcl-11] [INFO] [1723036674.188676958] [SmallDeliveryRobot_0.amcl_node]: Cleaning up
[map_server-4] [INFO] [1723036674.177538835] [rclcpp]: signal_handler(signum=2)
[map_server-4] [INFO] [1723036674.177697534] [map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[map_server-4] [INFO] [1723036674.177820953] [map_server]: Deactivating
[map_server-4] [INFO] [1723036674.177855524] [map_server]: Destroying bond (map_server) to lifecycle manager.
[map_server-4] [INFO] [1723036674.188228912] [map_server]: Cleaning up
[map_server-4] [INFO] [1723036674.188314541] [map_server]: Destroying bond (map_server) to lifecycle manager.
[robot_state_publisher-17] Traceback (most recent call last):
[robot_state_publisher-17]   File "/home/hanzheng/ros2_ws/install/remroc/lib/remroc/robot_state_publisher", line 33, in <module>
[robot_state_publisher-17]     sys.exit(load_entry_point('remroc==1.0.0', 'console_scripts', 'robot_state_publisher')())
[robot_state_publisher-17]   File "/home/hanzheng/ros2_ws/install/remroc/lib/python3.10/site-packages/remroc/robot_state_publisher.py", line 82, in main
[robot_state_publisher-17]     rclpy.spin(human_pose_publisher)
[robot_state_publisher-17]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
[robot_state_publisher-17]     executor.spin_once()
[robot_state_publisher-17]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
[robot_state_publisher-17]     self._spin_once_impl(timeout_sec)
[robot_state_publisher-17]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl
[robot_state_publisher-17]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
[robot_state_publisher-17]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks
[robot_state_publisher-17]     return next(self._cb_iter)
[robot_state_publisher-17]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 516, in _wait_for_ready_callbacks
[robot_state_publisher-17]     node_guards = filter(self.can_execute, node.guards)
[robot_state_publisher-17] KeyboardInterrupt
[mapf_solver_server-3] [INFO] [1723036674.177589261] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-5] [INFO] [1723036674.185773899] [lifecycle_manager_node]: Destroying lifecycle_manager_node
[bt_navigator-15] [INFO] [1723036674.188038252] [SmallDeliveryRobot_0.bt_navigator_node]: Cleaning up
[map_server-4] [INFO] [1723036674.198869787] [map_server]: Destroying
[map_server-4] [ERROR] [1723036674.198969990] [map_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[map_server-4] [WARN] [1723036674.198992202] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[amcl-11] [INFO] [1723036674.199064656] [SmallDeliveryRobot_0.amcl_node]: Destroying bond (amcl_node) to lifecycle manager.
[controller_server-12] [INFO] [1723036674.200322524] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Cleaning up
[behavior_server-14] [INFO] [1723036674.209933946] [SmallDeliveryRobot_0.behavior_server_node]: Destroying bond (behavior_server_node) to lifecycle manager.
[controller_server-12] [INFO] [1723036674.212352246] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager.
[controller_server-12] [INFO] [1723036674.212445834] [SmallDeliveryRobot_0.controller_server_node]: Running Nav2 LifecycleNode rcl preshutdown (controller_server_node)
[controller_server-12] [INFO] [1723036674.212518224] [SmallDeliveryRobot_0.controller_server_node]: Deactivating
[controller_server-12] [INFO] [1723036674.212567559] [MPPIController]: Deactivated MPPI Controller: FollowPath
[controller_server-12] [INFO] [1723036674.212629405] [SmallDeliveryRobot_0.controller_server_node]: Destroying bond (controller_server_node) to lifecycle manager.
