search

robotics-in-concert / rocon_demos

Demo software for rocon milestones.
2 stars 14 forks source link

Waiterbot could not start deliverying with TF error #65

Closed hughie closed 8 years ago

hughie commented 8 years ago

master

yujin@uber:~/rocon_headoffice$ roslaunch demo_concert concert.launch --screen
... logging to /home/yujin/.ros/log/38fb5448-5b88-11e5-8840-d05099658ed3/roslaunch-uber-32510.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.65:39332/

SUMMARY
========

PARAMETERS
 * /concert/conductor/auto_invite: True
 * /concert/conductor/local_clients_only: False
 * /concert/description: Pirates in concert.
 * /concert/gateway/default_blacklist: [{'node': 'None',...
 * /concert/gateway/disable_uuids: False
 * /concert/gateway/disable_zeroconf: False
 * /concert/gateway/external_shutdown: True
 * /concert/gateway/firewall: False
 * /concert/gateway/hub_uri: http://localhost:...
 * /concert/gateway/hub_whitelist: ['http://localhos...
 * /concert/gateway/name: uber
 * /concert/gateway/network_interface: 
 * /concert/gateway/watch_loop_period: 2
 * /concert/hub/external_shutdown: True
 * /concert/hub/gateway_dead_timeout: 7200
 * /concert/hub/gateway_unavailable_timeout: 60
 * /concert/hub/max_memory: 10mb
 * /concert/hub/name: uber
 * /concert/hub/port: 6380
 * /concert/hub/watcher_thread_rate: 0.2
 * /concert/hub/zeroconf: True
 * /concert/icon: rocon_icons/rocon...
 * /concert/interactions/rosbridge_address: 192.168.0.65
 * /concert/interactions/rosbridge_port: 9090
 * /concert/interactions/webserver_address: 192.168.0.65
 * /concert/name: uber
 * /concert/scheduler/enable_preemptions: False
 * /concert/services/concert_name: uber
 * /concert/services/default_auto_enable_services: ['admin', 'teleop...
 * /concert/services/disable_cache: True
 * /concert/services/services: demo_concert/demo...
 * /concert/zeroconf/zeroconf/services: [{'port': 11311, ...
 * /rosbridge_websocket/address: 192.168.0.65
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/port: 9090
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /concert/zeroconf/
    zeroconf (zeroconf_avahi/zeroconf)
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
  /concert/
    concert_conductor_graph_to_string (concert_utilities/conductor_graph_to_string.py)
    conductor (concert_conductor/conductor.py)
    gateway (rocon_gateway/gateway.py)
    hub (rocon_hub/hub.py)
    interactions (rocon_interactions/interactions_manager.py)
    master (rocon_master_info/master.py)
    rocon_tf_reconstructor (rocon_tf_reconstructor/rocon_tf_reconstructor)
    scheduler (concert_schedulers/compatibility_tree_scheduler.py)
    services (concert_service_manager/service_manager)
    software (concert_software_farmer/software_farmer.py)

auto-starting new master
process[master]: started with pid [32522]
ROS_MASTER_URI=http://192.168.0.65:11311

setting /run_id to 38fb5448-5b88-11e5-8840-d05099658ed3
process[rosout-1]: started with pid [32535]
started core service [/rosout]
process[concert/master-2]: started with pid [32552]
process[concert/services-3]: started with pid [32559]
process[concert/software-4]: started with pid [32578]
process[concert/conductor-5]: started with pid [32606]
process[concert/concert_conductor_graph_to_string-6]: started with pid [32647]
process[concert/scheduler-7]: started with pid [32677]
[INFO] [WallTime: 1442307636.091740] Software Farm : ===== Available Softwares =====
[INFO] [WallTime: 1442307636.092017] Software Farm : - concert_software_common/web_video_server : Streams video via http
[INFO] [WallTime: 1442307636.092222] Software Farm : - concert_software_common/world_canvas_server : World canvas server
[INFO] [WallTime: 1442307636.092386] Software Farm : - concert_workflow_engine_blockly/workflow_engine_blockly : Execution workflows composed by blockly
process[concert/interactions-8]: started with pid [32718]
[INFO] [WallTime: 1442307636.178511] scheduler request topic: ~requests
process[concert/hub-9]: started with pid [328]
[INFO] [WallTime: 1442307636.364439] Service Manager : load service profile from default configuration
process[concert/gateway-10]: started with pid [406]
[INFO] [WallTime: 1442307636.507665] Hub : version 2.8.4
[INFO] [WallTime: 1442307636.554389] Hub : reset hub variables on the redis server.
[INFO] [WallTime: 1442307636.562452] Hub : advertising 'uber' on zeroconf [_ros-multimaster-hub._tcp, port 6380]
process[concert/zeroconf/zeroconf-11]: started with pid [438]
[INFO] [WallTime: 1442307636.668861] Gateway : generated unique hash name [uber0e200ac870fb4ae1b5b62317b4836f8f]
[INFO] [WallTime: 1442307636.678930] Gateway : checking if zeroconf services are available...
[ INFO] [1442307636.682701428]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1442307636.683238122]: Zeroconf: discovered new service [uber][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1442307636.694498] Gateway : discovered hub directly [http://localhost:6380]
process[rosbridge_websocket-12]: started with pid [502]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
[INFO] [WallTime: 1442307636.848609] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1442307636.850594] Gateway : registering on the hub [uber]
process[rosapi-13]: started with pid [516]
[INFO] [WallTime: 1442307636.983850] Rosbridge WebSocket server started on port 9090
[INFO] [WallTime: 1442307637.037970] {'auto_invite': True, 'oblivion_timeout': 3600, 'service_timeout': 5.0, 'groups': {'groups': {}, 'state': True, 'name': 'Default', 'parent': 0, 'parameters': {'auto_invite': True, 'oblivion_timeout': 3600, 'service_timeout': 5.0, 'local_clients_only': False}, 'type': '', 'id': 0}, 'local_clients_only': False}
Found the conductor, setting up subscribers inside /concert/conductor
process[concert/rocon_tf_reconstructor-14]: started with pid [576]
[ INFO] [1442307637.096986775]: Initialized
[ INFO] [1442307637.097094293]: In Spin!
[ INFO] [1442307637.183466906]: Zeroconf: resolved service [uber][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.0.65:6380]
[INFO] [WallTime: 1442307637.306965] Rosapi started
[INFO] [WallTime: 1442307637.352723] Gateway : blacklisting hub [already connected to this hub]
Established under name 'uber'
[ INFO] [1442307637.536045158]: Zeroconf: service successfully established [uber][_concert-master._tcp][11311]
[INFO] [WallTime: 1442307638.038140] Conductor Graph To String : Initialised
[WARN] [WallTime: 1442307638.743687] Service Manager : cannot load service profile: [concert_common_services/vm_delivery.service][[demo_concert] is not a package or launch file name [demo_concert/vm_delivery.parameters]]
[WARN] [WallTime: 1442307639.022312] Service Manager : cannot load service profile: [concert_common_services/welcome.service][[demo_concert] is not a package or launch file name [demo_concert/welcome.parameters]]
[WARN] [WallTime: 1442307639.897776] Service Manager : cannot load service profile: [concert_common_test_services/live_authoring.service][[concert_common_test_services] is not a package or launch file name [concert_common_test_services/live_authoring.service]]
[INFO] [WallTime: 1442307639.899362] Service Manager : serving request to enable 'admin'
[INFO] [WallTime: 1442307640.899254] Interactions : loading Gateway Graph [rocon_gateway_graph-Admin-/services/admin]
[INFO] [WallTime: 1442307640.899517] Interactions : loading Conductor Graph [concert_conductor_graph-Admin-/services/admin]
[INFO] [WallTime: 1442307640.899772] Interactions : loading Ros Graph [rqt_graph-Admin-/services/admin]
[INFO] [WallTime: 1442307640.900016] Interactions : loading Concert Info [concert_info-Admin-/services/admin]
[INFO] [WallTime: 1442307640.900214] Interactions : loading Concert Service Administration [concert_admin_app-Admin-/services/admin]
[INFO] [WallTime: 1442307640.900411] Interactions : loading Concert Conductor Graph [web_app(http://192.168.0.65/concert_conductor_graph_web/index.html)-Admin-/services/admin]
[INFO] [WallTime: 1442307640.900772] Service Manager : service enabled [admin] [admin]
[INFO] [WallTime: 1442307640.901122] Service Manager : serving request to enable 'teleop'
started roslaunch server http://192.168.0.65:45769/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /services/teleop/
    teleop_pimp (concert_service_teleop/teleop_pimp.py)

