Initializing controller 'mobile_base_controller' failed

Hi,
I am trying to run Tiago with Gazebo on ubuntu 18.04 / ros-melodic. I have created a new catkin ws following your installation tutorial. The workspace compiles fine without any errors.
But trying to run roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel world:=empty as described in you tutorial (http://wiki.ros.org/Robots/TIAGo/Tutorials/motions/cmd_vel) the mobile_base_controller fails and I am unable to control the base. Output:
honerkam@daim:~/ros/catkin_ws_tiago2$ roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel world:=empty
... logging to /home/honerkam/.ros/log/7ef3fd2e-0bc7-11ec-828f-448a5ba20154/roslaunch-daim-11241.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://daim:35263/

SUMMARY
========

PARAMETERS
 * /arm_controller/constraints/arm_1_joint/goal: 0.02
 * /arm_controller/constraints/arm_2_joint/goal: 0.02
 * /arm_controller/constraints/arm_3_joint/goal: 0.02
 * /arm_controller/constraints/arm_4_joint/goal: 0.02
 * /arm_controller/constraints/arm_5_joint/goal: 0.02
 * /arm_controller/constraints/arm_6_joint/goal: 0.02
 * /arm_controller/constraints/arm_7_joint/goal: 0.02
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/stopped_velocity_tolerance: 5.0
 * /arm_controller/joints: ['arm_1_joint', '...
 * /arm_controller/type: position_controll...
 * /collision_model_parameters/blacklist/default: [{'second': 'tors...
 * /collision_model_parameters/links_with_padding: ['arm_4_link', 'a...
 * /collision_model_parameters/padding: 0.01
 * /gains/FFJ1/d: 0
 * /gains/FFJ1/i: 10
 * /gains/FFJ1/p: 100
 * /gains/FFJ2/d: 0
 * /gains/FFJ2/i: 10
 * /gains/FFJ2/p: 100
 * /gains/FFJ3/d: 0
 * /gains/FFJ3/i: 10
 * /gains/FFJ3/p: 100
 * /gains/FFJ4/d: 0
 * /gains/FFJ4/i: 10
 * /gains/FFJ4/p: 100
 * /gains/MFJ1/d: 0
 * /gains/MFJ1/i: 10
 * /gains/MFJ1/p: 100
 * /gains/MFJ2/d: 0
 * /gains/MFJ2/i: 10
 * /gains/MFJ2/p: 100
 * /gains/MFJ3/d: 0
 * /gains/MFJ3/i: 10
 * /gains/MFJ3/p: 100
 * /gains/MFJ4/d: 0
 * /gains/MFJ4/i: 10
 * /gains/MFJ4/p: 100
 * /gains/RFJ1/d: 0
 * /gains/RFJ1/i: 10
 * /gains/RFJ1/p: 100
 * /gains/RFJ2/d: 0
 * /gains/RFJ2/i: 10
 * /gains/RFJ2/p: 100
 * /gains/RFJ3/d: 0
 * /gains/RFJ3/i: 10
 * /gains/RFJ3/p: 100
 * /gains/RFJ4/d: 0
 * /gains/RFJ4/i: 10
 * /gains/RFJ4/p: 100
 * /gains/THJ1/d: 0
 * /gains/THJ1/i: 10
 * /gains/THJ1/p: 100
 * /gains/THJ2/d: 0
 * /gains/THJ2/i: 10
 * /gains/THJ2/p: 100
 * /gains/THJ4/d: 0
 * /gains/THJ4/i: 10
 * /gains/THJ4/p: 100
 * /gains/THJ5/d: 0
 * /gains/THJ5/i: 10
 * /gains/THJ5/p: 100
 * /gains/arm_1_joint/d: 5
 * /gains/arm_1_joint/i: 1
 * /gains/arm_1_joint/i_clamp: 3
 * /gains/arm_1_joint/p: 3000
 * /gains/arm_1_joint/torque_clamp: 60
 * /gains/arm_2_joint/d: 5
 * /gains/arm_2_joint/i: 1
 * /gains/arm_2_joint/i_clamp: 3
 * /gains/arm_2_joint/p: 3000
 * /gains/arm_2_joint/torque_clamp: 50
 * /gains/arm_3_joint/d: 5
 * /gains/arm_3_joint/i: 1
 * /gains/arm_3_joint/i_clamp: 3
 * /gains/arm_3_joint/p: 3000
 * /gains/arm_3_joint/torque_clamp: 50
 * /gains/arm_4_joint/d: 5
 * /gains/arm_4_joint/i: 1
 * /gains/arm_4_joint/i_clamp: 3
 * /gains/arm_4_joint/p: 3000
 * /gains/arm_4_joint/torque_clamp: 50
 * /gains/arm_5_joint/d: 1
 * /gains/arm_5_joint/i: 0.1
 * /gains/arm_5_joint/i_clamp: 3
 * /gains/arm_5_joint/p: 500
 * /gains/arm_5_joint/torque_clamp: 50
 * /gains/arm_6_joint/d: 1
 * /gains/arm_6_joint/i: 0.1
 * /gains/arm_6_joint/i_clamp: 3
 * /gains/arm_6_joint/p: 500
 * /gains/arm_6_joint/torque_clamp: 50
 * /gains/arm_7_joint/d: 1
 * /gains/arm_7_joint/i: 0.1
 * /gains/arm_7_joint/i_clamp: 3
 * /gains/arm_7_joint/p: 500
 * /gains/arm_7_joint/torque_clamp: 50
 * /gains/gripper_finger_joint/d: 0
 * /gains/gripper_finger_joint/i: 0
 * /gains/gripper_finger_joint/p: 2000
 * /gains/gripper_finger_joint/p_gain: 2000
 * /gains/gripper_left_finger_joint/d: 0
 * /gains/gripper_left_finger_joint/i: 0
 * /gains/gripper_left_finger_joint/p: 2000
