Closed ajjaya18 closed 2 months ago
hilary-luo
commented
3 months ago @ajjaya18 Please go back and update your package version properly. If you are running things from source this means indicating the commit hash that you are running. One way to get this commit hash is running the following command in your local repo: git log -1 --abbrev-commit
ajjaya18
commented
3 months ago it's all installed; I follow what's in the guide there, and download what's there. And what you just sent me to help doesn't work for me. @hilary-luo
hilary-luo
commented
3 months ago @ajjaya18 If you are running the debian install then you need to provide the version of the package that you have installed. The command to get this is given in the issue template, but for simplicity I will also provide it here for you: dpkg -s ros-$ROS_DISTRO-turtlebot4-PACKAGE_WITH_ISSUE so in your case if you are creating a ticket about the simulator package then you would run dpkg -s ros-$ROS_DISTRO-turtlebot4-simulator
hilary-luo
commented
3 months ago @ajjaya18 Thank you for updating the version. Can you please clarify what you're core issue is. You have reported one output here, a different one with different errors on your previous issue https://github.com/turtlebot/turtlebot4/issues/376#issuecomment-2007808087 and no errors launching in the latest issue https://github.com/turtlebot/turtlebot4/issues/384#issuecomment-2018690667. Which one accurately represents your current operational status so that we can focus our responses on the correct issue - or are these simultaneous issues on separate systems?
ajjaya18
commented
3 months ago In issue 376, it was in ROS Galactic, but you advised me to switch to Humble, and in issue 384, it's a problem in Humble. Also, issue 383 is a problem in ROS Humble as well, and I also created another issue because I'm trying to do the simulation with GPU and without GPU, which is the one in the next screenshot. So, I'm doing it on two systems, both Ubuntu with ROS Humble
hilary-luo
commented
3 months ago @ajjaya18 All "troubleshooting" issue are to be placed in this repo so the one in the simulator repo has been closed. It did not fit the qualifications for a "bug" issue and you already have troubleshooting issues open. In regards to running the simulation with or without a GPU: If you have access to a GPU then you should always run it with the GPU. It is possible to run the simulation without a GPU but the performance will be poor at best and although we will try to help we do not directly support this use case. Feel free to let us know if you are needing to run it without GPU but we will troubleshoot and get it running with GPU first before helping you troubleshoot running it without, one issue at a time.
You still have not clarified the difference between issue 383 and 384. You stated that they are both regarding running simulation on humble so then please close the one that does not match your current error output. I do not know which issue has the error output that you are currently needing help with.
ajjaya18
commented
3 months ago I want you to help me see the rplidar thing with a gpu and simulation in the depot world and help in the first simulation in ignition gazebo because I am having problems as I told you I need help with everything
ajjaya18
commented
3 months ago andrius@andrius-HP-Pavilion-Laptop-15-eh0xxx:~/turtlebot4_ws$ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py
[INFO] [launch]: All log files can be found below /home/andrius/.ros/log/2024-03-25-14-38-06-009209-andrius-HP-Pavilion-Laptop-15-eh0xxx-19844
[INFO] [launch]: Default logging verbosity is set to INFO
ign_args is deprecated, migrate to gz_args!
[INFO] [ruby $(which ign) gazebo-1]: process started with pid [19847]
[INFO] [parameter_bridge-2]: process started with pid [19849]
[INFO] [robot_state_publisher-3]: process started with pid [19852]
[INFO] [joint_state_publisher-4]: process started with pid [19854]
[INFO] [robot_state_publisher-5]: process started with pid [19857]
[INFO] [static_transform_publisher-6]: process started with pid [19859]
[INFO] [create-7]: process started with pid [19873]
[INFO] [create-8]: process started with pid [19891]
[INFO] [parameter_bridge-9]: process started with pid [19895]
[INFO] [parameter_bridge-10]: process started with pid [19908]
[INFO] [parameter_bridge-11]: process started with pid [19927]
[INFO] [parameter_bridge-12]: process started with pid [19943]
[INFO] [parameter_bridge-13]: process started with pid [19951]
[INFO] [parameter_bridge-14]: process started with pid [19953]
[INFO] [parameter_bridge-15]: process started with pid [19955]
[INFO] [parameter_bridge-16]: process started with pid [19975]
[INFO] [parameter_bridge-17]: process started with pid [19991]
[INFO] [parameter_bridge-18]: process started with pid [20002]
[INFO] [parameter_bridge-19]: process started with pid [20016]
[INFO] [parameter_bridge-20]: process started with pid [20023]
[INFO] [parameter_bridge-21]: process started with pid [20038]
[INFO] [parameter_bridge-22]: process started with pid [20053]
[INFO] [parameter_bridge-23]: process started with pid [20062]
[INFO] [parameter_bridge-24]: process started with pid [20072]
[INFO] [parameter_bridge-25]: process started with pid [20082]
[INFO] [parameter_bridge-26]: process started with pid [20099]
[INFO] [parameter_bridge-27]: process started with pid [20118]
[INFO] [parameter_bridge-28]: process started with pid [20131]
[INFO] [parameter_bridge-29]: process started with pid [20149]
[INFO] [turtlebot4_node-30]: process started with pid [20158]
[INFO] [turtlebot4_ignition_hmi_node-31]: process started with pid [20166]
[INFO] [spawner-32]: process started with pid [20175]
[INFO] [hazards_vector_publisher-33]: process started with pid [20189]
[INFO] [ir_intensity_vector_publisher-34]: process started with pid [20247]
[INFO] [motion_control-35]: process started with pid [20256]
[INFO] [wheel_status_publisher-36]: process started with pid [20298]
[INFO] [mock_publisher-37]: process started with pid [20326]
[INFO] [robot_state-38]: process started with pid [20340]
[INFO] [kidnap_estimator_publisher-39]: process started with pid [20350]
[INFO] [ui_mgr-40]: process started with pid [20355]
[INFO] [pose_republisher_node-41]: process started with pid [20368]
[INFO] [sensors_node-42]: process started with pid [20377]
[INFO] [interface_buttons_node-43]: process started with pid [20384]