ROS_MASTER_URI=http://192.168.0.65:11311
core service [/rosout] found
process[services/teleop/teleop_pimp-1]: started with pid [695]
[INFO] [WallTime: 1442307641.553941] ROCON requester feedback topic: /concert/scheduler/requests_2c37c30654a4490e967db8d94bda7284
[INFO] [WallTime: 1442307641.560981] Done
[INFO] [WallTime: 1442307641.603504] Interactions : loading Concert Teleop [concert_teleop-User-/services/teleop]
[INFO] [WallTime: 1442307641.604066] Service Manager : service enabled [teleop] [teleop]
[INFO] [WallTime: 1442307641.604568] Service Manager : serving request to enable 'pickup_delivery'
started roslaunch server http://192.168.0.65:42639/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /services/pickup_delivery/
    publish_world (concert_common_services/publish_world.py)
    workflow_handler_blockly (concert_workflow_handler_blockly/workflow_handler.py)

ROS_MASTER_URI=http://192.168.0.65:11311
core service [/rosout] found
process[services/pickup_delivery/publish_world-2]: started with pid [777]
process[services/pickup_delivery/workflow_handler_blockly-3]: started with pid [783]
[INFO] [WallTime: 1442307642.476144] Software Farm : User[/services/pickup_delivery/publish_world] requested to use concert_software_common/world_canvas_server
started roslaunch server http://192.168.0.65:49646/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /software/world_canvas/
    world_canvas_server (world_canvas_server/world_canvas_server)

ROS_MASTER_URI=http://192.168.0.65:11311
core service [/rosout] found
process[software/world_canvas/world_canvas_server-1]: started with pid [1183]
[INFO] [WallTime: 1442307642.888720] Software Farm : True['']
[INFO] [WallTime: 1442307642.889133] Software Farm : User[/services/pickup_delivery/workflow_handler_blockly] requested to use concert_workflow_engine_blockly/workflow_engine_blockly
[INFO] [WallTime: 1442307642.889625] Publish World : world canvas namespace : /software/world_canvas
[INFO] [WallTime: 1442307642.891686] Getting annotations for world 'yujinrobot' and additional filter criteria
[INFO] [WallTime: 1442307642.891875] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442307643.126675] Annotations server : initialized.
[INFO] [WallTime: 1442307643.196102] 1 annotations loaded
[INFO] [WallTime: 1442307643.196500] 1 annotations found
[INFO] [WallTime: 1442307643.196756] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442307643.197795] Loading data for the 1 retrieved annotations
[INFO] [WallTime: 1442307643.200483] 1 objects found for 1 annotations
[INFO] [WallTime: 1442307643.201401] 1 annotations data retrieved
[INFO] [WallTime: 1442307643.209952] Getting annotations for world 'yujinrobot' and additional filter criteria
[INFO] [WallTime: 1442307643.210213] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442307643.213876] 3 annotations loaded
[INFO] [WallTime: 1442307643.214327] 3 annotations found
[INFO] [WallTime: 1442307643.214600] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442307643.215570] Loading data for the 3 retrieved annotations
[INFO] [WallTime: 1442307643.217678] 3 objects found for 3 annotations
[INFO] [WallTime: 1442307643.217984] 3 annotations data retrieved
[INFO] [WallTime: 1442307643.227654] Getting annotations for world 'yujinrobot' and additional filter criteria
[INFO] [WallTime: 1442307643.228069] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442307643.231175] 1 annotations loaded
[INFO] [WallTime: 1442307643.231691] 1 annotations found
[INFO] [WallTime: 1442307643.231927] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442307643.232983] Loading data for the 1 retrieved annotations
[INFO] [WallTime: 1442307643.235011] 1 objects found for 1 annotations
[INFO] [WallTime: 1442307643.235335] 1 annotations data retrieved
[INFO] [WallTime: 1442307643.238351] Done
[INFO] [WallTime: 1442307643.393580] Interactions : loading Workflow engine Monitoring [web_app(http://192.168.10.32:9999)-Manager-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.393902] Interactions : loading Office Solution Viewer [web_app(http://192.168.10.32:9999/prezi?prezi_id=32iuijp9zylz&channel=office_prezi&prezi_auto_load=true)-Manager-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.394113] Interactions : loading Pickup Delivery Order [web_app(http://192.168.0.65/pickup_delivery_order/index.html)-Customer-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.394325] Interactions : loading VM Delivery Order App (sofa1) [web_app(http://192.168.0.65/vm_delivery_order/index.html)-Customer-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.394514] Interactions : loading VM Delivery Order App (table1) [web_app(http://192.168.0.65/vm_delivery_order/index.html)-Customer-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.394664] Interactions : loading VM Delivery Order App (table2) [web_app(http://192.168.0.65/vm_delivery_order/index.html)-Customer-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.394814] Interactions : loading Pickup Delivery Monitor [web_app(http://192.168.0.65/concert_delivery_monitor/index.html)-Manager-/services/pickup_delivery]
[INFO] [WallTime: 1442307643.395164] Service Manager : service enabled [pickup_delivery] [pickup_delivery]
started roslaunch server http://192.168.0.65:44254/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /software/workflow_engine_blockly/rosbridge_websocket/address: localhost
 * /software/workflow_engine_blockly/rosbridge_websocket/authenticate: False
 * /software/workflow_engine_blockly/rosbridge_websocket/port: 9091

NODES
  /software/workflow_engine_blockly/
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
    workflow_engine_blockly (concert_workflow_engine_blockly/concert_workflow_engine_blockly.js)