 * /gains/gripper_left_finger_joint/p_gain: 2000
 * /gains/gripper_right_finger_joint/d: 0
 * /gains/gripper_right_finger_joint/i: 0
 * /gains/gripper_right_finger_joint/p: 2000
 * /gains/gripper_right_finger_joint/p_gain: 2000
 * /gains/hand_index_abd_joint/d: 0.1
 * /gains/hand_index_abd_joint/i: 0.1
 * /gains/hand_index_abd_joint/i_clamp: 1
 * /gains/hand_index_abd_joint/p: 50
 * /gains/hand_index_flex_1_joint/d: 0.1
 * /gains/hand_index_flex_1_joint/i: 0.1
 * /gains/hand_index_flex_1_joint/i_clamp: 1
 * /gains/hand_index_flex_1_joint/p: 50
 * /gains/hand_index_flex_2_joint/d: 0.1
 * /gains/hand_index_flex_2_joint/i: 0.1
 * /gains/hand_index_flex_2_joint/i_clamp: 1
 * /gains/hand_index_flex_2_joint/p: 50
 * /gains/hand_index_flex_3_joint/d: 0.1
 * /gains/hand_index_flex_3_joint/i: 0.1
 * /gains/hand_index_flex_3_joint/i_clamp: 1
 * /gains/hand_index_flex_3_joint/p: 50
 * /gains/hand_index_joint/d: 0.1
 * /gains/hand_index_joint/i: 0.1
 * /gains/hand_index_joint/i_clamp: 1
 * /gains/hand_index_joint/p: 50
 * /gains/hand_index_virtual_1_joint/d: 0.1
 * /gains/hand_index_virtual_1_joint/i: 0.1
 * /gains/hand_index_virtual_1_joint/i_clamp: 1
 * /gains/hand_index_virtual_1_joint/p: 50
 * /gains/hand_index_virtual_2_joint/d: 0.1
 * /gains/hand_index_virtual_2_joint/i: 0.1
 * /gains/hand_index_virtual_2_joint/i_clamp: 1
 * /gains/hand_index_virtual_2_joint/p: 50
 * /gains/hand_index_virtual_3_joint/d: 0.1
 * /gains/hand_index_virtual_3_joint/i: 0.1
 * /gains/hand_index_virtual_3_joint/i_clamp: 1
 * /gains/hand_index_virtual_3_joint/p: 50
 * /gains/hand_little_abd_joint/d: 0.1
 * /gains/hand_little_abd_joint/i: 0.1
 * /gains/hand_little_abd_joint/i_clamp: 1
 * /gains/hand_little_abd_joint/p: 50
 * /gains/hand_little_flex_1_joint/d: 0.1
 * /gains/hand_little_flex_1_joint/i: 0.1
 * /gains/hand_little_flex_1_joint/i_clamp: 1
 * /gains/hand_little_flex_1_joint/p: 50
 * /gains/hand_little_flex_2_joint/d: 0.1
 * /gains/hand_little_flex_2_joint/i: 0.1
 * /gains/hand_little_flex_2_joint/i_clamp: 1
 * /gains/hand_little_flex_2_joint/p: 50
 * /gains/hand_little_flex_3_joint/d: 0.1
 * /gains/hand_little_flex_3_joint/i: 0.1
 * /gains/hand_little_flex_3_joint/i_clamp: 1
 * /gains/hand_little_flex_3_joint/p: 50
 * /gains/hand_little_virtual_1_joint/d: 0.1
 * /gains/hand_little_virtual_1_joint/i: 0.1
 * /gains/hand_little_virtual_1_joint/i_clamp: 1
 * /gains/hand_little_virtual_1_joint/p: 50
 * /gains/hand_little_virtual_2_joint/d: 0.1
 * /gains/hand_little_virtual_2_joint/i: 0.1
 * /gains/hand_little_virtual_2_joint/i_clamp: 1
 * /gains/hand_little_virtual_2_joint/p: 50
 * /gains/hand_little_virtual_3_joint/d: 0.1
 * /gains/hand_little_virtual_3_joint/i: 0.1
 * /gains/hand_little_virtual_3_joint/i_clamp: 1
 * /gains/hand_little_virtual_3_joint/p: 50
 * /gains/hand_middle_abd_joint/d: 0.1
 * /gains/hand_middle_abd_joint/i: 0.1
 * /gains/hand_middle_abd_joint/i_clamp: 1
 * /gains/hand_middle_abd_joint/p: 50
 * /gains/hand_middle_flex_1_joint/d: 0.1
 * /gains/hand_middle_flex_1_joint/i: 0.1
 * /gains/hand_middle_flex_1_joint/i_clamp: 1
 * /gains/hand_middle_flex_1_joint/p: 50
 * /gains/hand_middle_flex_2_joint/d: 0.1
 * /gains/hand_middle_flex_2_joint/i: 0.1
 * /gains/hand_middle_flex_2_joint/i_clamp: 1
 * /gains/hand_middle_flex_2_joint/p: 50
 * /gains/hand_middle_flex_3_joint/d: 0.1
 * /gains/hand_middle_flex_3_joint/i: 0.1
 * /gains/hand_middle_flex_3_joint/i_clamp: 1
 * /gains/hand_middle_flex_3_joint/p: 50
 * /gains/hand_middle_virtual_1_joint/d: 0.1
 * /gains/hand_middle_virtual_1_joint/i: 0.1
 * /gains/hand_middle_virtual_1_joint/i_clamp: 1
 * /gains/hand_middle_virtual_1_joint/p: 50
 * /gains/hand_middle_virtual_2_joint/d: 0.1
 * /gains/hand_middle_virtual_2_joint/i: 0.1
 * /gains/hand_middle_virtual_2_joint/i_clamp: 1
 * /gains/hand_middle_virtual_2_joint/p: 50
 * /gains/hand_middle_virtual_3_joint/d: 0.1
 * /gains/hand_middle_virtual_3_joint/i: 0.1
