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generalized-intelligence / GAAS

GAAS is an open-source program designed for fully autonomous VTOL(a.k.a flying cars) and drones. GAAS stands for Generalized Autonomy Aviation System.
https://www.gaas.dev
BSD 3-Clause "New" or "Revised" License
1.88k stars 441 forks source link

[EO4] Unexpected behavior of Octomap: Nothing to publish, octree is empty #120

Open tinng81 opened 3 years ago

tinng81 commented 3 years ago

Prerequisites

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Issue Template

Context

Please provide any relevant information about your setup.

Expected Behavior

After launching Point Clouds generation and Conversion, Octomap server should publish /occupied_cells_vis_array which then can be visualised via RViz as depicted in Fig.5 Tutorial 4

Current Behavior

Currently, even when /cloud_in has published data, octomap_server won't publish anything and display warning Nothing to publish, octree is empty.

My current /opt/ros/melodic/share/octomap_server/launch/octomap_mapping.launch configuration as following

<launch>
    <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
            <param name="resolution" value="0.1" />

            <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
            <param name="frame_id" type="string" value="/map" />

            <!-- maximum range to integrate (speedup!) -->
            <param name="sensor_model/max_range" value="10" />

            <!-- data source to integrate (PointCloud2) -->
            <!-- <remap from="cloud_in" to="/narrow_stereo/points_filtered2" /> -->
            <remap from="cloud_in" to="cloud_in" />
    </node>
</launch>

Screenshots

Terminal

Screen Shot 2020-09-15 at 22 51 40 (2)

RViz

Screen Shot 2020-09-15 at 22 52 41 (2)