[INFO] [static_transform_publisher-44]: process started with pid [20395]
[INFO] [static_transform_publisher-45]: process started with pid [20417]
[ruby $(which ign) gazebo-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org to https://fuel.gazebosim.org
[parameter_bridge-2] [INFO] [1711395490.118055936] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[robot_state_publisher-3] [WARN] [1711395490.070198176] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-3] [INFO] [1711395490.070418598] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1711395490.070498288] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-3] [INFO] [1711395490.070512536] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-3] [INFO] [1711395490.070525037] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-3] [INFO] [1711395490.070538168] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-3] [INFO] [1711395490.070550530] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-3] [INFO] [1711395490.070563311] [robot_state_publisher]: got segment bumper
[robot_state_publisher-3] [INFO] [1711395490.070576511] [robot_state_publisher]: got segment button_1
[robot_state_publisher-3] [INFO] [1711395490.070589013] [robot_state_publisher]: got segment button_2
[robot_state_publisher-3] [INFO] [1711395490.070600397] [robot_state_publisher]: got segment button_power
[robot_state_publisher-3] [INFO] [1711395490.070613737] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-3] [INFO] [1711395490.070626169] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-3] [INFO] [1711395490.070638950] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-3] [INFO] [1711395490.070651522] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-3] [INFO] [1711395490.070663395] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-3] [INFO] [1711395490.070676176] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-3] [INFO] [1711395490.070689166] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-3] [INFO] [1711395490.070701948] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-3] [INFO] [1711395490.070713960] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-3] [INFO] [1711395490.070725764] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-3] [INFO] [1711395490.070738684] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-3] [INFO] [1711395490.070751186] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1711395490.070763897] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-3] [INFO] [1711395490.070775980] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-3] [INFO] [1711395490.070788691] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-3] [INFO] [1711395490.070801612] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-3] [INFO] [1711395490.070813695] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-3] [INFO] [1711395490.070826755] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-3] [INFO] [1711395490.070838698] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-3] [INFO] [1711395490.070851130] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-3] [INFO] [1711395490.070863911] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-3] [INFO] [1711395490.070876483] [robot_state_publisher]: got segment mouse
[robot_state_publisher-3] [INFO] [1711395490.070888775] [robot_state_publisher]: got segment oakd_camera_bracket
[robot_state_publisher-3] [INFO] [1711395490.070902115] [robot_state_publisher]: got segment oakd_imu_frame
[robot_state_publisher-3] [INFO] [1711395490.070914547] [robot_state_publisher]: got segment oakd_left_camera_frame
[robot_state_publisher-3] [INFO] [1711395490.070927398] [robot_state_publisher]: got segment oakd_left_camera_optical_frame
[robot_state_publisher-3] [INFO] [1711395490.070939900] [robot_state_publisher]: got segment oakd_link
[robot_state_publisher-3] [INFO] [1711395490.070952750] [robot_state_publisher]: got segment oakd_rgb_camera_frame
[robot_state_publisher-3] [INFO] [1711395490.070965113] [robot_state_publisher]: got segment oakd_rgb_camera_optical_frame
[robot_state_publisher-3] [INFO] [1711395490.070977963] [robot_state_publisher]: got segment oakd_right_camera_frame
[robot_state_publisher-3] [INFO] [1711395490.070990326] [robot_state_publisher]: got segment oakd_right_camera_optical_frame
[robot_state_publisher-3] [INFO] [1711395490.071002897] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-3] [INFO] [1711395490.071015119] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-3] [INFO] [1711395490.071027551] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-3] [INFO] [1711395490.071040053] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-3] [INFO] [1711395490.071093692] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-3] [INFO] [1711395490.071106543] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-3] [INFO] [1711395490.071118695] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-3] [INFO] [1711395490.071131686] [robot_state_publisher]: got segment wheel_drop_right
[joint_state_publisher-4] [INFO] [1711395491.005487981] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[robot_state_publisher-5] [WARN] [1711395490.085981233] [kdl_parser]: The root link std_dock_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-5] [INFO] [1711395490.086072796] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-5] [INFO] [1711395490.086184893] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-5] [INFO] [1711395490.086199210] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-5] [INFO] [1711395490.086212550] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-5] [INFO] [1711395490.086225331] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-6] [WARN] [1711395490.057431600] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [INFO] [1711395490.076704177] [tf_odom_std_dock_link_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-6] translation: ('0.157000', '0.000000', '0.000000')
[static_transform_publisher-6] rotation: ('0.000000', '0.000000', '1.000000', '0.000000')
[static_transform_publisher-6] from 'odom' to 'std_dock_link'
[create-7] [ros_ign_gazebo] is deprecated! Redirecting to use [ros_gz_sim] instead!
[create-7]
[create-7] [INFO] [1711395490.131850519] [ros_gz_sim]: Requesting list of world names.
[create-8] [ros_ign_gazebo] is deprecated! Redirecting to use [ros_gz_sim] instead!
[create-8]
[create-8] [INFO] [1711395490.146854068] [ros_gz_sim]: Requesting list of world names.