ROS_MASTER_URI=http://192.168.0.65:11311
core service [/rosout] found
process[software/workflow_engine_blockly/rosbridge_websocket-2]: started with pid [1304]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
process[software/workflow_engine_blockly/rosapi-3]: started with pid [1312]
[INFO] [WallTime: 1442307643.911069] Rosbridge WebSocket server started on port 9091
process[software/workflow_engine_blockly/workflow_engine_blockly-4]: started with pid [1382]
[INFO] [WallTime: 1442307644.201033] Software Farm : True['']
/home/yujin/rocon_headoffice/src/concert_workflow_engine/concert_workflow_handler_blockly/src/concert_workflow_handler_blockly/workflow_handler_blockly.py:37: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.enable_workflows = rospy.Publisher(self.namespace + 'enable_workflows', EnableWorkflows, latch=True)
[INFO] [WallTime: 1442307644.209136] Rosapi started
[INFO] [WallTime: 1442307644.513541] Blockly Workflow Handler : enable workflow [service name: pickup_delivery]
info:  
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/38fb5448-5b88-11e5-8840-d05099658ed3/software-workflow_engine_blockly-workflow_engine_blockly-4.log' ],
  port: 9999,
  rosbridge_port: 9091,
  rosbridge_address: 'localhost',
  action_delay: 2000,
  publish_delay: 200,
  topic_wait_timeout: 600000,
  log_level: 'info',
  ros: { retries: 0, retry_interval: 3000 } }
info: publish loop started
info: Listening on port 9999 (undefined)
info: trying to connect to ros ws://localhost:9091
[INFO] [WallTime: 1442307644.957174] Client connected.  1 clients total.
info: ros connected
[INFO] [WallTime: 1442307645.559459] requester feedback topic: ~requests_2c37c30654a4490e967db8d94bda7284
[INFO] [WallTime: 1442307648.192652] [Client 0] Subscribed to /concert/scheduler/resource_pool
[INFO] [WallTime: 1442307648.199694] [Client 0] Subscribed to enable_workflows
info: engine options 
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/38fb5448-5b88-11e5-8840-d05099658ed3/software-workflow_engine_blockly-workflow_engine_blockly-4.log' ],
  port: 9999,
  rosbridge_port: 9091,
  rosbridge_address: 'localhost',
  action_delay: 2000,
  publish_delay: 200,
  topic_wait_timeout: 600000,
  log_level: 'info',
  ros: { retries: 0, retry_interval: 3000 } }
info: engine spawn pid : 1475
info: engine-1475 info: pid 1475
info: engine-1475 info: publish loop started
info: engine-1475 info: trying to connect to ros ws://localhost:9091
[INFO] [WallTime: 1442307648.784261] Client connected.  2 clients total.
info: engine-1475 info: ros connected
info: engine status to started
info: engine status to ready
info: engine status to running
info: engine-1475 Tue Sep 15 2015 18:00:51 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Pickup Delivery Start!!"
info: engine-1475 info: scripts evaluated.
[INFO] [WallTime: 1442307651.853639] [Client 1] Subscribed to /pickup_send_order
[INFO] [WallTime: 1442307651.858185] [Client 1] Subscribed to /cancel_delivery_order
[INFO] [WallTime: 1442307660.003817] Client connected.  1 clients total.
[INFO] [WallTime: 1442307660.164537] [Client 0] Subscribed to /concert/conductor/graph_string
[INFO] [WallTime: 1442307697.041583] Client disconnected. 0 clients total.
[INFO] [WallTime: 1442307697.083414] Client connected.  1 clients total.
[INFO] [WallTime: 1442307697.096962] [Client 1] Subscribed to /concert/conductor/graph_string
[INFO] [WallTime: 1442307700.014832] Client disconnected. 0 clients total.
[INFO] [WallTime: 1442307700.061602] Client connected.  1 clients total.
[INFO] [WallTime: 1442307700.071618] [Client 2] Subscribed to /concert/conductor/graph_string
[INFO] [WallTime: 1442307707.165749] Conductor : new client discovered [young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307707.168030] Gateway : added pull rule [young7ff677bea98b4b3bb435f760b277f6a3:(/young7ff677bea98b4b3bb435f760b277f6a3/platform_info,service)]
[INFO] [WallTime: 1442307707.168480] Gateway : added pull rule [young7ff677bea98b4b3bb435f760b277f6a3:(/young7ff677bea98b4b3bb435f760b277f6a3/list_rapps,service)]
[INFO] [WallTime: 1442307707.168774] Gateway : added pull rule [young7ff677bea98b4b3bb435f760b277f6a3:(/young7ff677bea98b4b3bb435f760b277f6a3/invite,service)]
[INFO] [WallTime: 1442307707.169056] Gateway : added pull rule [young7ff677bea98b4b3bb435f760b277f6a3:(/young7ff677bea98b4b3bb435f760b277f6a3/status,publisher)]
[INFO] [WallTime: 1442307707.215273] Gateway : pulling in connection [publisher][/young7ff677bea98b4b3bb435f760b277f6a3/status][/app_manager][young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307707.217241] Gateway : pulling in connection [service][/young7ff677bea98b4b3bb435f760b277f6a3/platform_info][/app_manager][young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307707.223772] Gateway : pulling in connection [service][/young7ff677bea98b4b3bb435f760b277f6a3/list_rapps][/app_manager][young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307707.231217] Gateway : pulling in connection [service][/young7ff677bea98b4b3bb435f760b277f6a3/invite][/app_manager][young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307708.285370] Conductor : concert client transition [pending->uninvited][young]
[INFO] [WallTime: 1442307708.285949] Gateway : removed pull rule [young7ff677bea98b4b3bb435f760b277f6a3:/young7ff677bea98b4b3bb435f760b277f6a3/platform_info]
[INFO] [WallTime: 1442307708.286283] Gateway : removed pull rule [young7ff677bea98b4b3bb435f760b277f6a3:/young7ff677bea98b4b3bb435f760b277f6a3/list_rapps]
[INFO] [WallTime: 1442307708.467309] Gateway : abandoning pulled connection [service][/young7ff677bea98b4b3bb435f760b277f6a3/platform_info][/app_manager][young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307708.468761] Gateway : abandoning pulled connection [service][/young7ff677bea98b4b3bb435f760b277f6a3/list_rapps][/app_manager][young7ff677bea98b4b3bb435f760b277f6a3]
[INFO] [WallTime: 1442307709.314762] Conductor : concert client transition [uninvited->joining][young]
[INFO] [WallTime: 1442307710.522925] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][service][/young7ff677bea98b4b3bb435f760b277f6a3/stop_rapp][/app_manager]
[INFO] [WallTime: 1442307710.529393] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][service][/young7ff677bea98b4b3bb435f760b277f6a3/start_rapp][/app_manager]
[INFO] [WallTime: 1442307710.671307] Conductor : concert client transition [joining->available][young]
[INFO] [WallTime: 1442307710.674324] Scheduler : new concert client [young]
[ INFO] [1442307710.697387529]: Create Subscriber for : young   Topic : /young/robot_pose
[INFO] [WallTime: 1442307723.665407] Client connected.  2 clients total.
[INFO] [WallTime: 1442307723.681342] [Client 3] Subscribed to /delivery_status
[INFO] [WallTime: 1442307724.989045] Client connected.  3 clients total.
[INFO] [WallTime: 1442307725.006566] [Client 4] Subscribed to /pickup_order_list
[INFO] [WallTime: 1442307725.011164] [Client 4] Subscribed to /vm_order_list
[INFO] [WallTime: 1442307725.025663] [Client 4] Subscribed to /map
[INFO] [WallTime: 1442307725.118082] [Client 4] Subscribed to /annotation/tables
[INFO] [WallTime: 1442307725.125621] [Client 4] Subscribed to /annotation/ar_markers
[INFO] [WallTime: 1442307725.131293] [Client 4] Subscribed to /adams/robot_pose
[INFO] [WallTime: 1442307725.136533] [Client 4] Subscribed to /young/robot_pose
[INFO] [WallTime: 1442307725.140875] [Client 4] Subscribed to /verdi/robot_pose
[INFO] [WallTime: 1442307725.145557] [Client 4] Subscribed to /adams/robot_status
[INFO] [WallTime: 1442307725.151695] [Client 4] Subscribed to /young/robot_status
[INFO] [WallTime: 1442307725.157191] [Client 4] Subscribed to /verdi/robot_status
[INFO] [WallTime: 1442307725.159843] [Client 4] Unsubscribed from /map
info: engine-1475 Tue Sep 15 2015 18:02:15 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Push Order: [Cnt: 1] [[object Object]]"
info: engine-1475 Tue Sep 15 2015 18:02:15 GMT+0900 (KST) - Rocon Authoring :"Valid order:  9f454557-94af-4e93-ac75-f6b8fa55d14e"
info: engine-1475 Tue Sep 15 2015 18:02:15 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Remain Order: [Cnt: 0] [[object Object]]"