Failure Logs

Octomap_server roslaunch

[roslaunch][INFO] 2020-09-15 22:50:28,563: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2020-09-15 22:50:28,573: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2020-09-15 22:50:28,573: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'octomap_server', 'octomap_mapping.launch']
[roslaunch][INFO] 2020-09-15 22:50:28,574: roslaunch env is {'LC_NUMERIC': 'en_US.UTF-8', 'LD_LIBRARY_PATH': '/home/winng/Belvedere/catkin_ws/devel/lib:/home/winng/catkin_ws/devel/lib:/home/winng/Documents/Belvedere/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/winng/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo', 'ROS_DISTRO': 'melodic', 'TERMINATOR_DBUS_NAME': 'net.tenshu.Terminator20x1a6021154d881c', 'LESS': '-R', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'GJS_DEBUG_OUTPUT': 'stderr', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XDG_VTNR': '1', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'winng', 'XDG_SEAT': 'seat0', 'HOME': '/home/winng', 'LC_PAPER': 'en_US.UTF-8', 'PATH': '/opt/ros/melodic/bin:/home/winng/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/winng/Belvedere/catkin_ws/devel:/home/winng/catkin_ws/devel:/home/winng/Documents/Belvedere/catkin_ws/devel:/opt/ros/melodic', 'ZSH': '/home/winng/.oh-my-zsh', 'WINDOWPATH': '1', 'SSH_AGENT_PID': '1346', 'XDG_SESSION_DESKTOP': 'ubuntu', 'GAZEBO_PLUGIN_PATH': ':/home/winng/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo', 'TERM': 'xterm-256color', 'SHELL': '/usr/bin/zsh', 'ROS_LOG_FILENAME': '/home/winng/.ros/log/879f8424-f76a-11ea-b195-001c42db7e93/roslaunch-parallels-22322.log', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'SESSION_MANAGER': 'local/parallels:@/tmp/.ICE-unix/1215,unix/parallels:/tmp/.ICE-unix/1215', 'LC_MEASUREMENT': 'en_US.UTF-8', 'TERMINATOR_UUID': 'urn:uuid:2f2e940e-aff9-427b-85d7-c4378c80c5b8', 'QT_ACCESSIBILITY': '1', 'DISPLAY': ':0', 'QT4_IM_MODULE': 'xim', 'CLUTTER_IM_MODULE': 'xim', 'TEXTDOMAIN': 'im-config', 'IM_CONFIG_PHASE': '2', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '3115', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'ROS_PYTHON_VERSION': '2', 'USERNAME': 'winng', 'LANG': 'en_US.UTF-8', 'SHLVL': '1', 'GIO_LAUNCHED_DESKTOP_FILE': '/usr/share/applications/terminator.desktop', 'XDG_RUNTIME_DIR': '/run/user/1000', 'GTK_IM_MODULE': 'ibus', 'LC_ADDRESS': 'en_US.UTF-8', 'PYTHONPATH': '/home/winng/Belvedere/catkin_ws/devel/lib/python2.7/dist-packages:/home/winng/catkin_ws/devel/lib/python2.7/dist-packages:/home/winng/Documents/Belvedere/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'GDMSESSION': 'ubuntu', 'XMODIFIERS': '@im=ibus', 'TEXTDOMAINDIR': '/usr/share/locale/', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PKG_CONFIG_PATH': '/home/winng/Belvedere/catkin_ws/devel/lib/pkgconfig:/home/winng/catkin_ws/devel/lib/pkgconfig:/home/winng/Documents/Belvedere/catkin_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/winng/Belvedere/catkin_ws/src/belvedere:/home/winng/Belvedere/catkin_ws/src/catkin_simple:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/controller_msgs:/home/winng/Belvedere/catkin_ws/src/eigen_catkin:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/geometric_controller:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_comm:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_planning_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_state_machine_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_system_msgs:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/mavros_controllers:/home/winng/Belvedere/catkin_ws/src/Firmware:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/trajectory_publisher:/home/winng/Belvedere/catkin_ws/src/belvedere:/home/winng/Belvedere/catkin_ws/src/catkin_simple:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/controller_msgs:/home/winng/Belvedere/catkin_ws/src/eigen_catkin:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/geometric_controller:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_comm:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_planning_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_state_machine_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_system_msgs:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/mavros_controllers:/home/winng/Belvedere/catkin_ws/src/Firmware:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/trajectory_publisher:/home/winng/Belvedere/catkin_ws/src/belvedere:/home/winng/Belvedere/catkin_ws/src/catkin_simple:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/controller_msgs:/home/winng/Belvedere/catkin_ws/src/eigen_catkin:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/geometric_controller:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_comm:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_planning_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_state_machine_msgs:/home/winng/Belvedere/catkin_ws/src/mav_comm/mav_system_msgs:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/mavros_controllers:/home/winng/Belvedere/catkin_ws/src/Firmware:/home/winng/Belvedere/catkin_ws/src/mavros_controllers/trajectory_publisher:/opt/ros/melodic/share:/home/winng/catkin_ws/src/Firmware:/home/winng/catkin_ws/src/Firmware/Tools/sitl_gazebo', 