 * /gains/hand_middle_virtual_3_joint/i_clamp: 1
 * /gains/hand_middle_virtual_3_joint/p: 50
 * /gains/hand_mrl_joint/d: 0.1
 * /gains/hand_mrl_joint/i: 0.1
 * /gains/hand_mrl_joint/i_clamp: 1
 * /gains/hand_mrl_joint/p: 50
 * /gains/hand_ring_abd_joint/d: 0.1
 * /gains/hand_ring_abd_joint/i: 0.1
 * /gains/hand_ring_abd_joint/i_clamp: 1
 * /gains/hand_ring_abd_joint/p: 50
 * /gains/hand_ring_flex_1_joint/d: 0.1
 * /gains/hand_ring_flex_1_joint/i: 0.1
 * /gains/hand_ring_flex_1_joint/i_clamp: 1
 * /gains/hand_ring_flex_1_joint/p: 50
 * /gains/hand_ring_flex_2_joint/d: 0.1
 * /gains/hand_ring_flex_2_joint/i: 0.1
 * /gains/hand_ring_flex_2_joint/i_clamp: 1
 * /gains/hand_ring_flex_2_joint/p: 50
 * /gains/hand_ring_flex_3_joint/d: 0.1
 * /gains/hand_ring_flex_3_joint/i: 0.1
 * /gains/hand_ring_flex_3_joint/i_clamp: 1
 * /gains/hand_ring_flex_3_joint/p: 50
 * /gains/hand_ring_virtual_1_joint/d: 0.1
 * /gains/hand_ring_virtual_1_joint/i: 0.1
 * /gains/hand_ring_virtual_1_joint/i_clamp: 1
 * /gains/hand_ring_virtual_1_joint/p: 50
 * /gains/hand_ring_virtual_2_joint/d: 0.1
 * /gains/hand_ring_virtual_2_joint/i: 0.1
 * /gains/hand_ring_virtual_2_joint/i_clamp: 1
 * /gains/hand_ring_virtual_2_joint/p: 50
 * /gains/hand_ring_virtual_3_joint/d: 0.1
 * /gains/hand_ring_virtual_3_joint/i: 0.1
 * /gains/hand_ring_virtual_3_joint/i_clamp: 1
 * /gains/hand_ring_virtual_3_joint/p: 50
 * /gains/hand_thumb_abd_joint/d: 0.1
 * /gains/hand_thumb_abd_joint/i: 0.1
 * /gains/hand_thumb_abd_joint/i_clamp: 1
 * /gains/hand_thumb_abd_joint/p: 50
 * /gains/hand_thumb_flex_1_joint/d: 0.1
 * /gains/hand_thumb_flex_1_joint/i: 0.1
 * /gains/hand_thumb_flex_1_joint/i_clamp: 1
 * /gains/hand_thumb_flex_1_joint/p: 50
 * /gains/hand_thumb_flex_2_joint/d: 0.1
 * /gains/hand_thumb_flex_2_joint/i: 0.1
 * /gains/hand_thumb_flex_2_joint/i_clamp: 1
 * /gains/hand_thumb_flex_2_joint/p: 50
 * /gains/hand_thumb_flex_3_joint/d: 0.1
 * /gains/hand_thumb_flex_3_joint/i: 0.1
 * /gains/hand_thumb_flex_3_joint/i_clamp: 1
 * /gains/hand_thumb_flex_3_joint/p: 50
 * /gains/hand_thumb_joint/d: 0.1
 * /gains/hand_thumb_joint/i: 0.1
 * /gains/hand_thumb_joint/i_clamp: 1
 * /gains/hand_thumb_joint/p: 50
 * /gains/hand_thumb_virtual_1_joint/d: 0.1
 * /gains/hand_thumb_virtual_1_joint/i: 0.1
 * /gains/hand_thumb_virtual_1_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_1_joint/p: 50
 * /gains/hand_thumb_virtual_2_joint/d: 0.1
 * /gains/hand_thumb_virtual_2_joint/i: 0.1
 * /gains/hand_thumb_virtual_2_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_2_joint/p: 50
 * /gains/hand_thumb_virtual_3_joint/d: 0.1
 * /gains/hand_thumb_virtual_3_joint/i: 0.1
 * /gains/hand_thumb_virtual_3_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_3_joint/p: 50
 * /gains/head_1_joint/d: 0
 * /gains/head_1_joint/i: 10
 * /gains/head_1_joint/i_clamp: 1.5
 * /gains/head_1_joint/p: 100
 * /gains/head_2_joint/d: 0
 * /gains/head_2_joint/i: 10
 * /gains/head_2_joint/i_clamp: 1.5
 * /gains/head_2_joint/p: 100
 * /gains/suspension_left_joint/d: 250
 * /gains/suspension_left_joint/i: 0.1
 * /gains/suspension_left_joint/i_clamp: 1.5
 * /gains/suspension_left_joint/p: 30000
 * /gains/suspension_right_joint/d: 250
 * /gains/suspension_right_joint/i: 0.1
 * /gains/suspension_right_joint/i_clamp: 1.5
 * /gains/suspension_right_joint/p: 30000
 * /gains/torso_lift_joint/d: 250
 * /gains/torso_lift_joint/i: 0.2
 * /gains/torso_lift_joint/i_clamp: 1.5
 * /gains/torso_lift_joint/p: 900000
 * /gains/xtion_frame_joint/d: 0
 * /gains/xtion_frame_joint/i: 0
 * /gains/xtion_frame_joint/i_clamp: 1.5
 * /gains/xtion_frame_joint/p: 0.5
 * /gripper_controller/constraints/goal_time: 0.6
 * /gripper_controller/constraints/gripper_left_finger_joint/goal: 0.02
 * /gripper_controller/constraints/gripper_right_finger_joint/goal: 0.02
 * /gripper_controller/constraints/stopped_velocity_tolerance: 5.0
 * /gripper_controller/joints: ['gripper_right_f...