info: engine-1475 Tue Sep 15 2015 18:02:15 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Assign new robot: [] [order id: 9f454557-94af-4e93-ac75-f6b8fa55d14e] [locations: sofa1] [menus: COKE]"
[INFO] [WallTime: 1442307735.878316] [Client 0] Subscribed to /concert/scheduler/requests_faa75a0f8fea4f6f836701e8bdfce1ed
[INFO] [WallTime: 1442307736.120237] requester feedback topic: ~requests_faa75a0f8fea4f6f836701e8bdfce1ed
Compatibility Tree
  rocon:/waiterbot|turtlebot|pc : ['young']
  Pruning...
    rocon:/waiterbot|turtlebot|pc : ['young']
    Pruning Resolvable Branches
      rocon:/waiterbot|turtlebot|pc : ['young']
  Pruned Tree
    rocon:/waiterbot|turtlebot|pc : ['young']
[INFO] [WallTime: 1442307736.823234] Scheduler : compatibility tree is valid, attempting to allocate [6a69b241-8a56-4902-915a-7af5b04dbe55]
[INFO] [WallTime: 1442307753.619735] Scheduler :   allocated [young]
[INFO] [WallTime: 1442307755.636827] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][publisher][/young/robot_status][/young/office_waiterbot_state_manager]
[INFO] [WallTime: 1442307755.638489] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/annotation/ar_markers][/young/tracker_manager]
info: engine-1475 Tue Sep 15 2015 18:02:36 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Resource Allocation Success"
info: engine-1475 Tue Sep 15 2015 18:02:36 GMT+0900 (KST) - Rocon Authoring :"Valid order:  9f454557-94af-4e93-ac75-f6b8fa55d14e"
[INFO] [WallTime: 1442307756.756297] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/map][/young/amcl]
[INFO] [WallTime: 1442307756.971798] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/annotation/ar_markers][/young/docking_interactor]
[INFO] [WallTime: 1442307756.979080] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][publisher][/young/robot_pose][/young/robot_pose_publisher]
info: engine-1475 topic count check :  0/5 []
[INFO] [WallTime: 1442307766.065831] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/map][/young/move_base]
[INFO] [WallTime: 1442307776.428907] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/annotation/tables][/young/semantic_navigator]
[INFO] [WallTime: 1442307776.487867] Gateway : unflipping received flip [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/map][/young/move_base]
[INFO] [WallTime: 1442307784.777247] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][publisher][/delivery_order_e9f3f309d43c4e8496f40180ca819d48/feedback][/young/office_waiterbot_state_manager]
[INFO] [WallTime: 1442307784.778684] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/delivery_order_e9f3f309d43c4e8496f40180ca819d48/cancel][/young/office_waiterbot_state_manager]
[INFO] [WallTime: 1442307784.785337] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][publisher][/delivery_order_e9f3f309d43c4e8496f40180ca819d48/result][/young/office_waiterbot_state_manager]
[INFO] [WallTime: 1442307784.786462] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][publisher][/delivery_order_e9f3f309d43c4e8496f40180ca819d48/status][/young/office_waiterbot_state_manager]
[INFO] [WallTime: 1442307784.787512] Gateway : received a flip request [young7ff677bea98b4b3bb435f760b277f6a3][subscriber][/delivery_order_e9f3f309d43c4e8496f40180ca819d48/goal][/young/office_waiterbot_state_manager]
info: engine-1475 topic count check :  5/5 [ '/delivery_order_e9f3f309d43c4e8496f40180ca819d48/feedback',
  '/delivery_order_e9f3f309d43c4e8496f40180ca819d48/cancel',
  '/delivery_order_e9f3f309d43c4e8496f40180ca819d48/goal',
  '/delivery_order_e9f3f309d43c4e8496f40180ca819d48/result',
  '/delivery_order_e9f3f309d43c4e8496f40180ca819d48/status' ]
info: engine-1475 info: all topic received: engine resume
info: engine-1475 info: run action : /delivery_order_e9f3f309d43c4e8496f40180ca819d48 simple_delivery_msgs/RobotDeliveryOrderAction {"order_id":"9f454557-94af-4e93-ac75-f6b8fa55d14e","locations":["sofa1"],"menus":["COKE"]}
info: engine-1475 Tue Sep 15 2015 18:03:05 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Send Action"
[INFO] [WallTime: 1442307785.165358] [Client 1] Subscribed to /delivery_order_e9f3f309d43c4e8496f40180ca819d48/status
[INFO] [WallTime: 1442307785.170316] [Client 1] Subscribed to /delivery_order_e9f3f309d43c4e8496f40180ca819d48/feedback
[INFO] [WallTime: 1442307785.175902] [Client 1] Subscribed to /delivery_order_e9f3f309d43c4e8496f40180ca819d48/result
info: engine-1475 info: Sending goal processing untill receiving
info: engine-1475 info: Finish sending goal processing
info: engine-1475 Tue Sep 15 2015 18:03:10 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Delivery Feedback [9f454557-94af-4e93-ac75-f6b8fa55d14e] [20]"
info: engine-1475 Tue Sep 15 2015 18:03:38 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Delivery Feedback [9f454557-94af-4e93-ac75-f6b8fa55d14e] [-10]"
info: engine-1475 Tue Sep 15 2015 18:03:38 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Delivery Result [9f454557-94af-4e93-ac75-f6b8fa55d14e][false]"
info: engine-1475 Tue Sep 15 2015 18:03:38 GMT+0900 (KST) - Rocon Authoring :"[9f454557-94af-4e93-ac75-f6b8fa55d14e][sofa1][package][-10]"
Tue Sep 15 2015 18:03:38 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Create ReNew Order"
Tue Sep 15 2015 18:03:38 GMT+0900 (KST) - Rocon Authoring :"New order[9f454557-94af-4e93-ac75-f6b8fa55d14e][[object Object]"
[INFO] [WallTime: 1442307818.616081] Scheduler : releasing resources from cancelled request [['concert_demo_rapps/pickup_delivery']][none]
info: engine-1475 Tue Sep 15 2015 18:03:39 GMT+0900 (KST) - Rocon Authoring :"Valid order:  9f454557-94af-4e93-ac75-f6b8fa55d14e"
info: engine-1475 Tue Sep 15 2015 18:03:39 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Remain Order: [Cnt: 0] [[object Object]]"
Tue Sep 15 2015 18:03:39 GMT+0900 (KST) - Rocon Authoring :"[Pickup Delivery] Assign new robot: [] [order id: 9f454557-94af-4e93-ac75-f6b8fa55d14e] [locations: sofa1] [menus: package]"
[INFO] [WallTime: 1442307819.166992] [Client 0] Subscribed to /concert/scheduler/requests_e50a4d6035ca487f974e527a313d075a
[WARN] [WallTime: 1442307819.281840] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
^C[concert/rocon_tf_reconstructor-14] killing on exit
[rosapi-13] killing on exit
[rosbridge_websocket-12] killing on exit
[concert/zeroconf/zeroconf-11] killing on exit
[concert/gateway-10] killing on exit
[concert/hub-9] killing on exit
Got SIGINT, quitting.
[concert/interactions-8] killing on exit
[concert/scheduler-7] killing on exit
[concert/concert_conductor_graph_to_string-6] killing on exit
[concert/conductor-5] killing on exit
[INFO] [WallTime: 1442307822.272279] Conductor : concert client transition [available->uninvited][young]
[INFO] [WallTime: 1442307822.272810] Conductor : sending shutdown request [gateway/hub]
[INFO] [WallTime: 1442307822.275990] Gateway : shutting down.
[concert/software-4] killing on exit
[INFO] [WallTime: 1442307822.362773] Conductor Graph To String : Bye Bye
[software/world_canvas/world_canvas_server-1] killing on exit
[concert/services-3] killing on exit
[concert/master-2] killing on exit
[services/teleop/teleop_pimp-1] killing on exit
[software/workflow_engine_blockly/workflow_engine_blockly-4] killing on exit
[software/workflow_engine_blockly/rosapi-3] killing on exit
[software/workflow_engine_blockly/rosbridge_websocket-2] killing on exit
[services/pickup_delivery/workflow_handler_blockly-3] killing on exit
[services/pickup_delivery/publish_world-2] killing on exit
[INFO] [WallTime: 1442307822.781508] Software Farm : User[/services/pickup_delivery/workflow_handler_blockly] requested to cancel concert_workflow_engine_blockly/workflow_engine_blockly
[INFO] [WallTime: 1442307823.783041] Software Farm : True['success!']
[INFO] [WallTime: 1442307823.783706] Software Farm : User[/services/pickup_delivery/publish_world] requested to cancel concert_software_common/world_canvas_server
[INFO] [WallTime: 1442307823.784004] Software Farm : True['success!']
[INFO] [WallTime: 1442307823.784057] Blockly Workflow Handler : disable workflow [service name: pickup_delivery]
Workflows Handler Blockly : Bye Bye