'GAZEBO_MODEL_PATH': ':/home/winng/catkin_ws/src/Firmware/Tools/sitl_gazebo/models', 'XDG_SESSION_ID': '2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/melodic/bin/roslaunch', 'LC_IDENTIFICATION': 'en_US.UTF-8', 'DESKTOP_SESSION': 'ubuntu', 'LSCOLORS': 'Gxfxcxdxbxegedabagacad', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'GTK_MODULES': 'gail:atk-bridge', 'XDG_SESSION_TYPE': 'x11', 'OLDPWD': '/media/psf/Documents/GitHub.nosync/Belvedere/catkin_ws/src/belvedere/scripts/Point_Clouds', 'LC_TELEPHONE': 'en_US.UTF-8', 'PAPERSIZE': 'letter', 'LC_MONETARY': 'en_US.UTF-8', 'PWD': '/media/psf/Documents/GitHub.nosync/Belvedere/catkin_ws/src/belvedere/scripts', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://localhost:11311', 'COLORTERM': 'truecolor', 'LC_NAME': 'en_US.UTF-8', 'XDG_MENU_PREFIX': 'gnome-', 'LC_TIME': 'en_US.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'PAGER': 'less', 'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'USER': 'winng'}
[roslaunch][INFO] 2020-09-15 22:50:28,574: starting in server mode
[roslaunch.parent][INFO] 2020-09-15 22:50:28,574: starting roslaunch parent run
[roslaunch][INFO] 2020-09-15 22:50:28,574: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml
[roslaunch][INFO] 2020-09-15 22:50:29,641: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2020-09-15 22:50:29,641: loading config file /opt/ros/melodic/share/octomap_server/launch/octomap_mapping.launch
[roslaunch][INFO] 2020-09-15 22:50:29,642: Added node of type [octomap_server/octomap_server_node] in namespace [/]
[roslaunch][INFO] 2020-09-15 22:50:29,642: ... selected machine [] for node of type [octomap_server/octomap_server_node]
[roslaunch.pmon][INFO] 2020-09-15 22:50:29,646: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2020-09-15 22:50:29,646: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2020-09-15 22:50:29,647: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2020-09-15 22:50:29,647: starting parent XML-RPC server
[roslaunch.server][INFO] 2020-09-15 22:50:29,647: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2020-09-15 22:50:29,647: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2020-09-15 22:50:29,647: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2020-09-15 22:50:29,648: Started XML-RPC server [http://parallels:38273/]
[xmlrpc][INFO] 2020-09-15 22:50:29,648: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2020-09-15 22:50:29,662: started roslaunch server http://parallels:38273/
[roslaunch.parent][INFO] 2020-09-15 22:50:29,662: ... parent XML-RPC server started
[roslaunch][INFO] 2020-09-15 22:50:29,662: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2020-09-15 22:50:29,664: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2020-09-15 22:50:29,665: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2020-09-15 22:50:29,667: setting /roslaunch/uris/host_parallels__38273' to http://parallels:38273/
[roslaunch][INFO] 2020-09-15 22:50:29,668: load_parameters starting ...
[roslaunch][INFO] 2020-09-15 22:50:29,672: ... load_parameters complete
[roslaunch][INFO] 2020-09-15 22:50:29,672: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2020-09-15 22:50:29,673: ... preparing to launch node of type [octomap_server/octomap_server_node]
[roslaunch][INFO] 2020-09-15 22:50:29,673: create_node_process: package[octomap_server] type[octomap_server_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2020-09-15 22:50:29,673: process[octomap_server-1]: env[{'LC_NUMERIC': 'en_US.UTF-8', 'ROS_DISTRO': 'melodic', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'LESS': '-R', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'GJS_DEBUG_OUTPUT': 'stderr', 'COLORTERM': 'truecolor', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XDG_VTNR': '1', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'winng', 'XDG_SEAT': 'seat0', 'HOME': '/home/winng', 'LC_PAPER': 'en_US.UTF-8', 'PATH': '/opt/ros/melodic/bin:/home/winng/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/winng/Belvedere/catkin_ws/devel:/home/winng/catkin_ws/devel:/home/winng/Documents/Belvedere/catkin_ws/devel:/opt/ros/melodic', 