[parameter_bridge-9] [INFO] [1711395490.202789415] [cmd_vel_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (ignition.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-9] [INFO] [1711395490.204782150] [cmd_vel_bridge]: Creating ROS->GZ Bridge: [/model/turtlebot4/cmd_vel (geometry_msgs/msg/Twist) -> /model/turtlebot4/cmd_vel (ignition.msgs.Twist)] (Lazy 0)
[parameter_bridge-10] [INFO] [1711395490.202709726] [pose_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/pose (ignition.msgs.Pose_V) -> /model/turtlebot4/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-10] [INFO] [1711395490.204771255] [pose_bridge]: Creating GZ->ROS Bridge: [/model/standard_dock/pose (ignition.msgs.Pose_V) -> /model/standard_dock/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-11] [INFO] [1711395490.440199603] [odom_base_tf_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/tf (ignition.msgs.Pose_V) -> /model/turtlebot4/tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-12] [INFO] [1711395490.341782311] [bumper_contact_bridge]: Creating GZ->ROS Bridge: [/bumper_contact (ignition.msgs.Contacts) -> /bumper_contact (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
[parameter_bridge-13] [INFO] [1711395490.428420733] [cliff_front_left_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-14] [INFO] [1711395490.256511607] [cliff_front_right_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-15] [INFO] [1711395490.432434279] [cliff_side_left_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-16] [INFO] [1711395490.663013490] [cliff_side_right_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-17] [INFO] [1711395490.313656899] [ir_intensity_front_center_left_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-18] [INFO] [1711395490.393974681] [ir_intensity_front_center_right_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-19] [INFO] [1711395490.742134109] [ir_intensity_front_left_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-20] [INFO] [1711395490.613511508] [ir_intensity_front_right_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-21] [INFO] [1711395491.175670891] [ir_intensity_left_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-23] [INFO] [1711395491.084686125] [ir_intensity_side_left_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-25] [INFO] [1711395491.123488228] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/raw (std_msgs/msg/String) -> /hmi/display/raw (ignition.msgs.StringMsg)] (Lazy 0)
[parameter_bridge-25] [INFO] [1711395491.159849770] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/selected (std_msgs/msg/Int32) -> /hmi/display/selected (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-26] [INFO] [1711395491.101579461] [hmi_buttons_msg_bridge]: Creating GZ->ROS Bridge: [/hmi/buttons (ignition.msgs.Int32) -> /hmi/buttons (std_msgs/msg/Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.011498103] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/power (std_msgs/msg/Int32) -> /hmi/led/power (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.077705756] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/motors (std_msgs/msg/Int32) -> /hmi/led/motors (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.113791841] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/comms (std_msgs/msg/Int32) -> /hmi/led/comms (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.115814747] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/wifi (std_msgs/msg/Int32) -> /hmi/led/wifi (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.118322567] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/battery (std_msgs/msg/Int32) -> /hmi/led/battery (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.121018193] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user1 (std_msgs/msg/Int32) -> /hmi/led/user1 (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1711395491.167515429] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user2 (std_msgs/msg/Int32) -> /hmi/led/user2 (ignition.msgs.Int32)] (Lazy 0)
[static_transform_publisher-44] [WARN] [1711395491.265518557] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-45] [WARN] [1711395491.276708867] []: Old-style arguments are deprecated; see --help for new-style arguments
[turtlebot4_node-30] [INFO] [1711395491.286322003] [turtlebot4_node]: Init Turtlebot4 Node Main
[turtlebot4_node-30] [INFO] [1711395491.346751550] [turtlebot4_node]: Buttons Init
[parameter_bridge-22] [INFO] [1711395491.412055238] [ir_intensity_right_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[turtlebot4_node-30] [INFO] [1711395491.651884127] [turtlebot4_node]: Init Display
[motion_control-35] [INFO] [1711395491.673148880] [motion_control]: Enabling REFLEX_BUMP
[motion_control-35] [INFO] [1711395491.674591189] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-35] [INFO] [1711395491.674775922] [motion_control]: Enabling REFLEX_STUCK
[motion_control-35] [INFO] [1711395491.674830818] [motion_control]: Enabling REFLEX_WHEEL_DROP
[turtlebot4_node-30] [INFO] [1711395491.675020998] [turtlebot4_node]: Leds Init
[turtlebot4_node-30] [INFO] [1711395491.710927797] [turtlebot4_node]: Turtlebot4 standard running.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[parameter_bridge-28] [INFO] [1711395491.879239916] [lidar_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (ignition.msgs.LaserScan) -> /world/warehouse/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-29] [INFO] [1711395491.894152601] [camera_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (ignition.msgs.Image) -> /world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-29] [INFO] [1711395491.900979456] [camera_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (ignition.msgs.Image) -> /world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0)
[wheel_status_publisher-36] [INFO] [1711395491.928348060] [wheel_status_publisher]: Advertised topic: wheel_vels
[wheel_status_publisher-36] [INFO] [1711395491.934291203] [wheel_status_publisher]: Advertised topic: wheel_ticks
[parameter_bridge-29] [INFO] [1711395491.972645339] [camera_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (ignition.msgs.PointCloudPacked) -> /world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1711395491.972767773] [hazards_vector_publisher]: Advertised topic: hazard_detection
[hazards_vector_publisher-33] [INFO] [1711395491.973778038] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[hazards_vector_publisher-33] [INFO] [1711395491.974549235] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-33] [INFO] [1711395491.975272869] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[hazards_vector_publisher-33] [INFO] [1711395491.976160073] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-33] [INFO] [1711395491.980233753] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[hazards_vector_publisher-33] [INFO] [1711395491.981315048] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-33] [INFO] [1711395491.982771954] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-33] [INFO] [1711395491.983797097] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[ui_mgr-40] [INFO] [1711395492.078044466] [ui_mgr]: Subscription to topic: cmd_lightring
[ui_mgr-40] [INFO] [1711395492.106283512] [ui_mgr]: Subscription to topic: cmd_audio