robot- young log

* /young/move_base/local_costmap/obstacle_layer/bump/marking: True
 * /young/move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /young/move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /young/move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /young/move_base/local_costmap/obstacle_layer/combination_method: 1
 * /young/move_base/local_costmap/obstacle_layer/enabled: True
 * /young/move_base/local_costmap/obstacle_layer/ir_scan/clearing: True
 * /young/move_base/local_costmap/obstacle_layer/ir_scan/data_type: LaserScan
 * /young/move_base/local_costmap/obstacle_layer/ir_scan/marking: True
 * /young/move_base/local_costmap/obstacle_layer/ir_scan/max_obstacle_height: 0.25
 * /young/move_base/local_costmap/obstacle_layer/ir_scan/min_obstacle_height: 0.05
 * /young/move_base/local_costmap/obstacle_layer/ir_scan/topic: ir_scan
 * /young/move_base/local_costmap/obstacle_layer/mark_threshold: 0
 * /young/move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /young/move_base/local_costmap/obstacle_layer/observation_sources: ir_scan scan bump
 * /young/move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
 * /young/move_base/local_costmap/obstacle_layer/origin_z: 0.0
 * /young/move_base/local_costmap/obstacle_layer/publish_voxel_map: False
 * /young/move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
 * /young/move_base/local_costmap/obstacle_layer/scan/clearing: True
 * /young/move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
 * /young/move_base/local_costmap/obstacle_layer/scan/marking: True
 * /young/move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.5
 * /young/move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
 * /young/move_base/local_costmap/obstacle_layer/scan/topic: scan
 * /young/move_base/local_costmap/obstacle_layer/track_unknown_space: True
 * /young/move_base/local_costmap/obstacle_layer/unknown_threshold: 15
 * /young/move_base/local_costmap/obstacle_layer/z_resolution: 0.2
 * /young/move_base/local_costmap/obstacle_layer/z_voxels: 2
 * /young/move_base/local_costmap/plugins: [{'type': 'costma...
 * /young/move_base/local_costmap/publish_frequency: 2.0
 * /young/move_base/local_costmap/resolution: 0.05
 * /young/move_base/local_costmap/robot_base_frame: base_footprint
 * /young/move_base/local_costmap/robot_radius: 0.2
 * /young/move_base/local_costmap/rolling_window: True
 * /young/move_base/local_costmap/static_layer/enabled: True
 * /young/move_base/local_costmap/static_map: False
 * /young/move_base/local_costmap/transform_tolerance: 0.5
 * /young/move_base/local_costmap/update_frequency: 5.0
 * /young/move_base/local_costmap/width: 4.0
 * /young/move_base/oscillation_distance: 0.2
 * /young/move_base/oscillation_timeout: 10.0
 * /young/move_base/planner_frequency: 1.0
 * /young/move_base/planner_patience: 5.0
 * /young/move_base/recovery_behavior_enabled: True
 * /young/move_base/recovery_behaviors: [{'type': 'clear_...
 * /young/move_base/shutdown_costmaps: False
 * /young/move_base/super_save/stepback_length: 0.1
 * /young/navigation_velocity_smoother/accel_lim_v: 1.0
 * /young/navigation_velocity_smoother/accel_lim_w: 2.0
 * /young/navigation_velocity_smoother/decel_factor: 1.5
 * /young/navigation_velocity_smoother/frequency: 20.0
 * /young/navigation_velocity_smoother/robot_feedback: 2
 * /young/navigation_velocity_smoother/speed_lim_v: 0.8
 * /young/navigation_velocity_smoother/speed_lim_w: 5.4
 * /young/office_waiterbot_state_manager/debug_mode: False
 * /young/office_waiterbot_state_manager/log_file: /home/yujin/.ros/...
 * /young/office_waiterbot_state_manager/nav_near_distance: 1.0
 * /young/office_waiterbot_state_manager/nav_retry: 3
 * /young/office_waiterbot_state_manager/nav_timeout: 300.0
 * /young/office_waiterbot_state_manager/pickup_location: pickup
 * /young/office_waiterbot_state_manager/resource_path: /home/yujin/ros/w...
 * /young/office_waiterbot_state_manager/volume: 100
 * /young/robot_pose_publisher/base_frame: base_footprint
 * /young/robot_pose_publisher/is_stamped: True

NODES
  /young/camera/
    camera_nodelet_manager (nodelet/nodelet)
    debayer (nodelet/nodelet)
    driver (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
  /young/
    amcl (amcl/amcl)
    ar_pair_tracking (yocs_ar_pair_tracking/yocs_ar_pair_tracking_node)
    ar_track_alvar (ar_track_alvar/individualMarkersNoKinect)
    depthimage_to_laserscan (nodelet/nodelet)
    dock_drive (nodelet/nodelet)
    docking_interactor (yocs_docking_interactor/docking_interactor_node)
    ir_link_publisher (tf/static_transform_publisher)
    ir_to_laserscan (waiterbot_sensors/waiter_ir_scan_node)
    localization_manager (yocs_localization_manager/localization_manager.py)
    move_base (move_base/move_base)
    navigation_velocity_smoother (nodelet/nodelet)
    office_waiterbot_state_manager (simple_delivery_robot_ctrl/waiterbot.py)
    reconfig_vel_mux (rosservice/rosservice)
    robot_pose_publisher (robot_pose_publisher/robot_pose_publisher)
    semantic_navigator (yocs_navigator/yocs_semantic_navigator_node)
    tracker_manager (yocs_localization_manager/tracker_manager.py)

ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[young/camera/camera_nodelet_manager-1]: started with pid [1041]
[ INFO] [1442307743.106674512]: Initializing nodelet with 4 worker threads.
process[young/camera/driver-2]: started with pid [1064]
[ INFO] [1442307743.492260311]: Loading nodelet /young/camera/driver of type freenect_camera/driver to manager camera_nodelet_manager with the following remappings:
[ INFO] [1442307743.492401515]: /young/camera/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307743.492523410]: /young/camera/map -> /map
[ INFO] [1442307743.492618383]: /young/camera/map_metadata -> /map_metadata
[ INFO] [1442307743.492711062]: /young/camera/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307743.492812301]: /young/camera/table_pose_list -> /annotation/tables
[ INFO] [1442307743.492905500]: /young/camera/viz_marker_pose_list -> /annotation/viz_tables
process[young/camera/debayer-3]: started with pid [1087]
[ INFO] [1442307743.990107124]: Number devices connected: 1
[ INFO] [1442307743.990200620]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361A00979144A'
[ INFO] [1442307743.991352284]: Searching for device with index = 1
[ INFO] [1442307743.995020839]: Loading nodelet /young/camera/debayer of type image_proc/debayer to manager camera_nodelet_manager with the following remappings:
[ INFO] [1442307743.995115988]: /young/camera/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307743.995151029]: /young/camera/image_color -> /young/camera/rgb/image_color
[ INFO] [1442307743.995180673]: /young/camera/image_mono -> /young/camera/rgb/image_mono
[ INFO] [1442307743.995205698]: /young/camera/image_raw -> /young/camera/rgb/image_raw
[ INFO] [1442307743.995228233]: /young/camera/map -> /map
[ INFO] [1442307743.995254352]: /young/camera/map_metadata -> /map_metadata
[ INFO] [1442307743.995287060]: /young/camera/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307743.995313691]: /young/camera/table_pose_list -> /annotation/tables
[ INFO] [1442307743.995341367]: /young/camera/viz_marker_pose_list -> /annotation/viz_tables
[ INFO] [1442307744.092798284]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1442307744.092959425]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00361A00979144A'
[ WARN] [1442307744.233362577]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.
[ INFO] [1442307744.255671928]: rgb_frame_id = 'camera_rgb_optical_frame' 
[ INFO] [1442307744.255744430]: depth_frame_id = 'camera_depth_optical_frame' 
[ WARN] [1442307744.278578486]: Camera calibration file /home/yujin/.ros/camera_info/rgb_A00361A00979144A.yaml not found.
[ WARN] [1442307744.278653176]: Using default parameters for RGB camera calibration.
[ WARN] [1442307744.278715256]: Camera calibration file /home/yujin/.ros/camera_info/depth_A00361A00979144A.yaml not found.
[ WARN] [1442307744.278750030]: Using default parameters for IR camera calibration.
process[young/camera/rectify_mono-4]: started with pid [1249]
[ INFO] [1442307744.540725956]: Loading nodelet /young/camera/rectify_mono of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1442307744.540853415]: /young/camera/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307744.540889661]: /young/camera/image_mono -> /young/camera/rgb/image_mono
[ INFO] [1442307744.540915122]: /young/camera/image_rect -> /young/camera/rgb/image_rect_mono
[ INFO] [1442307744.540938692]: /young/camera/map -> /map
[ INFO] [1442307744.540962696]: /young/camera/map_metadata -> /map_metadata
[ INFO] [1442307744.540985817]: /young/camera/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307744.541010356]: /young/camera/table_pose_list -> /annotation/tables
[ INFO] [1442307744.541038310]: /young/camera/viz_marker_pose_list -> /annotation/viz_tables
process[young/camera/rectify_color-5]: started with pid [1358]
[ INFO] [1442307745.187743353]: Loading nodelet /young/camera/rectify_color of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1442307745.188085762]: /young/camera/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307745.188289984]: /young/camera/image_mono -> /young/camera/rgb/image_color
[ INFO] [1442307745.188548480]: /young/camera/image_rect -> /young/camera/rgb/image_rect_color
[ INFO] [1442307745.188739469]: /young/camera/map -> /map
[ INFO] [1442307745.188957825]: /young/camera/map_metadata -> /map_metadata
[ INFO] [1442307745.189144194]: /young/camera/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307745.189325604]: /young/camera/table_pose_list -> /annotation/tables
[ INFO] [1442307745.189572232]: /young/camera/viz_marker_pose_list -> /annotation/viz_tables
process[young/depthimage_to_laserscan-6]: started with pid [1426]
[ INFO] [1442307745.762829820]: Loading nodelet /young/depthimage_to_laserscan of type depthimage_to_laserscan/DepthImageToLaserScanNodelet to manager camera/camera_nodelet_manager with the following remappings:
[ INFO] [1442307745.762973486]: /young/camera/image -> /young/camera/depth/image_raw
[ INFO] [1442307745.763024009]: /young/camera/scan -> /young/scan
[ INFO] [1442307745.763073847]: /young/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307745.763154855]: /young/image -> /young/camera/depth/image_raw
[ INFO] [1442307745.763235752]: /young/map -> /map
[ INFO] [1442307745.763305393]: /young/map_metadata -> /map_metadata
[ INFO] [1442307745.763377414]: /young/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307745.763444024]: /young/table_pose_list -> /annotation/tables
[ INFO] [1442307745.763514033]: /young/viz_marker_pose_list -> /annotation/viz_tables
process[young/ir_link_publisher-7]: started with pid [1507]
process[young/ir_to_laserscan-8]: started with pid [1521]
[ INFO] [1442307746.444100077]: IR Scan node : initialized
[ INFO] [1442307746.444243760]: uniserial::initialize(): Initializing on defined settings.
[ INFO] [1442307746.444659760]: uniserial: Serial Port initialized.
process[young/reconfig_vel_mux-9]: started with pid [1554]
process[young/office_waiterbot_state_manager-10]: started with pid [1560]
[ INFO] [1442307747.094478432]: Stopping device RGB and Depth stream flush.
[ INFO] [1442307747.245307225]: CmdVelMux : (re)configured [/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/param/vel_multiplexer.yaml]
config: 
  bools: []
  ints: []
  strs: 
    - 
      name: yaml_cfg_file
      value: /home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/param/vel_multiplexer.yaml
  doubles: []
  groups: 
    - 
      name: Default
      state: True
      id: 0
      parent: 0
[INFO] [WallTime: 1442307747.411583] Robot State Manager : Resource path : /home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015
[INFO] [WallTime: 1442307747.417143] Robot State Manager : Wait for Localise manager to be up
[young/reconfig_vel_mux-9] process has finished cleanly
log file: /home/yujin/.ros/log/56d13c26-5b88-11e5-a4d7-801934622eb0/young-reconfig_vel_mux-9*.log
process[young/ar_track_alvar-11]: started with pid [1669]
[ INFO] [1442307747.673944571]: Subscribing to info topic
[ INFO] [1442307747.703811116]: AR tracker reconfigured: ENABLED 4.00 6.90 0.08 0.20
process[young/ar_pair_tracking-12]: started with pid [1736]
ARPairTracking constructor
[ INFO] [1442307747.825036755]: AR Pair Tracking : initialised
process[young/tracker_manager-13]: started with pid [1812]
process[young/localization_manager-14]: started with pid [1816]
process[young/amcl-15]: started with pid [1821]
[ INFO] [1442307748.855275614]: Subscribing to image topic
[INFO] [WallTime: 1442307748.862723] TrackerManager : Target offset : 0.5
[INFO] [WallTime: 1442307748.890424] TrackerManager : Initialized
[INFO] [WallTime: 1442307749.003841] Localization Manager : Initialized
process[young/semantic_navigator-16]: started with pid [2104]
[INFO] [WallTime: 1442307749.133410] Robot State Manager : Wait for Sematic Navigator Server to be up
[ INFO] [1442307749.168940618]: Subscribed to map topic.
[ INFO] [1442307749.213558645]: /young/semantic_navigator : Wait for move_base
[ INFO] [1442307749.444849789]: ArduinoInterface::initialize(): hardware initialized.
[ INFO] [1442307749.445049464]: Arduino interface opened on port /dev/arduino
[ INFO] [1442307749.501131932]: IR scan node successfully initialized with 11 rangers
process[young/navigation_velocity_smoother-17]: started with pid [2350]
[ INFO] [1442307749.828094117]: Loading nodelet /young/navigation_velocity_smoother of type yocs_velocity_smoother/VelocitySmootherNodelet to manager /mobile_base_nodelet_manager with the following remappings:
[ INFO] [1442307749.828235576]: /young/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307749.828286298]: /young/map -> /map
[ INFO] [1442307749.828437989]: /young/map_metadata -> /map_metadata
[ INFO] [1442307749.828493020]: /young/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307749.828545036]: /young/navigation_velocity_smoother/odometry -> /odom
[ INFO] [1442307749.828583865]: /young/navigation_velocity_smoother/robot_cmd_vel -> /mobile_base/commands/velocity
[ INFO] [1442307749.828622917]: /young/navigation_velocity_smoother/smooth_cmd_vel -> /cmd_vel_mux/input/navigation
[ INFO] [1442307749.828754239]: /young/table_pose_list -> /annotation/tables
[ INFO] [1442307749.829020605]: /young/viz_marker_pose_list -> /annotation/viz_tables
[ INFO] [1442307750.001078247]: Reconfigure request : 0.800000 5.400000 1.000000 2.000000 1.500000
process[young/move_base-18]: started with pid [2436]
process[young/docking_interactor-19]: started with pid [2506]
[ INFO] [1442307750.819525138]: /young/docking_interactor : Initialized
[ INFO] [1442307750.825604374]: /young/docking_interactor : Wait for docking ar tracker
process[young/dock_drive-20]: started with pid [2561]
[ INFO] [1442307751.582906763]: Loading nodelet /young/dock_drive of type kobuki_auto_docking/AutoDockingNodelet to manager /mobile_base_nodelet_manager with the following remappings:
[ INFO] [1442307751.583049171]: /young/delivery_order -> /delivery_order_e9f3f309d43c4e8496f40180ca819d48
[ INFO] [1442307751.583104063]: /young/dock_drive/core -> /mobile_base/sensors/core
[ INFO] [1442307751.583247198]: /young/dock_drive/dock_ir -> /mobile_base/sensors/dock_ir
[ INFO] [1442307751.583305813]: /young/dock_drive/motor_power -> /mobile_base/commands/motor_power
[ INFO] [1442307751.583442939]: /young/dock_drive/odom -> /odom
[ INFO] [1442307751.583497529]: /young/dock_drive/velocity -> /cmd_vel_mux/input/auto_docking
[ INFO] [1442307751.583619644]: /young/map -> /map
[ INFO] [1442307751.583672630]: /young/map_metadata -> /map_metadata
[ INFO] [1442307751.583799931]: /young/marker_pose_list -> /annotation/ar_markers
[ INFO] [1442307751.583844334]: /young/table_pose_list -> /annotation/tables
[ INFO] [1442307751.583879965]: /young/viz_marker_pose_list -> /annotation/viz_tables
process[young/robot_pose_publisher-21]: started with pid [2636]
[INFO] [WallTime: 1442307752.157184] Rapp Manager : Remote Name [uber0e200ac870fb4ae1b5b62317b4836f8f]
[INFO] [WallTime: 1442307752.664262] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/young/robot_pose,publisher)]
[INFO] [WallTime: 1442307752.664889] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/young/robot_status,publisher)]
[INFO] [WallTime: 1442307752.665422] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/map,subscriber)]
[INFO] [WallTime: 1442307752.665865] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/map_metadata,subscriber)]
[INFO] [WallTime: 1442307752.666304] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/annotation/tables,subscriber)]
[INFO] [WallTime: 1442307752.666750] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/annotation/ar_markers,subscriber)]
[INFO] [WallTime: 1442307752.667163] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/annotation/viz_tables,subscriber)]
[INFO] [WallTime: 1442307752.667579] Gateway : added flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/delivery_order_e9f3f309d43c4e8496f40180ca819d48,action_server)]
[INFO] [WallTime: 1442307752.669803] Rapp Manager : successfully flipped [[], ['/young/robot_pose', '/young/robot_status'], [], ['/map', '/map_metadata', '/annotation/tables', '/annotation/ar_markers', '/annotation/viz_tables'], ['/delivery_order_e9f3f309d43c4e8496f40180ca819d48']]
[INFO] [WallTime: 1442307753.048058] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][subscriber][/map][/young/amcl,http://192.168.0.22:32910/]
[INFO] [WallTime: 1442307753.283572] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][subscriber][/annotation/ar_markers][/young/tracker_manager,http://192.168.0.22:55727/]
[INFO] [WallTime: 1442307753.316393] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][subscriber][/annotation/ar_markers][/young/docking_interactor,http://192.168.0.22:44549/]
[INFO] [WallTime: 1442307753.353188] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][publisher][/young/robot_status][/young/office_waiterbot_state_manager,http://192.168.0.22:41938/]
[INFO] [WallTime: 1442307753.902983] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][publisher][/young/robot_pose][/young/robot_pose_publisher,http://192.168.0.22:45556/]
[ WARN] [1442307755.810119962]: Waiting on transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100761 timeout was 0.1.. canTransform returned after 0.100712 timeou
[INFO] [WallTime: 1442307756.833183] TrackerManager : Received 1 markers
[ INFO] [1442307756.833809261]: AR Pair Tracking : New Pairs Received
[ INFO] [1442307756.868173848]: /young/docking_interactor : instantiate basic move controller
[ INFO] [1442307756.874716203]: /young/docking_interactor : Wait for auto dock
[ INFO] [1442307757.110044094]: /young/docking_interactor : Wait for movebase
[ INFO] [1442307757.891103697]: Received a 512 X 576 map @ 0.050 m/pix