'ZSH': '/home/winng/.oh-my-zsh', 'LD_LIBRARY_PATH': '/home/winng/Belvedere/catkin_ws/devel/lib:/home/winng/catkin_ws/devel/lib:/home/winng/Documents/Belvedere/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/winng/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo', 'SSH_AGENT_PID': '1346', 'XDG_SESSION_DESKTOP': 'ubuntu', 'PAPERSIZE': 'letter', 'TERM': 'xterm-256color', 'SHELL': '/usr/bin/zsh', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'SESSION_MANAGER': 'local/parallels:@/tmp/.ICE-unix/1215,unix/parallels:/tmp/.ICE-unix/1215', 'LC_MEASUREMENT': 'en_US.UTF-8', 'TERMINATOR_UUID': 'urn:uuid:2f2e940e-aff9-427b-85d7-c4378c80c5b8', 'CLUTTER_IM_MODULE': 'xim', 'ROS_LOG_FILENAME': '/home/winng/.ros/log/879f8424-f76a-11ea-b195-001c42db7e93/roslaunch-parallels-22322.log', 'QT4_IM_MODULE': 'xim', 'QT_ACCESSIBILITY': '1', 'WINDOWPATH': '1', 'IM_CONFIG_PHASE': '2', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '3115', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'ROS_PYTHON_VERSION': '2', 'LC_MONETARY': 'en_US.UTF-8', 'USERNAME': 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[roslaunch][INFO] 2020-09-15 22:50:29,843: process[octomap_server-1]: args[[u'/opt/ros/melodic/lib/octomap_server/octomap_server_node', u'cloud_in:=/cloud_in', u'__name:=octomap_server']]
[roslaunch][INFO] 2020-09-15 22:50:29,844: ... created process [octomap_server-1]
[roslaunch.pmon][INFO] 2020-09-15 22:50:29,844: ProcessMonitor.register[octomap_server-1]
[roslaunch.pmon][INFO] 2020-09-15 22:50:29,844: ProcessMonitor.register[octomap_server-1] complete
[roslaunch][INFO] 2020-09-15 22:50:29,845: ... registered process [octomap_server-1]
[roslaunch][INFO] 2020-09-15 22:50:29,845: process[octomap_server-1]: starting os process
[roslaunch][INFO] 2020-09-15 22:50:29,846: process[octomap_server-1]: start w/ args [[u'/opt/ros/melodic/lib/octomap_server/octomap_server_node', u'cloud_in:=/cloud_in', u'__name:=octomap_server', u'__log:=/home/winng/.ros/log/879f8424-f76a-11ea-b195-001c42db7e93/octomap_server-1.log']]
[roslaunch][INFO] 2020-09-15 22:50:29,846: process[octomap_server-1]: cwd will be [/home/winng/.ros]
[roslaunch][INFO] 2020-09-15 22:50:29,852: process[octomap_server-1]: started with pid [22343]
[roslaunch][INFO] 2020-09-15 22:50:29,852: ... successfully launched [octomap_server-1]
[roslaunch][INFO] 2020-09-15 22:50:29,852: ... launch_nodes complete
[roslaunch.pmon][INFO] 2020-09-15 22:50:29,853: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140597250078464)>
[roslaunch.parent][INFO] 2020-09-15 22:50:29,853: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2020-09-15 22:50:29,853: spin
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,528: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon 140597250078464)>
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,552: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140597250078464)>
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,556: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140597250078464)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x7fdf595199d0>]
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,558: ProcessMonitor exit: killing octomap_server-1
[roslaunch][INFO] 2020-09-15 22:52:47,560: [octomap_server-1] killing on exit
[roslaunch][INFO] 2020-09-15 22:52:47,561: process[octomap_server-1]: killing os process with pid[22343] pgid[22343]
[roslaunch][INFO] 2020-09-15 22:52:47,561: [octomap_server-1] sending SIGINT to pgid [22343]
[roslaunch][INFO] 2020-09-15 22:52:47,561: [octomap_server-1] sent SIGINT to pgid [22343]
[roslaunch][INFO] 2020-09-15 22:52:47,863: process[octomap_server-1]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,864: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,864: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2020-09-15 22:52:47,900: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2020-09-15 22:52:47,900: runner.stop()
[roslaunch][INFO] 2020-09-15 22:52:47,900: shutting down processing monitor...
[roslaunch][INFO] 2020-09-15 22:52:47,900: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 140597250078464)>
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,901: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140597250078464)>
[roslaunch][INFO] 2020-09-15 22:52:47,901: ... shutting down processing monitor complete
[roslaunch][INFO] 2020-09-15 22:52:47,901: done
[roslaunch.pmon][INFO] 2020-09-15 22:52:47,902: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140597250078464)>
[rospy.core][INFO] 2020-09-15 22:52:47,904: signal_shutdown [atexit]