 * /gripper_controller/type: position_controll...
 * /head_controller/constraints/goal_time: 2.0
 * /head_controller/constraints/head_1_joint/goal: 0.5
 * /head_controller/constraints/head_2_joint/goal: 0.5
 * /head_controller/constraints/stopped_velocity_tolerance: 5.0
 * /head_controller/joints: ['head_1_joint', ...
 * /head_controller/point_head_action/pan_link: head_1_link
 * /head_controller/point_head_action/success_angle_threshold: 0.01
 * /head_controller/point_head_action/tilt_link: head_2_link
 * /head_controller/type: position_controll...
 * /home_gripper/suffix: 
 * /imu/base_imu/frame: base_imu_link
 * /imu/base_imu/gazebo_sensor_name: imu_sensor
 * /imu_sensor_controller/publish_rate: 50
 * /imu_sensor_controller/type: imu_sensor_contro...
 * /joint_state_controller/extra_joints: [{'name': 'caster...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /joint_torque_sensor_state_controller/extra_joints: [{'name': 'caster...
 * /joystick_relay/priority: False
 * /joystick_relay/turbo/angular_max: 1.3962634016
 * /joystick_relay/turbo/angular_min: 0.261799387799
 * /joystick_relay/turbo/linear_backward_max: 0.3
 * /joystick_relay/turbo/linear_backward_min: 0.1
 * /joystick_relay/turbo/linear_forward_max: 0.5
 * /joystick_relay/turbo/linear_forward_min: 0.1
 * /joystick_relay/turbo/steps: 6
 * /mobile_base_controller/angular/z/has_acceleration_limits: True
 * /mobile_base_controller/angular/z/has_velocity_limits: True
 * /mobile_base_controller/angular/z/max_acceleration: 2.09439510239
 * /mobile_base_controller/angular/z/max_velocity: 2.09439510239
 * /mobile_base_controller/base_frame_id: /base_footprint
 * /mobile_base_controller/cmd_vel_timeout: 0.25
 * /mobile_base_controller/left_wheel: wheel_left_joint
 * /mobile_base_controller/linear/x/has_acceleration_limits: True
 * /mobile_base_controller/linear/x/has_velocity_limits: True
 * /mobile_base_controller/linear/x/max_acceleration: 1.0
 * /mobile_base_controller/linear/x/max_velocity: 1.0
 * /mobile_base_controller/linear/x/min_velocity: -0.2
 * /mobile_base_controller/odom_frame_id: /odom
 * /mobile_base_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
 * /mobile_base_controller/preserve_turning_radius: True
 * /mobile_base_controller/publish_rate: 50.0
 * /mobile_base_controller/publish_wheel_data: True
 * /mobile_base_controller/right_wheel: wheel_right_joint
 * /mobile_base_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
 * /mobile_base_controller/type: diff_drive_contro...
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/longest_valid_segment_fraction: 0.01
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(arm_1_join...
 * /move_group/arm_torso/longest_valid_segment_fraction: 0.01
 * /move_group/arm_torso/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm_torso/projection_evaluator: joints(torso_lift...
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/disable_capabilities: 
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/use_controller_manager: True
 * /pal_robot_info/type: tiago
 * /play_motion/approach_planner/exclude_from_planning_joints: ['head_1_joint', ...
 * /play_motion/approach_planner/joint_tolerance: 0.01
 * /play_motion/approach_planner/planning_groups: ['arm_torso', 'arm']
 * /play_motion/approach_planner/skip_planning_approach_min_dur: 0.5
 * /play_motion/approach_planner/skip_planning_approach_vel: 0.5
 * /play_motion/controllers: ['arm_controller'...
 * /play_motion/disable_motion_planning: False
 * /play_motion/motions/close/joints: ['gripper_left_fi...
 * /play_motion/motions/close/meta/description: Close Gripper
 * /play_motion/motions/close/meta/name: Close Gripper
 * /play_motion/motions/close/meta/usage: demo
 * /play_motion/motions/close/points: [{'positions': [0...
 * /play_motion/motions/close_gripper/joints: ['gripper_left_fi...
 * /play_motion/motions/close_gripper/points: [{'positions': [0...
 * /play_motion/motions/close_gripper_half/joints: ['gripper_left_fi...
 * /play_motion/motions/close_gripper_half/points: [{'positions': [0...
 * /play_motion/motions/close_half/joints: ['gripper_left_fi...
 * /play_motion/motions/close_half/meta/description: Close Gripper Hal...
 * /play_motion/motions/close_half/meta/name: Close Gripper Half
 * /play_motion/motions/close_half/meta/usage: demo
 * /play_motion/motions/close_half/points: [{'positions': [0...