[ INFO] [1442307757.908175504]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1442307757.973978028]: Done initializing likelihood field model.
[ INFO] [1442307758.901520708]: Using plugin "static_layer"
[ INFO] [1442307758.994151623]: Requesting the map...
[INFO] [WallTime: 1442307763.412393] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][subscriber][/map][/young/move_base,http://192.168.0.22:33655/]
[ INFO] [1442307766.199578494]: Resizing costmap to 512 X 576 at 0.050000 m/pix
[ INFO] [1442307766.201955120]: Shutting down the map subscriber. first_map_only flag is on
[ INFO] [1442307766.299452165]: Received a 512 X 576 map at 0.050000 m/pix
[ INFO] [1442307766.306062219]: Using plugin "obstacle_layer"
[ INFO] [1442307766.310464206]:     Subscribed to Topics: ir_scan scan bump
[ INFO] [1442307766.424070965]: Using plugin "inflation_layer"
[ INFO] [1442307766.645192388]: Using plugin "obstacle_layer"
[ INFO] [1442307766.725388378]:     Subscribed to Topics: ir_scan scan bump
[ INFO] [1442307766.838856202]: Using plugin "inflation_layer"
[ INFO] [1442307766.995870153]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1442307767.001326466]: Sim period is set to 0.20
[ INFO] [1442307767.579955765]: Recovery behavior will clear layer obstacles
[ INFO] [1442307767.660475827]: Recovery behavior will clear layer obstacles
[ INFO] [1442307767.742980429]: Recovery behavior will clear layer obstacles
[ INFO] [1442307767.813036168]: odom received!
[ INFO] [1442307768.031543440]: /young/semantic_navigator : Wait for waypoint lists
[ INFO] [1442307768.032239096]: /young/docking_interactor : Initialised
[INFO] [WallTime: 1442307773.319277] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][subscriber][/annotation/tables][/young/semantic_navigator,http://192.168.0.22:59629/]
[INFO] [WallTime: 1442307773.842612] Gateway : sending unflip request [uber0e200ac870fb4ae1b5b62317b4836f8f][subscriber][/map][/young/move_base,http://192.168.0.22:33655/]
[ INFO] [1442307776.543751473]: /young/semantic_navigator : Initialized
[INFO] [WallTime: 1442307776.789034] Robot State Manager : Wait for Docking Interactor Server to be up
[INFO] [WallTime: 1442307777.062963] Robot State Manager : Initialized
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 128 [50%] [-25.40dB]
  Front Right: Playback 128 [50%] [-25.40dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 44 [51%] [-32.25dB] [on]
  Front Right: Playback 44 [51%] [-32.25dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/init.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[INFO] [WallTime: 1442307783.367196] Gateway : sending flip request [uber0e200ac870fb4ae1b5b62317b4836f8f][action_server][/delivery_order_e9f3f309d43c4e8496f40180ca819d48][/young/office_waiterbot_state_manager,http://192.168.0.22:41938/]
[INFO] [WallTime: 1442307786.430471] Robot State Manager : Received Goal
[INFO] [WallTime: 1442307786.431383] Robot State Manager : order_id: 9f454557-94af-4e93-ac75-f6b8fa55d14e
locations: ['sofa1']
menus: ['COKE']
[INFO] [WallTime: 1442307786.431786] Robot State Manager : Here
[INFO] [WallTime: 1442307786.432283] Robot State Manager : Order received = True
[INFO] [WallTime: 1442307786.433339] Robot State Manager : state in dock received order
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 128 [50%] [-25.40dB]
  Front Right: Playback 128 [50%] [-25.40dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 44 [51%] [-32.25dB] [on]
  Front Right: Playback 44 [51%] [-32.25dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/order_received.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[INFO] [WallTime: 1442307789.761973] Robot State Manager : Wake up!
[ INFO] [1442307789.855594983]: /young/docking_interactor : Waking up! Slowly moving back...
[ INFO] [1442307790.027135216]: AR tracker reconfigured: ENABLED 4.00 6.90 0.08 0.20
[ WARN] [1442307793.525758368]: TF error: Lookup would require extrapolation at time 1442307792.891400098, but only time 1442307793.525506460 is in the buffer, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1442307793.776312084]: TF error: Lookup would require extrapolation into the past.  Requested time 1442307792.891400098 but the earliest data is at time 1442307793.525506460, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1442307794.026347677]: TF error: Lookup would require extrapolation into the past.  Requested time 1442307793.391422033 but the earliest data is at time 1442307793.525506460, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1442307794.275299558]: TF error: Lookup would require extrapolation into the past.  Requested time 1442307793.391422033 but the earliest data is at time 1442307793.525506460, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1442307794.528633461]: TF error: Lookup would require extrapolation into the past.  Requested time 1442307793.891375064 but the earliest data is at time 1442307794.014083066, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1442307794.776236411]: TF error: Lookup would require extrapolation into the past.  Requested time 1442307793.891375064 but the earliest data is at time 1442307794.014083066, when looking up transform from frame [base_footprint] to frame [map]
[ INFO] [1442307800.241760324]: /young/docking_interactor : 6 has been registered as Docking marker
[ INFO] [1442307800.275403802]: AR tracker reconfigured: DISABLED 4.00 6.90 0.08 0.20
[INFO] [WallTime: 1442307800.285733] Robot State Manager : Docking Interactor result : True, Message : Wake up!
[INFO] [WallTime: 1442307800.462000] Robot State Manager : Localisation Request sent
[INFO] [WallTime: 1442307800.462954] Localization Manager : Received Localize goal command: 10
distortion: 0.0
[INFO] [WallTime: 1442307800.463798] Localization Manager : Stand and Localization started.
[ INFO] [1442307800.518566376]: AR tracker reconfigured: ENABLED 4.00 6.90 0.08 0.20
[ WARN] [1442307800.756200756]: Kobuki : Incoming velocity commands not received for more than 0.60 seconds -> zero'ing velocity commands
[INFO] [WallTime: 1442307801.028923] Localization Manager : localization done.
[ WARN] [1442307801.032596669]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1442307801.032294187 but the latest data is at time 1442307801.014361759, when looking up transform from frame [map] to frame [base_footprint])
[ INFO] [1442307801.032696061]: Setting pose (1442307801.032669): 1.211 -1.109 -2.780
[ INFO] [1442307801.278620516]: AR tracker reconfigured: DISABLED 4.00 6.90 0.08 0.20
[INFO] [WallTime: 1442307801.285372] Localization Manager : Localized
[INFO] [WallTime: 1442307801.286730] Robot State Manager : Localize result : True, Message : Localized
[INFO] [WallTime: 1442307801.361691] Robot State Manager : Robot localised
[INFO] [WallTime: 1442307801.362210] Robot State Manager : Register Dock in the global frame
[ INFO] [1442307801.555354799]: /young/docking_interactor : Registering Docking Marker on global frame
[ INFO] [1442307801.555579867]: header: 
  seq: 0
  stamp: 1442307801.253327141
  frame_id: camera_rgb_optical_frame
id: 6
confidence: 0
pose: 
  header: 
    seq: 0
    stamp: 0.000000000
    frame_id: 
  pose: 
    position: 
      x: -0.081219
      y: 0.227137
      z: 1.33559
    orientation: 
      x: 0.967877
      y: -0.00853898
      z: 0.0538059
      w: 0.24545

[ INFO] [1442307801.555710491]: header: 
  seq: 0
  stamp: 1442307801.253327141
  frame_id: camera_rgb_optical_frame
id: 6
confidence: 0
pose: 
  header: 
    seq: 0
    stamp: 1442307801.555638657
    frame_id: camera_rgb_optical_frame
  pose: 
    position: 
      x: -0.081219
      y: 0.227137
      z: 1.33559
    orientation: 
      x: 0.967877
      y: -0.00853898
      z: 0.0538059
      w: 0.24545