[parameter_bridge-29] [INFO] [1711395492.142417298] [camera_bridge]: Creating GZ->ROS Bridge: [/world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (ignition.msgs.CameraInfo) -> /world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[static_transform_publisher-44] [INFO] [1711395492.216253176] [rplidar_stf]: Spinning until stopped - publishing transform
[static_transform_publisher-44] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-44] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-44] from 'rplidar_link' to 'turtlebot4/rplidar_link/rplidar'
[robot_state-38] [INFO] [1711395492.217478555] [robot_state]: Advertised topic: battery_state
[robot_state-38] [INFO] [1711395492.219689267] [robot_state]: Subscription to topic: dock_status
[robot_state-38] [INFO] [1711395492.220422330] [robot_state]: Advertised topic: stop_status
[robot_state-38] [INFO] [1711395492.222374975] [robot_state]: Subscription to topic: odom
[static_transform_publisher-45] [INFO] [1711395492.238628837] [camera_stf]: Spinning until stopped - publishing transform
[static_transform_publisher-45] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-45] rotation: ('0.499952', '-0.500000', '0.500000', '0.500048')
[static_transform_publisher-45] from 'oakd_rgb_camera_optical_frame' to 'turtlebot4/oakd_rgb_camera_frame/rgbd_camera'
[parameter_bridge-24] [INFO] [1711395492.357892040] [buttons_msg_bridge]: Creating GZ->ROS Bridge: [/create3_buttons (ignition.msgs.Int32) -> /create3_buttons (std_msgs/msg/Int32)] (Lazy 0)
[kidnap_estimator_publisher-39] [INFO] [1711395492.370753881] [kidnap_estimator_publisher]: Advertised topic: kidnap_status
[kidnap_estimator_publisher-39] [INFO] [1711395492.372691440] [kidnap_estimator_publisher]: Subscription to topic: hazard_detection
[ir_intensity_vector_publisher-34] [INFO] [1711395492.552427631] [ir_intensity_vector_publisher]: Advertised topic: ir_intensity
[mock_publisher-37] [INFO] [1711395492.559746734] [mock_publisher]: Advertised mocked topic: slip_status
[ir_intensity_vector_publisher-34] [INFO] [1711395492.603258360] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-34] [INFO] [1711395492.619481632] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-34] [INFO] [1711395492.640717191] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-34] [INFO] [1711395492.659440600] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[parameter_bridge-27] [INFO] [1711395492.713712798] [hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[ir_intensity_vector_publisher-34] [INFO] [1711395492.742808666] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-34] [INFO] [1711395492.880187442] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-34] [INFO] [1711395492.890724589] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[parameter_bridge-25] [INFO] [1711395494.712103247] [hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/String to Gazebo gz.msgs.StringMsg (showing msg only once per type)
[parameter_bridge-25] [INFO] [1711395494.712181121] [hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[create-7] [INFO] [1711395495.132387285] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395495.147540226] [ros_gz_sim]: Requesting list of world names.
[spawner-32] [INFO] [1711395495.178343874] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-32] [INFO] [1711395497.191062789] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-32] [INFO] [1711395499.204475874] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-7] [INFO] [1711395500.132800204] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395500.147896434] [ros_gz_sim]: Requesting list of world names.
[spawner-32] [INFO] [1711395501.219010351] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-32] [ERROR] [1711395503.033315085] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-32]: process has died [pid 20175, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --ros-args -r __ns:=/'].
[INFO] [spawner-46]: process started with pid [20560]
[create-7] [INFO] [1711395505.133262135] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395505.148267919] [ros_gz_sim]: Requesting list of world names.
[spawner-46] [INFO] [1711395505.706538232] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-46] [INFO] [1711395507.719849732] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-46] [INFO] [1711395509.736114513] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[create-7] [INFO] [1711395510.133828531] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395510.148679057] [ros_gz_sim]: Requesting list of world names.
[spawner-46] [INFO] [1711395511.751411152] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-46] [ERROR] [1711395513.766292727] [spawner_diffdrive_controller]: Controller manager not available
[ERROR] [spawner-46]: process has died [pid 20560, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller -c controller_manager --ros-args -r __ns:=/ --params-file /opt/ros/humble/share/irobot_create_control/config/control.yaml'].
[create-7] [INFO] [1711395515.134318152] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395515.149460129] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395520.134827170] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395520.150185727] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395525.135618261] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395525.150973745] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395530.136115715] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395530.151566325] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395535.136703175] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395535.151938462] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395540.137502166] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395540.152412198] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395545.138087349] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395545.152824312] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395550.138651278] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395550.153179762] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395555.139177399] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395555.153644842] [ros_gz_sim]: Requesting list of world names.
[ruby $(which ign) gazebo-1] [Err] [FuelClient.cc:717] Failed to download model.
[ruby $(which ign) gazebo-1] Server: https://fuel.ignitionrobotics.org
[ruby $(which ign) gazebo-1] Route: openrobotics/models/warehouse/tip/warehouse.zip
[ruby $(which ign) gazebo-1] REST response code: 504
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org to https://fuel.gazebosim.org
[create-7] [INFO] [1711395560.139787937] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395560.154302593] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395565.140224893] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395565.155041966] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395570.140675725] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395570.155636463] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395575.141296737] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395575.156116673] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395580.142109720] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395580.156702111] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395585.142676415] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395585.157250368] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395590.143060447] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395590.158008824] [ros_gz_sim]: Requesting list of world names.
[ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo GUI v6.16.0
[ruby $(which ign) gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which ign) gazebo-1] [Dbg] [Application.cc:92] Initializing application.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[create-7] [INFO] [1711395595.143502003] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395595.158620236] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395600.143948911] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395600.159162757] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395605.144437347] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395605.159640159] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395610.144875749] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395610.160093298] [ros_gz_sim]: Requesting list of world names.
[create-7] [INFO] [1711395615.145581340] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395615.161121978] [ros_gz_sim]: Requesting list of world names.
[ruby $(which ign) gazebo-1] [Err] [FuelClient.cc:717] Failed to download model.
[ruby $(which ign) gazebo-1] Server: https://fuel.ignitionrobotics.org
[ruby $(which ign) gazebo-1] Route: movai/models/pallet_box_mobile/tip/pallet_box_mobile.zip
[ruby $(which ign) gazebo-1] REST response code: 504
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/foldable_chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/foldable_chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/foldable_chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/foldable_chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Table
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Artifact Proximity Detector to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Artifact Proximity Detector
[ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[0]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L45]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Warehouse]
[ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[1]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L54]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet_box_mobile]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.[Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI...
[ruby $(which ign) gazebo-1] [Msg] Received world [warehouse.sdf] from the GUI.
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo Server v6.16.0
[ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf].
[ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/warehouse]
[ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/pallet_box_mobile]
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:410] Shutting down ign-gazebo-server
[create-7] [INFO] [1711395620.146275658] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395620.161702453] [ros_gz_sim]: Requesting list of world names.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:251: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:126: TypeError: Cannot call method 'PluginListModel' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:219: TypeError: Cannot read property 'showPluginMenu' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:202: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:188: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [0m
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:140] Terminating application.
[INFO] [ruby $(which ign) gazebo-1]: process has finished cleanly [pid 19847]
[INFO] [launch]: process[ruby $(which ign) gazebo-1] was required: shutting down launched system
[INFO] [static_transform_publisher-45]: sending signal 'SIGINT' to process[static_transform_publisher-45]
[INFO] [static_transform_publisher-44]: sending signal 'SIGINT' to process[static_transform_publisher-44]
[INFO] [interface_buttons_node-43]: sending signal 'SIGINT' to process[interface_buttons_node-43]
[INFO] [sensors_node-42]: sending signal 'SIGINT' to process[sensors_node-42]
[INFO] [pose_republisher_node-41]: sending signal 'SIGINT' to process[pose_republisher_node-41]
[INFO] [ui_mgr-40]: sending signal 'SIGINT' to process[ui_mgr-40]
[INFO] [kidnap_estimator_publisher-39]: sending signal 'SIGINT' to process[kidnap_estimator_publisher-39]
[INFO] [robot_state-38]: sending signal 'SIGINT' to process[robot_state-38]
[INFO] [interface_buttons_node-43]: process has finished cleanly [pid 20384]
[INFO] [static_transform_publisher-45]: process has finished cleanly [pid 20417]
[INFO] [static_transform_publisher-44]: process has finished cleanly [pid 20395]
[INFO] [mock_publisher-37]: sending signal 'SIGINT' to process[mock_publisher-37]
[INFO] [wheel_status_publisher-36]: sending signal 'SIGINT' to process[wheel_status_publisher-36]
[INFO] [motion_control-35]: sending signal 'SIGINT' to process[motion_control-35]
[INFO] [ir_intensity_vector_publisher-34]: sending signal 'SIGINT' to process[ir_intensity_vector_publisher-34]
[INFO] [pose_republisher_node-41]: process has finished cleanly [pid 20368]
[INFO] [hazards_vector_publisher-33]: sending signal 'SIGINT' to process[hazards_vector_publisher-33]
[INFO] [turtlebot4_ignition_hmi_node-31]: sending signal 'SIGINT' to process[turtlebot4_ignition_hmi_node-31]
[INFO] [kidnap_estimator_publisher-39]: process has finished cleanly [pid 20350]
[INFO] [sensors_node-42]: process has finished cleanly [pid 20377]
[INFO] [turtlebot4_node-30]: sending signal 'SIGINT' to process[turtlebot4_node-30]
[INFO] [mock_publisher-37]: process has finished cleanly [pid 20326]
[INFO] [ui_mgr-40]: process has finished cleanly [pid 20355]
[INFO] [parameter_bridge-29]: sending signal 'SIGINT' to process[parameter_bridge-29]
[INFO] [parameter_bridge-28]: sending signal 'SIGINT' to process[parameter_bridge-28]