 * /play_motion/motions/do_weights/joints: ['arm_1_joint', '...
 * /play_motion/motions/do_weights/meta/description: Do weights
 * /play_motion/motions/do_weights/meta/name: Do Weights
 * /play_motion/motions/do_weights/meta/usage: demo
 * /play_motion/motions/do_weights/points: [{'positions': [1...
 * /play_motion/motions/head_tour/joints: ['head_1_joint', ...
 * /play_motion/motions/head_tour/meta/description: head_tour
 * /play_motion/motions/head_tour/meta/name: Head Tour
 * /play_motion/motions/head_tour/meta/usage: demo
 * /play_motion/motions/head_tour/points: [{'positions': [0...
 * /play_motion/motions/home/joints: ['torso_lift_join...
 * /play_motion/motions/home/meta/description: Go home
 * /play_motion/motions/home/meta/name: Home
 * /play_motion/motions/home/meta/usage: demo
 * /play_motion/motions/home/points: [{'positions': [0...
 * /play_motion/motions/inspect_surroundings/joints: ['head_1_joint', ...
 * /play_motion/motions/inspect_surroundings/meta/description: Inspect surroundi...
 * /play_motion/motions/inspect_surroundings/meta/name: Inspect Surroundings
 * /play_motion/motions/inspect_surroundings/meta/usage: demo
 * /play_motion/motions/inspect_surroundings/points: [{'positions': [-...
 * /play_motion/motions/offer/joints: ['torso_lift_join...
 * /play_motion/motions/offer/meta/description: Offer Gripper
 * /play_motion/motions/offer/meta/name: Offer Gripper
 * /play_motion/motions/offer/meta/usage: demo
 * /play_motion/motions/offer/points: [{'positions': [0...
 * /play_motion/motions/offer_gripper/joints: ['torso_lift_join...
 * /play_motion/motions/offer_gripper/points: [{'positions': [0...
 * /play_motion/motions/open/joints: ['gripper_left_fi...
 * /play_motion/motions/open/meta/description: Open Gripper
 * /play_motion/motions/open/meta/name: Open Gripper
 * /play_motion/motions/open/meta/usage: demo
 * /play_motion/motions/open/points: [{'positions': [0...
 * /play_motion/motions/open_gripper/joints: ['gripper_left_fi...
 * /play_motion/motions/open_gripper/points: [{'positions': [0...
 * /play_motion/motions/pick_from_floor/joints: ['torso_lift_join...
 * /play_motion/motions/pick_from_floor/meta/description: Pick a shirt-like...
 * /play_motion/motions/pick_from_floor/meta/name: Pick from floor
 * /play_motion/motions/pick_from_floor/meta/usage: demo
 * /play_motion/motions/pick_from_floor/points: [{'positions': [0...
 * /play_motion/motions/point/joints: ['gripper_left_fi...
 * /play_motion/motions/point/meta/description: Close Gripper to ...
 * /play_motion/motions/point/meta/name: Point Gripper Pose
 * /play_motion/motions/point/meta/usage: demo
 * /play_motion/motions/point/points: [{'positions': [0...
 * /play_motion/motions/pregrasp_weight/joints: ['torso_lift_join...
 * /play_motion/motions/pregrasp_weight/meta/description: Pregrasp weight
 * /play_motion/motions/pregrasp_weight/meta/name: Pregrasp Weight
 * /play_motion/motions/pregrasp_weight/meta/usage: demo
 * /play_motion/motions/pregrasp_weight/points: [{'positions': [0...
 * /play_motion/motions/prepare_grasp/joints: ['torso_lift_join...
 * /play_motion/motions/prepare_grasp/meta/description: Prepare grasp pos...
 * /play_motion/motions/prepare_grasp/meta/name: Prepare Grasp
 * /play_motion/motions/prepare_grasp/meta/usage: demo
 * /play_motion/motions/prepare_grasp/points: [{'positions': [0...
 * /play_motion/motions/reach_floor/joints: ['torso_lift_join...
 * /play_motion/motions/reach_floor/meta/description: Reach floor
 * /play_motion/motions/reach_floor/meta/name: Reach Floor
 * /play_motion/motions/reach_floor/meta/usage: demo
 * /play_motion/motions/reach_floor/points: [{'positions': [0...
 * /play_motion/motions/reach_max/joints: ['torso_lift_join...
 * /play_motion/motions/reach_max/meta/description: Reach max
 * /play_motion/motions/reach_max/meta/name: Reach Max
 * /play_motion/motions/reach_max/meta/usage: demo
 * /play_motion/motions/reach_max/points: [{'positions': [0...
 * /play_motion/motions/shake_hands/joints: ['gripper_left_fi...
 * /play_motion/motions/shake_hands/meta/description: shake_hands
 * /play_motion/motions/shake_hands/meta/name: Shake Hands
 * /play_motion/motions/shake_hands/meta/usage: demo
 * /play_motion/motions/shake_hands/points: [{'positions': [0...
 * /play_motion/motions/unfold_arm/joints: ['torso_lift_join...
 * /play_motion/motions/unfold_arm/meta/description: unfold_arm
 * /play_motion/motions/unfold_arm/meta/name: Unfold arm
 * /play_motion/motions/unfold_arm/meta/usage: demo
 * /play_motion/motions/unfold_arm/points: [{'positions': [0...
 * /play_motion/motions/wave/joints: ['arm_1_joint', '...