[ INFO] [1442307801.555791536]: Get dock pose in global
[ INFO] [1442307804.556063538]: Transform camera to base
[ INFO] [1442307804.556233623]: Got get Dock pose in global frame
[ INFO] [1442307804.556273543]: Got robot pose
[INFO] [WallTime: 1442307804.556944] Robot State Manager : Docking Interactor result : True, Message : success
[INFO] [WallTime: 1442307804.561676] Robot State Manager : Dock has been registered in global frame
[INFO] [WallTime: 1442307805.069358] Robot State Manager : Navigator Result : False, Message : failed to find the requested destination : pickup
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 128 [50%] [-25.40dB]
  Front Right: Playback 128 [50%] [-25.40dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 44 [51%] [-32.25dB] [on]
  Front Right: Playback 44 [51%] [-32.25dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/navi_failed.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 128 [50%] [-25.40dB]
  Front Right: Playback 128 [50%] [-25.40dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 44 [51%] [-32.25dB] [on]
  Front Right: Playback 44 [51%] [-32.25dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/reset.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[INFO] [WallTime: 1442307817.166870] Robot State Manager : Order Cancelling
[INFO] [WallTime: 1442307817.278909] Robot State Manager : Resource path : /home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015
[INFO] [WallTime: 1442307818.229904] Rapp Manager : Stopping rapp 'simple_delivery_robot_ctrl/pickup_delivery'.
[young/robot_pose_publisher-21] killing on exit
[young/dock_drive-20] killing on exit
[young/docking_interactor-19] killing on exit
[young/move_base-18] killing on exit
[young/navigation_velocity_smoother-17] killing on exit
[ INFO] [1442307818.304141829]: Unloading nodelet /young/dock_drive from manager /mobile_base_nodelet_manager
[young/semantic_navigator-16] killing on exit
[young/amcl-15] killing on exit
[young/localization_manager-14] killing on exit
[young/tracker_manager-13] killing on exit
[young/ar_pair_tracking-12] killing on exit
[ INFO] [1442307818.311845777]: Unloading nodelet /young/navigation_velocity_smoother from manager /mobile_base_nodelet_manager
[INFO] [WallTime: 1442307818.433541] Localization Manager : Bye Bye
[WARN] [WallTime: 1442307818.488880] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[young/ar_track_alvar-11] killing on exit
[young/office_waiterbot_state_manager-10] killing on exit
[young/ir_to_laserscan-8] killing on exit
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[young/ir_link_publisher-7] killing on exit
[young/depthimage_to_laserscan-6] killing on exit
[ INFO] [1442307818.814166204]: Unloading nodelet /young/depthimage_to_laserscan from manager camera/camera_nodelet_manager
[young/camera/rectify_color-5] killing on exit
[ INFO] [1442307818.820166599]: Unloading nodelet /young/camera/rectify_color from manager camera_nodelet_manager
[INFO] [WallTime: 1442307818.999433] TrackerManager : Bye Bye
[young/camera/rectify_mono-4] killing on exit
[ INFO] [1442307819.014496178]: Unloading nodelet /young/camera/rectify_mono from manager camera_nodelet_manager
[young/camera/debayer-3] killing on exit
[ INFO] [1442307819.112632626]: Unloading nodelet /young/camera/debayer from manager camera_nodelet_manager
[young/camera/driver-2] killing on exit
[ INFO] [1442307819.114700316]: Unloading nodelet /young/camera/driver from manager camera_nodelet_manager
[young/camera/camera_nodelet_manager-1] killing on exit
[INFO] [WallTime: 1442307819.260401] Robot State Manager : Bye Bye
[INFO] [WallTime: 1442307820.719311] Rapp Manager : stopped rapp [simple_delivery_robot_ctrl/pickup_delivery]'.
[INFO] [WallTime: 1442307820.725064] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/young/robot_pose,publisher)]
[INFO] [WallTime: 1442307820.726347] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/young/robot_status,publisher)]
[INFO] [WallTime: 1442307820.727171] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/map,subscriber)]
[INFO] [WallTime: 1442307820.727958] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/map_metadata,subscriber)]
[INFO] [WallTime: 1442307820.728643] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/annotation/tables,subscriber)]
[INFO] [WallTime: 1442307820.729313] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/annotation/ar_markers,subscriber)]
[INFO] [WallTime: 1442307820.729861] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/annotation/viz_tables,subscriber)]
[INFO] [WallTime: 1442307820.730386] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/delivery_order_e9f3f309d43c4e8496f40180ca819d48,action_server)]
[INFO] [WallTime: 1442307820.732586] Rapp Manager : successfully flipped [[], ['/young/robot_pose', '/young/robot_status'], [], ['/map', '/map_metadata', '/annotation/tables', '/annotation/ar_markers', '/annotation/viz_tables'], ['/delivery_order_e9f3f309d43c4e8496f40180ca819d48']]
[INFO] [WallTime: 1442307821.318910] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/young7ff677bea98b4b3bb435f760b277f6a3/start_rapp,service)]
[INFO] [WallTime: 1442307821.319829] Gateway : removed flip rule [uber0e200ac870fb4ae1b5b62317b4836f8f:(/young7ff677bea98b4b3bb435f760b277f6a3/stop_rapp,service)]
[INFO] [WallTime: 1442307821.322249] Rapp Manager : successfully flipped [['/young7ff677bea98b4b3bb435f760b277f6a3/start_rapp', '/young7ff677bea98b4b3bb435f760b277f6a3/stop_rapp']]
[INFO] [WallTime: 1442307821.323333] Rapp Manager : cancelling remote control of this system [uber0e200ac870fb4ae1b5b62317b4836f8f]
^Cyujin@young:~$

image

hughie commented 8 years ago

young log

an -nan -nan -nan)
Error:            at line TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)240 in 
/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp         at line 
240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in Error:   /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cppTF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cppError:   
TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line Error:   240 in TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line          at line 240240 in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240Error:    in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cppTF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line          at line 240240 in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cppTF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
Error:            at line TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)240
 in          at line /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp240
 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in Error:   /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cppTF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
[ WARN] [1442308647.257628926]: Waiting on transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line          at line 240240 in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)         at line          at line 
240240         at line  in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp240
/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp in 
/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line          at line 240240 in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line          at line 240240 in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line Error:   240 in TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

         at line          at line 240240 in  in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp/tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/buildd/ros-indigo-tf2-0.5.12-0trusty-20150806-1828/src/buffer_core.cpp
bit-pirate commented 8 years ago

네비게이션 에러

Konglish at its best! ㅋㅋㅋ

hughie commented 8 years ago

It's Korean-wide proper Konglish :stuck_out_tongue:

jihoonl commented 8 years ago

픽업으로 가야되는데 pickup이 없어요.

jihoonl commented 8 years ago 
[INFO] [WallTime: 1442307804.561676] Robot State Manager : Dock has been registered in global frame
[INFO] [WallTime: 1442307805.069358] Robot State Manager : Navigator Result : False, Message : failed to find the requested destination : pickup
jihoonl commented 8 years ago

annotation에 pickup을 지정해주셔야되요.

jihoonl commented 8 years ago

그리고 두개는 동일한 상황에서의 에러인가요?

hughie commented 8 years ago

네 거기서 로그를 자세히 볼 시간이 없어서 일단, 로그를 퍼넣었어요. 그리고 나중에 pickup이 없는 것을 알아서 추가했어요. 그 전에 있었는데 왜 사라진 건지 모르겠음..

hughie commented 8 years ago

그리고 두개는 동일한 상황에서의 에러인가요?

네 조금 지나니까 young에서 저 에러가 미친듯이 나서.. 그런데 이미 스크롤이 다 올라가 버려서 캡춰를 저만큼만 했네요. 일단 12층 퇴근 관계로 pickup 다시 넣은 뒤에 랜드마크 중에 하나로 배달하는 것 까지만 확인하고 왔어요.

hughie commented 8 years ago

@jihoonl

 [ WARN] [1442307793.525758368]: TF error: Lookup would require extrapolation at time 1442307792.891400098, but only time 1442307793.525506460 is in the buffer, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1442307793.776312084]: TF error: Lookup would require extrapolation into the past.  Requested time 1442307792.891400098 but the earliest data is at time 1442307793.525506460, when looking up transform from frame [base_footprint] to frame [map]

이 warning은 뭔가요?

hughie commented 8 years ago

TF에러는 종종 날 수 있다고 하며 자세한 것은 나중에 더 살펴 보아야 할 것 같음. 우선 첫번째는 pickup landmark가 없었고, 두번째 Error: TF_NAN_INPUT: 는 현재로서는 알기 어려움.