[amcl-11] [INFO] [1723036674.214871822] [SmallDeliveryRobot_0.amcl_node]: Destroying
[amcl-11] [ERROR] [1723036674.214944191] [SmallDeliveryRobot_0.amcl_node]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[amcl-11] [WARN] [1723036674.214963179] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[controller_server-12] [INFO] [1723036674.223077320] [SmallDeliveryRobot_0.controller_server_node]: Cleaning up
[controller_server-12] [INFO] [1723036674.223190326] [MPPIController]: Cleaned up MPPI Controller: FollowPath
[lifecycle_manager-16] [INFO] [1723036674.224353787] [SmallDeliveryRobot_0.lifecycle_manager_node]: Destroying lifecycle_manager_node
[behavior_server-14] [INFO] [1723036674.231068400] [SmallDeliveryRobot_0.behavior_server_node]: Destroying
[behavior_server-14] [ERROR] [1723036674.231109319] [SmallDeliveryRobot_0.behavior_server_node]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[behavior_server-14] [WARN] [1723036674.231118589] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[controller_server-12] [INFO] [1723036674.232071715] [SmallDeliveryRobot_0.controller_server_node]: Destroying bond (controller_server_node) to lifecycle manager.
[controller_server-12] [INFO] [1723036674.235939738] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Destroying
[controller_server-12] [ERROR] [1723036674.235984733] [SmallDeliveryRobot_0.local_costmap.local_costmap]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[controller_server-12] [WARN] [1723036674.235996052] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[controller_server-12] [INFO] [1723036674.241156578] [SmallDeliveryRobot_0.controller_server_node]: Destroying
[controller_server-12] [ERROR] [1723036674.241189928] [SmallDeliveryRobot_0.controller_server_node]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[controller_server-12] [WARN] [1723036674.241199132] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[ERROR] [robot_state_publisher-17]: process has died [pid 447478, exit code -2, cmd '/home/hanzheng/ros2_ws/install/remroc/lib/remroc/robot_state_publisher --ros-args -r __node:=robot_state_publisher -r __ns:=/SmallDeliveryRobot_0 --params-file /tmp/launch_params_oufl_y9o -r /tf:=tf -r /tf_static:=tf_static'].
[bt_navigator-15] [INFO] [1723036674.257819079] [SmallDeliveryRobot_0.bt_navigator_node]: Completed Cleaning up
[bt_navigator-15] [INFO] [1723036674.257874459] [SmallDeliveryRobot_0.bt_navigator_node]: Destroying bond (bt_navigator_node) to lifecycle manager.
[bt_navigator-15] [INFO] [1723036674.260235716] [SmallDeliveryRobot_0.bt_navigator_node]: Destroying
[bt_navigator-15] [ERROR] [1723036674.260256145] [SmallDeliveryRobot_0.bt_navigator_node]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[bt_navigator-15] [WARN] [1723036674.260260729] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 446885]
[INFO] [parameter_bridge-9]: process has finished cleanly [pid 446900]
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:251: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:219: TypeError: Cannot read property 'showPluginMenu' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:202: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:188: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[INFO] [static_transform_publisher-7]: process has finished cleanly [pid 446896]
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[INFO] [mapf_solver_server-3]: process has finished cleanly [pid 446887]
[INFO] [static_transform_publisher-8]: process has finished cleanly [pid 446898]
[INFO] [lifecycle_manager-5]: process has finished cleanly [pid 446892]
[planner_server-13] [INFO] [1723036674.318057277] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Cleaning up
[planner_server-13] [INFO] [1723036674.319051305] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager.
[planner_server-13] [INFO] [1723036674.319066681] [SmallDeliveryRobot_0.planner_server_node]: Running Nav2 LifecycleNode rcl preshutdown (planner_server_node)
[planner_server-13] [INFO] [1723036674.319080279] [SmallDeliveryRobot_0.planner_server_node]: Deactivating
[planner_server-13] [INFO] [1723036674.319090373] [SmallDeliveryRobot_0.planner_server_node]: Deactivating plugin GridBased of type SmacPlannerHybrid
[planner_server-13] [INFO] [1723036674.319096232] [SmallDeliveryRobot_0.planner_server_node]: Destroying bond (planner_server_node) to lifecycle manager.