 * /play_motion/motions/wave/meta/description: wave
 * /play_motion/motions/wave/meta/name: Wave
 * /play_motion/motions/wave/meta/usage: demo
 * /play_motion/motions/wave/points: [{'positions': [0...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm_torso/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_1_joint/max_velocity: 2.7
 * /robot_description_planning/joint_limits/arm_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_2_joint/max_velocity: 3.66
 * /robot_description_planning/joint_limits/arm_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_3_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_4_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_5_joint/max_velocity: 1.95
 * /robot_description_planning/joint_limits/arm_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_6_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/arm_7_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_7_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_7_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_7_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/gripper_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/torso_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/torso_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/torso_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/torso_lift_joint/max_velocity: 0.07
 * /robot_description_semantic: <!-- Autogenerate...
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /torso_controller/constraints/goal_time: 0.6
 * /torso_controller/constraints/stopped_velocity_tolerance: 5.0
 * /torso_controller/constraints/torso_lift_joint/goal: 0.02
 * /torso_controller/joints: ['torso_lift_joint']
 * /torso_controller/type: position_controll...
 * /twist_mux/locks: [{'topic': 'pause...
 * /twist_mux/topics: [{'topic': 'nav_v...
 * /use_sim_time: True
 * /velocity/pid_gains/caster_back_left_1_joint/d: 0
 * /velocity/pid_gains/caster_back_left_1_joint/i: 0
 * /velocity/pid_gains/caster_back_left_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_left_1_joint/p: 0
 * /velocity/pid_gains/caster_back_left_2_joint/d: 0
 * /velocity/pid_gains/caster_back_left_2_joint/i: 0
 * /velocity/pid_gains/caster_back_left_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_left_2_joint/p: 0
 * /velocity/pid_gains/caster_back_right_1_joint/d: 0
 * /velocity/pid_gains/caster_back_right_1_joint/i: 0
 * /velocity/pid_gains/caster_back_right_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_right_1_joint/p: 0
 * /velocity/pid_gains/caster_back_right_2_joint/d: 0
 * /velocity/pid_gains/caster_back_right_2_joint/i: 0
 * /velocity/pid_gains/caster_back_right_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_right_2_joint/p: 0
 * /velocity/pid_gains/caster_front_left_1_joint/d: 0
 * /velocity/pid_gains/caster_front_left_1_joint/i: 0
 * /velocity/pid_gains/caster_front_left_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_left_1_joint/p: 0
 * /velocity/pid_gains/caster_front_left_2_joint/d: 0
 * /velocity/pid_gains/caster_front_left_2_joint/i: 0
 * /velocity/pid_gains/caster_front_left_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_left_2_joint/p: 0
 * /velocity/pid_gains/caster_front_right_1_joint/d: 0
 * /velocity/pid_gains/caster_front_right_1_joint/i: 0
 * /velocity/pid_gains/caster_front_right_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_right_1_joint/p: 0
 * /velocity/pid_gains/caster_front_right_2_joint/d: 0
 * /velocity/pid_gains/caster_front_right_2_joint/i: 0
 * /velocity/pid_gains/caster_front_right_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_right_2_joint/p: 0
 * /velocity/pid_gains/wheel_left_joint/d: 0
 * /velocity/pid_gains/wheel_left_joint/i: 0
 * /velocity/pid_gains/wheel_left_joint/i_clamp: 1.0
 * /velocity/pid_gains/wheel_left_joint/p: 30
 * /velocity/pid_gains/wheel_right_joint/d: 0
 * /velocity/pid_gains/wheel_right_joint/i: 0
 * /velocity/pid_gains/wheel_right_joint/i_clamp: 1.0
 * /velocity/pid_gains/wheel_right_joint/p: 30

NODES
  /
    bringup_controllers_spawner_imu (controller_manager/spawner)
    default_controllers_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    gripper_controllers_spawner (controller_manager/spawner)
    home_gripper (pal_gripper_controller_configuration/home_gripper.py)
    image_raw_to_rect_color_relay (topic_tools/relay)
    is_already_there (play_motion/is_already_there.py)
    joystick_relay (twist_mux/joystick_relay.py)
    move_group (moveit_ros_move_group/move_group)
    play_motion (play_motion/play_motion)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_model (gazebo_ros/spawn_model)
    tf_lookup (tf_lookup/tf_lookup)
    tuck_arm (tiago_gazebo/tuck_arm.py)
    twist_marker (twist_mux/twist_marker)
    twist_mux (twist_mux/twist_mux)
  /head_controller/
    point_head_action (head_action/head_action)
  /xtion/rgb/
    image_proc (image_proc/image_proc)

auto-starting new master
process[master]: started with pid [11282]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7ef3fd2e-0bc7-11ec-828f-448a5ba20154
process[rosout-1]: started with pid [11302]
started core service [/rosout]
process[gazebo-2]: started with pid [11319]
process[gazebo_gui-3]: started with pid [11324]
process[spawn_model-4]: started with pid [11329]
process[default_controllers_spawner-5]: started with pid [11330]
process[head_controller/point_head_action-6]: started with pid [11331]
process[bringup_controllers_spawner_imu-7]: started with pid [11335]
process[gripper_controllers_spawner-8]: started with pid [11347]
process[home_gripper-9]: started with pid [11354]
process[play_motion-10]: started with pid [11357]
process[is_already_there-11]: started with pid [11371]
process[move_group-12]: started with pid [11382]
process[robot_state_publisher-13]: started with pid [11393]
process[tf_lookup-14]: started with pid [11400]
process[twist_mux-15]: started with pid [11425]
[ INFO /tf_lookup] [1630571203.444172970]: tf_lookup starting
process[twist_marker-16]: started with pid [11486]
process[joystick_relay-17]: started with pid [11502]
process[image_raw_to_rect_color_relay-18]: started with pid [11521]
process[tuck_arm-19]: started with pid [11535]
process[xtion/rgb/image_proc-20]: started with pid [11549]
[ WARN /robot_state_publisher] [1630571204.126142001]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ INFO /head_controller/point_head_action] [1630571204.137833897]: Load description from: /robot_description
[ INFO /twist_mux] [1630571204.468975724]: Topic handler 'navigation' subscribed to topic 'nav_vel': timeout = 0.500000s, priority = 10
[INFO /home_gripper] [1630571204.534757, 0.000000]: Waiting for gripper_controller...