[INFO] [robot_state-38]: process has finished cleanly [pid 20340]
[INFO] [parameter_bridge-27]: sending signal 'SIGINT' to process[parameter_bridge-27]
[INFO] [wheel_status_publisher-36]: process has finished cleanly [pid 20298]
[INFO] [parameter_bridge-26]: sending signal 'SIGINT' to process[parameter_bridge-26]
[INFO] [parameter_bridge-25]: sending signal 'SIGINT' to process[parameter_bridge-25]
[INFO] [parameter_bridge-24]: sending signal 'SIGINT' to process[parameter_bridge-24]
[INFO] [hazards_vector_publisher-33]: process has finished cleanly [pid 20189]
[INFO] [parameter_bridge-23]: sending signal 'SIGINT' to process[parameter_bridge-23]
[INFO] [parameter_bridge-22]: sending signal 'SIGINT' to process[parameter_bridge-22]
[INFO] [parameter_bridge-21]: sending signal 'SIGINT' to process[parameter_bridge-21]
[INFO] [parameter_bridge-29]: process has finished cleanly [pid 20149]
[INFO] [turtlebot4_ignition_hmi_node-31]: process has finished cleanly [pid 20166]
[INFO] [parameter_bridge-20]: sending signal 'SIGINT' to process[parameter_bridge-20]
[INFO] [parameter_bridge-28]: process has finished cleanly [pid 20131]
[INFO] [ir_intensity_vector_publisher-34]: process has finished cleanly [pid 20247]
[INFO] [parameter_bridge-19]: sending signal 'SIGINT' to process[parameter_bridge-19]
[INFO] [parameter_bridge-26]: process has finished cleanly [pid 20099]
[INFO] [parameter_bridge-18]: sending signal 'SIGINT' to process[parameter_bridge-18]
[INFO] [parameter_bridge-27]: process has finished cleanly [pid 20118]
[INFO] [parameter_bridge-17]: sending signal 'SIGINT' to process[parameter_bridge-17]
[INFO] [parameter_bridge-16]: sending signal 'SIGINT' to process[parameter_bridge-16]
[INFO] [parameter_bridge-25]: process has finished cleanly [pid 20082]
[INFO] [parameter_bridge-24]: process has finished cleanly [pid 20072]
[INFO] [parameter_bridge-15]: sending signal 'SIGINT' to process[parameter_bridge-15]
[INFO] [parameter_bridge-23]: process has finished cleanly [pid 20062]
[INFO] [parameter_bridge-14]: sending signal 'SIGINT' to process[parameter_bridge-14]
[INFO] [parameter_bridge-22]: process has finished cleanly [pid 20053]
[INFO] [parameter_bridge-13]: sending signal 'SIGINT' to process[parameter_bridge-13]
[INFO] [parameter_bridge-12]: sending signal 'SIGINT' to process[parameter_bridge-12]
[INFO] [parameter_bridge-21]: process has finished cleanly [pid 20038]
[INFO] [parameter_bridge-11]: sending signal 'SIGINT' to process[parameter_bridge-11]
[INFO] [motion_control-35]: process has finished cleanly [pid 20256]
[INFO] [parameter_bridge-20]: process has finished cleanly [pid 20023]
[INFO] [parameter_bridge-10]: sending signal 'SIGINT' to process[parameter_bridge-10]
[INFO] [parameter_bridge-9]: sending signal 'SIGINT' to process[parameter_bridge-9]
[INFO] [turtlebot4_node-30]: process has finished cleanly [pid 20158]
[INFO] [create-8]: sending signal 'SIGINT' to process[create-8]
[INFO] [parameter_bridge-19]: process has finished cleanly [pid 20016]
[INFO] [parameter_bridge-18]: process has finished cleanly [pid 20002]
[INFO] [create-7]: sending signal 'SIGINT' to process[create-7]
[INFO] [parameter_bridge-17]: process has finished cleanly [pid 19991]
[INFO] [static_transform_publisher-6]: sending signal 'SIGINT' to process[static_transform_publisher-6]
[INFO] [parameter_bridge-16]: process has finished cleanly [pid 19975]
[INFO] [robot_state_publisher-5]: sending signal 'SIGINT' to process[robot_state_publisher-5]
[INFO] [parameter_bridge-15]: process has finished cleanly [pid 19955]
[INFO] [joint_state_publisher-4]: sending signal 'SIGINT' to process[joint_state_publisher-4]
[INFO] [parameter_bridge-14]: process has finished cleanly [pid 19953]
[INFO] [robot_state_publisher-3]: sending signal 'SIGINT' to process[robot_state_publisher-3]
[INFO] [parameter_bridge-13]: process has finished cleanly [pid 19951]
[INFO] [parameter_bridge-2]: sending signal 'SIGINT' to process[parameter_bridge-2]
[INFO] [parameter_bridge-12]: process has finished cleanly [pid 19943]
[static_transform_publisher-45] [INFO] [1711395622.323055774] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-11]: process has finished cleanly [pid 19927]
[static_transform_publisher-44] [INFO] [1711395622.341070988] [rclcpp]: signal_handler(signum=2)
[interface_buttons_node-43] [INFO] [1711395622.359526557] [rclcpp]: signal_handler(signum=2)
[sensors_node-42] [INFO] [1711395622.399508164] [rclcpp]: signal_handler(signum=2)
[pose_republisher_node-41] [INFO] [1711395622.466044022] [rclcpp]: signal_handler(signum=2)
[ui_mgr-40] [INFO] [1711395622.515747162] [rclcpp]: signal_handler(signum=2)
[kidnap_estimator_publisher-39] [INFO] [1711395622.546099218] [rclcpp]: signal_handler(signum=2)
[robot_state-38] [INFO] [1711395622.620727681] [rclcpp]: signal_handler(signum=2)
[mock_publisher-37] [INFO] [1711395622.640067521] [rclcpp]: signal_handler(signum=2)
[wheel_status_publisher-36] [INFO] [1711395622.676550946] [rclcpp]: signal_handler(signum=2)
[motion_control-35] [INFO] [1711395622.713238310] [rclcpp]: signal_handler(signum=2)
[ir_intensity_vector_publisher-34] [INFO] [1711395622.737115652] [rclcpp]: signal_handler(signum=2)
[hazards_vector_publisher-33] [INFO] [1711395622.756208111] [rclcpp]: signal_handler(signum=2)
[turtlebot4_ignition_hmi_node-31] [INFO] [1711395622.817701019] [rclcpp]: signal_handler(signum=2)
[turtlebot4_node-30] [INFO] [1711395622.848257084] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-29] [INFO] [1711395622.872352264] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-28] [INFO] [1711395622.902191120] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-27] [INFO] [1711395622.926843151] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-26] [INFO] [1711395622.939570270] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-10]: process has finished cleanly [pid 19908]