[planner_server-13] [INFO] [1723036674.319126742] [SmallDeliveryRobot_0.planner_server_node]: Cleaning up
[planner_server-13] [INFO] [1723036674.320706417] [SmallDeliveryRobot_0.planner_server_node]: Cleaning up plugin GridBased of type SmacPlannerHybrid
[planner_server-13] [INFO] [1723036674.320810400] [SmallDeliveryRobot_0.planner_server_node]: Destroying plugin GridBased of type SmacPlannerHybrid
[planner_server-13] [INFO] [1723036674.322224220] [SmallDeliveryRobot_0.planner_server_node]: Destroying bond (planner_server_node) to lifecycle manager.
[planner_server-13] [INFO] [1723036674.323473580] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Destroying
[planner_server-13] [ERROR] [1723036674.323507175] [SmallDeliveryRobot_0.global_costmap.global_costmap]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[planner_server-13] [WARN] [1723036674.323515449] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[planner_server-13] [INFO] [1723036674.325445910] [SmallDeliveryRobot_0.planner_server_node]: Destroying
[planner_server-13] [ERROR] [1723036674.325462363] [SmallDeliveryRobot_0.planner_server_node]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[planner_server-13] [WARN] [1723036674.325467595] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[INFO] [ekf_node-10]: process has finished cleanly [pid 447118]
[INFO] [map_server-4]: process has finished cleanly [pid 446890]
[INFO] [amcl-11]: process has finished cleanly [pid 447120]
[INFO] [lifecycle_manager-16]: process has finished cleanly [pid 447130]
[INFO] [behavior_server-14]: process has finished cleanly [pid 447126]
[INFO] [controller_server-12]: process has finished cleanly [pid 447122]
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (1[Dbg] [SimulationRunner.cc:523] Control plugin is using camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [SelectEntities.cc:451] SelectEntities plugin is using camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [MarkerManager.cc:173] Advertise /marker/list service.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [MarkerManager.cc:183] Advertise /marker/list.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [MarkerManager.cc:193] Advertise /marker_array.
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Move to service on [/gui/move_to]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Follow service on [/gui/follow]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Follow offset service on [/gui/follow/offset]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [InteractiveViewControl.cc:174] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:472] Shutting down ign-gazebo-gui
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:140] Terminating application.
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [MinimalScene.cc:657] Destroy scene [scene]
[INFO] [bt_navigator-15]: process has finished cleanly [pid 447128]
[ruby $(which ign) gazebo-1] 6m1Exiting postupdate worker thread ()2)[Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (0)
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 5
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (1)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (2)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (3)
[ruby $(which ign) gazebo-1] [Dbg] [RenderUtil.cc:2591] Create scene [scene]
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:284] Rendering Thread initialized
[ruby $(which ign) gazebo-1] Initialization needed
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [SmallDeliveryRobot_0::scan_omni::scan_omni] advertised on [world/simple/model/SmallDeliveryRobot_0/link/scan_omni/sensor/scan_omni/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [SmallDeliveryRobot_0::scan_omni::scan_omni] advertised on [world/simple/model/SmallDeliveryRobot_0/link/scan_omni/sensor/scan_omni/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ruby $(which ign) gazebo-1] [Dbg] [ServerPrivate.cc:110] Server received signal[2]
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:439] SensorsPrivate::Stop
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:425] SensorsPrivate::RenderThread stopped
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:410] Shutting down ign-gazebo-server
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (Exiting postupdate worker thread (01)
[ruby $(which ign) gazebo-1] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:523] )
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] )
[ruby $(which ign) gazebo-1] Exiting postupdate worker thread (2))
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:439] SensorsPrivate::Stop
[ERROR] [ruby $(which ign) gazebo-1]: process has died [pid 446882, exit code -2, cmd 'ruby $(which ign) gazebo sdfs/simple_5_0.sdf -v 4 -r --headless-rendering --force-version 6'].
[INFO] [launch]: process[ruby $(which ign) gazebo-1] was required: shutting down launched system
[INFO] [planner_server-13]: process has finished cleanly [pid 447124]
Thanks!
boschresearch / remroc

unable to correctly publish the base_link->map #1