[INFO /tuck_arm] [1630571204.634305, 0.000000]: Waiting for play_motion...
[INFO /default_controllers_spawner] [1630571204.654590, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO /twist_mux] [1630571204.657047521]: Topic handler 'joystick' subscribed to topic 'joy_vel': timeout = 0.500000s, priority = 100
[ INFO /gazebo] [1630571204.657646092]: Finished loading Gazebo ROS API Plugin.
[ WARN /tf_lookup] [1630571204.669682159]: Transformer::setExtrapolationLimit is deprecated and does not do anything
[ INFO /gazebo] [1630571204.670486371]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO /move_group] [1630571204.685048753]: Loading robot model 'tiago'...
[ INFO /move_group] [1630571204.693324206]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO /twist_mux] [1630571204.695345121]: Topic handler 'keyboard' subscribed to topic 'key_vel': timeout = 0.500000s, priority = 90
[ INFO /twist_mux] [1630571204.741742912]: Topic handler 'tablet' subscribed to topic 'tab_vel': timeout = 0.500000s, priority = 100
[INFO /bringup_controllers_spawner_imu] [1630571204.766601, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO /gripper_controllers_spawner] [1630571204.794661, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO /twist_mux] [1630571204.796427566]: Topic handler 'marker' subscribed to topic 'marker_vel': timeout = 0.500000s, priority = 99
[ INFO /twist_mux] [1630571204.853674946]: Topic handler 'phone' subscribed to topic 'phone_vel': timeout = 0.500000s, priority = 98
[ INFO /twist_mux] [1630571204.869053558]: Topic handler 'rviz_joy' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s, priority = 95
[ INFO /twist_mux] [1630571204.887148640]: Topic handler 'servoing_cmd_vel' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s, priority = 20
[ INFO /twist_mux] [1630571204.906075407]: Topic handler 'pause' subscribed to topic 'pause_navigation': timeout = None, priority = 100
[ INFO /twist_mux] [1630571204.919823017]: Topic handler 'loop_closure' subscribed to topic 'stop_closing_loop': timeout = None, priority = 200
[ INFO /twist_mux] [1630571204.934082497]: Topic handler 'joystick' subscribed to topic 'joy_priority': timeout = None, priority = 100
Error setting socket option (IP_ADD_MEMBERSHIP).
Error setting socket option (IP_ADD_MEMBERSHIP).
[ WARN /move_group] [1630571205.100356047]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN /play_motion] [1630571205.110519864]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN /xtion/rgb/image_proc] [1630571205.151023073]: The input topic '/xtion/rgb/image_raw' is not yet advertised
[ WARN /xtion/rgb/image_proc] [1630571205.156485597]: The input topic '/xtion/rgb/camera_info' is not yet advertised
[ INFO /move_group] [1630571205.243642709]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO /move_group] [1630571205.248504534]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO /move_group] [1630571205.248571355]: Starting planning scene monitor
[ INFO /move_group] [1630571205.251954031]: Listening to '/planning_scene'
[ INFO /move_group] [1630571205.251986560]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO /move_group] [1630571205.257391845]: Listening to '/collision_object'
[ INFO /move_group] [1630571205.260549163]: Listening to '/planning_scene_world' for planning scene world geometry
[ WARN /move_group] [1630571205.261002931]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ INFO /move_group] [1630571205.261866326]: No 3D sensor plugin(s) defined for octomap updates
[ INFO /move_group] [1630571205.274098437]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO /move_group] [1630571205.295244479]: Initializing OMPL interface using ROS parameters
[ INFO /move_group] [1630571205.321919670]: Using planning interface 'OMPL'
[ INFO /move_group] [1630571205.324612324]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO /move_group] [1630571205.325053757]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO /move_group] [1630571205.325436369]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO /move_group] [1630571205.325818270]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO /move_group] [1630571205.326182974]: Param 'jiggle_fraction' was set to 0.05
[ INFO /move_group] [1630571205.326547706]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO /move_group] [1630571205.326583254]: Using planning request adapter 'Add Time Parameterization'
[ INFO /move_group] [1630571205.326598180]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO /move_group] [1630571205.326612841]: Using planning request adapter 'Fix Start State Bounds'
[ INFO /move_group] [1630571205.326626195]: Using planning request adapter 'Fix Start State In Collision'
[ INFO /move_group] [1630571205.326639431]: Using planning request adapter 'Fix Start State Path Constraints'
Error setting socket option (IP_ADD_MEMBERSHIP).
Error setting socket option (IP_ADD_MEMBERSHIP).
[ INFO /gazebo] [1630571206.231258010]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO /gazebo] [1630571206.266355921, 0.026000000]: Physics dynamic reconfigure ready.
[ INFO /gazebo] [1630571206.890768478, 0.313000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO /gazebo] [1630571206.890834267, 0.313000000]: Starting Laser Plugin (ns = /)
[ INFO /gazebo] [1630571206.895436943, 0.313000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_model-4] process has finished cleanly
log file: /home/honerkam/.ros/log/7ef3fd2e-0bc7-11ec-828f-448a5ba20154/spawn_model-4*.log
[ INFO /gazebo] [1630571207.200561990, 0.313000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO /gazebo] [1630571207.205765811, 0.313000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO /gazebo] [1630571207.283332623, 0.313000000]: Loading gazebo_ros_control plugin
[ INFO /gazebo] [1630571207.283831648, 0.313000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO /gazebo] [1630571207.284680587, 0.313000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO /gazebo] [1630571207.412659329, 0.313000000]: Loading PAL HARWARE GAZEBO
[ INFO /gazebo] [1630571207.697247659, 0.313000000]: Joint mode switching is enabled
[ INFO /gazebo] [1630571207.706840375, 0.313000000]: Parsed imu sensor: base_imu in frame: base_imu_link
[ INFO /gazebo] [1630571207.720438788, 0.313000000]: Loaded gazebo_ros_control.
[ INFO /gazebo] [1630571207.735929044, 0.313000000]: Loading gazebo WORLD ODOMETRY RPY plugin
[ INFO /gazebo] [1630571207.736031701, 0.313000000]: world odometry sensor plugin missing <bodyName>, defaults to frameName
[ INFO /gazebo] [1630571207.736149650, 0.313000000]: world odometry plugin missing <updateRate>, defaults to 1000.000000
[ WARN /gazebo] [1630571207.748918216, 0.314000000]: Called publishAsync but publisher thread has not been started, THIS IS NOT RT safe. You should start it yourself.
[INFO /bringup_controllers_spawner_imu] [1630571207.798726, 0.363000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO /bringup_controllers_spawner_imu] [1630571207.801338, 0.365000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO /bringup_controllers_spawner_imu] [1630571207.803696, 0.368000]: Loading controller: imu_sensor_controller
[INFO /bringup_controllers_spawner_imu] [1630571207.820139, 0.384000]: Controller Spawner: Loaded controllers: imu_sensor_controller
[INFO /bringup_controllers_spawner_imu] [1630571207.827899, 0.392000]: Started controllers: imu_sensor_controller
[INFO /gripper_controllers_spawner] [1630571207.832978, 0.397000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO /gripper_controllers_spawner] [1630571207.835685, 0.400000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO /gripper_controllers_spawner] [1630571207.838424, 0.402000]: Loading controller: gripper_controller
[INFO /gripper_controllers_spawner] [1630571207.909109, 0.469000]: Controller Spawner: Loaded controllers: gripper_controller
[INFO /gripper_controllers_spawner] [1630571207.915604, 0.476000]: Started controllers: gripper_controller
[INFO /default_controllers_spawner] [1630571207.984248, 0.542000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO /default_controllers_spawner] [1630571207.987430, 0.546000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO /default_controllers_spawner] [1630571207.989940, 0.548000]: Loading controller: joint_state_controller
[INFO /default_controllers_spawner] [1630571208.007192, 0.565000]: Loading controller: torso_controller
[INFO /home_gripper] [1630571208.020921, 0.576000]: ...connected.
[INFO /default_controllers_spawner] [1630571208.047689, 0.606000]: Loading controller: head_controller
[INFO /default_controllers_spawner] [1630571208.084946, 0.643000]: Loading controller: arm_controller
[INFO /default_controllers_spawner] [1630571208.135692, 0.692000]: Loading controller: mobile_base_controller
[ERROR /gazebo] [1630571208.174020505, 0.730000000]: Initializing controller 'mobile_base_controller' failed
[ INFO /move_group] [1630571208.319771820, 0.875000000]: Added FollowJointTrajectory controller for arm_controller
[ INFO /move_group] [1630571208.522606472, 1.067000000]: Added FollowJointTrajectory controller for torso_controller
[ INFO /move_group] [1630571208.891597099, 1.434000000]: Added FollowJointTrajectory controller for head_controller
[ERROR /default_controllers_spawner] [1630571209.175683, 1.717000]: Failed to load mobile_base_controller
[INFO /default_controllers_spawner] [1630571209.177650, 1.719000]: Controller Spawner: Loaded controllers: joint_state_controller, torso_controller, head_controller, arm_controller
[INFO /default_controllers_spawner] [1630571209.182313, 1.724000]: Started controllers: joint_state_controller, torso_controller, head_controller, arm_controller
[INFO /home_gripper] [1630571209.216032, 1.757000]: Opening gripper...
[ INFO /move_group] [1630571209.224104679, 1.765000000]: Added FollowJointTrajectory controller for gripper_controller
[ INFO /move_group] [1630571209.224194736, 1.765000000]: Returned 4 controllers in list
[ INFO /move_group] [1630571209.240225239, 1.781000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO /move_group] [1630571209.342958477, 1.882000000]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO /move_group] [1630571209.343028494, 1.882000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO /move_group] [1630571209.343050055, 1.882000000]: MoveGroup context initialization complete

You can start planning now!

[INFO /tuck_arm] [1630571210.874973, 3.390000]: ...connected.
[INFO /home_gripper] [1630571211.283744, 3.797000]: Gripper opened.
[home_gripper-9] process has finished cleanly
log file: /home/honerkam/.ros/log/7ef3fd2e-0bc7-11ec-828f-448a5ba20154/home_gripper-9*.log
Do you have any insights into the possible cause / whether the base controller is still fully compatible with the newest melodic packages?
Your help is much appreciated.
pal-robotics / tiago_tutorials

Initializing controller 'mobile_base_controller' failed #35