[parameter_bridge-25] [INFO] [1711395622.965531491] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-24] [INFO] [1711395622.982177591] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-23] [INFO] [1711395623.000146081] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-22] [INFO] [1711395623.015642649] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-21] [INFO] [1711395623.030582436] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-20] [INFO] [1711395623.056618668] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-19] [INFO] [1711395623.078387407] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-18] [INFO] [1711395623.098221590] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-17] [INFO] [1711395623.112408269] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-16] [INFO] [1711395623.125961271] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-15] [INFO] [1711395623.138572871] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-14] [INFO] [1711395623.151097587] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-13] [INFO] [1711395623.163655688] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-12] [INFO] [1711395623.176051755] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-11] [INFO] [1711395623.188776709] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-10] [INFO] [1711395623.201250581] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-9] [INFO] [1711395623.214278020] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-6] [INFO] [1711395623.250682105] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-5] [INFO] [1711395623.263757945] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-3] [INFO] [1711395623.288508105] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-9]: process has finished cleanly [pid 19895]
[parameter_bridge-2] [INFO] [1711395623.300575425] [rclcpp]: signal_handler(signum=2)
[INFO] [static_transform_publisher-6]: process has finished cleanly [pid 19859]
[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 19857]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 19852]
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 19849]
[INFO] [joint_state_publisher-4]: process has finished cleanly [pid 19854]
[create-7] [INFO] [1711395625.146988734] [ros_gz_sim]: Requesting list of world names.
[create-8] [INFO] [1711395625.162218785] [ros_gz_sim]: Requesting list of world names.
[ERROR] [create-8]: process[create-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [create-7]: process[create-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [create-8]: sending signal 'SIGTERM' to process[create-8]
[INFO] [create-7]: sending signal 'SIGTERM' to process[create-7]
[ERROR] [create-8]: process has died [pid 19891, exit code -15, cmd '/opt/ros/humble/lib/ros_ign_gazebo/create -name standard_dock -x 0.157 -y 0.0 -z 0.0 -Y 3.1416 -topic standard_dock_description --ros-args -r __ns:=/'].
[ERROR] [create-7]: process has died [pid 19873, exit code -15, cmd '/opt/ros/humble/lib/ros_ign_gazebo/create -name turtlebot4 -x 0.0 -y 0.0 -z -0.0025 -Y 0.0 -topic robot_description --ros-args -r __ns:=/'].@ajjaya18 Please try running it again. That particular error should be resolved now. If it still is not working please provide a new terminal output.
ajjaya18
commented
3 months ago Hi, I have questions, I hope you can answer me.
ajjaya18
commented
3 months ago @hilary-luo
ajjaya18
commented
3 months ago I try to launch my own wolrd but I get mistakes, the following:
andrius@andrius-Inspiron-16-5630:~/turtlebot4_ws$ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py world:=mundo1 x:=2.0 y:=5.0 [INFO] [launch]: All log files can be found below /home/andrius/.ros/log/2024-03-27-12-07-18-335503-andrius-Inspiron-16-5630-13419 [INFO] [launch]: Default logging verbosity is set to INFO ign_args is deprecated, migrate to gz_args! [INFO] [ruby $(which ign) gazebo-1]: process started with pid [13422] [INFO] [parameter_bridge-2]: process started with pid [13425] [INFO] [robot_state_publisher-3]: process started with pid [13427] [INFO] [joint_state_publisher-4]: process started with pid [13430] [INFO] [robot_state_publisher-5]: process started with pid [13432] [INFO] [static_transform_publisher-6]: process started with pid [13434] [INFO] [create-7]: process started with pid [13436] [INFO] [create-8]: process started with pid [13438] [INFO] [parameter_bridge-9]: process started with pid [13440] [INFO] [parameter_bridge-10]: process started with pid [13442] [INFO] [parameter_bridge-11]: process started with pid [13447] [INFO] [parameter_bridge-12]: process started with pid [13450] [INFO] [parameter_bridge-13]: process started with pid [13452] [INFO] [parameter_bridge-14]: process started with pid [13454] [INFO] [parameter_bridge-15]: process started with pid [13456] [INFO] [parameter_bridge-16]: process started with pid [13458] [INFO] [parameter_bridge-17]: process started with pid [13488] [INFO] [parameter_bridge-18]: process started with pid [13500] [INFO] [parameter_bridge-19]: process started with pid [13510] [INFO] [parameter_bridge-20]: process started with pid [13541] [INFO] [parameter_bridge-21]: process started with pid [13547] [INFO] [parameter_bridge-22]: process started with pid [13553] [INFO] [parameter_bridge-23]: process started with pid [13574] [INFO] [parameter_bridge-24]: process started with pid [13628] [INFO] [parameter_bridge-25]: process started with pid [13638] [INFO] [parameter_bridge-26]: process started with pid [13648] [INFO] [parameter_bridge-27]: process started with pid [13651] [INFO] [parameter_bridge-28]: process started with pid [13665] [INFO] [parameter_bridge-29]: process started with pid [13714] [INFO] [turtlebot4_node-30]: process started with pid [13725] [INFO] [turtlebot4_ignition_hmi_node-31]: process started with pid [13781] [INFO] [spawner-32]: process started with pid [13784] [INFO] [hazards_vector_publisher-33]: process started with pid [13787] [INFO] [ir_intensity_vector_publisher-34]: process started with pid [13812] [INFO] [motion_control-35]: process started with pid [13818] [INFO] [wheel_status_publisher-36]: process started with pid [13820] [INFO] [mock_publisher-37]: process started with pid [13822] [INFO] [robot_state-38]: process started with pid [13824] [INFO] [kidnap_estimator_publisher-39]: process started with pid [13828] [INFO] [ui_mgr-40]: process started with pid [13861] [INFO] [pose_republisher_node-41]: process started with pid [13886] [INFO] [sensors_node-42]: process started with pid [13903] [INFO] [interface_buttons_node-43]: process started with pid [13908] [INFO] [static_transform_publisher-44]: process started with pid [13911] [INFO] [static_transform_publisher-45]: process started with pid [13913] [parameter_bridge-2] [INFO] [1711559240.028041801] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [robot_state_publisher-3] [WARN] [1711559239.992624242] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-3] [INFO] [1711559239.992789700] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1711559239.992848340] [robot_state_publisher]: got segment bump_front_center [robot_state_publisher-3] [INFO] [1711559239.992854312] [robot_state_publisher]: got segment bump_front_left [robot_state_publisher-3] [INFO] [1711559239.992858878] [robot_state_publisher]: got segment bump_front_right [robot_state_publisher-3] [INFO] [1711559239.992863228] [robot_state_publisher]: got segment bump_left [robot_state_publisher-3] [INFO] [1711559239.992867562] [robot_state_publisher]: got segment bump_right [robot_state_publisher-3] [INFO] [1711559239.992871900] [robot_state_publisher]: got segment bumper [robot_state_publisher-3] [INFO] [1711559239.992876259] [robot_state_publisher]: got segment button_1 [robot_state_publisher-3] [INFO] [1711559239.992880561] [robot_state_publisher]: got segment button_2 [robot_state_publisher-3] [INFO] [1711559239.992884766] [robot_state_publisher]: got segment button_power [robot_state_publisher-3] [INFO] [1711559239.992889204] [robot_state_publisher]: got segment cliff_front_left [robot_state_publisher-3] [INFO] [1711559239.992893492] [robot_state_publisher]: got segment cliff_front_right [robot_state_publisher-3] [INFO] [1711559239.992897790] [robot_state_publisher]: got segment cliff_side_left [robot_state_publisher-3] [INFO] [1711559239.992901934] [robot_state_publisher]: got segment cliff_side_right [robot_state_publisher-3] [INFO] [1711559239.992905763] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-3] [INFO] [1711559239.992909839] [robot_state_publisher]: got segment front_left_bottom_weight_block [robot_state_publisher-3] [INFO] [1711559239.992914555] [robot_state_publisher]: got segment front_left_top_weight_block [robot_state_publisher-3] [INFO] [1711559239.992918831] [robot_state_publisher]: got segment front_left_tower_standoff [robot_state_publisher-3] [INFO] [1711559239.992923223] [robot_state_publisher]: got segment front_right_bottom_weight_block [robot_state_publisher-3] [INFO] [1711559239.992927555] [robot_state_publisher]: got segment front_right_top_weight_block [robot_state_publisher-3] [INFO] [1711559239.992931830] [robot_state_publisher]: got segment front_right_tower_standoff [robot_state_publisher-3] [INFO] [1711559239.992936082] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1711559239.992940451] [robot_state_publisher]: got segment ir_intensity_front_center_left [robot_state_publisher-3] [INFO] [1711559239.992944789] [robot_state_publisher]: got segment ir_intensity_front_center_right [robot_state_publisher-3] [INFO] [1711559239.992949057] [robot_state_publisher]: got segment ir_intensity_front_left [robot_state_publisher-3] [INFO] [1711559239.992953287] [robot_state_publisher]: got segment ir_intensity_front_right [robot_state_publisher-3] [INFO] [1711559239.992957587] [robot_state_publisher]: got segment ir_intensity_left [robot_state_publisher-3] [INFO] [1711559239.992961956] [robot_state_publisher]: got segment ir_intensity_right [robot_state_publisher-3] [INFO] [1711559239.992966413] [robot_state_publisher]: got segment ir_intensity_side_left [robot_state_publisher-3] [INFO] [1711559239.992970578] [robot_state_publisher]: got segment ir_omni [robot_state_publisher-3] [INFO] [1711559239.992975019] [robot_state_publisher]: got segment left_wheel [robot_state_publisher-3] [INFO] [1711559239.992979333] [robot_state_publisher]: got segment mouse [robot_state_publisher-3] [INFO] [1711559239.992983568] [robot_state_publisher]: got segment oakd_camera_bracket [robot_state_publisher-3] [INFO] [1711559239.992987874] [robot_state_publisher]: got segment oakd_imu_frame [robot_state_publisher-3] [INFO] [1711559239.992992175] [robot_state_publisher]: got segment oakd_left_camera_frame [robot_state_publisher-3] [INFO] [1711559239.992996498] [robot_state_publisher]: got segment oakd_left_camera_optical_frame [robot_state_publisher-3] [INFO] [1711559239.993000831] [robot_state_publisher]: got segment oakd_link [robot_state_publisher-3] [INFO] [1711559239.993005241] [robot_state_publisher]: got segment oakd_rgb_camera_frame [robot_state_publisher-3] [INFO] [1711559239.993009556] [robot_state_publisher]: got segment oakd_rgb_camera_optical_frame [robot_state_publisher-3] [INFO] [1711559239.993013745] [robot_state_publisher]: got segment oakd_right_camera_frame [robot_state_publisher-3] [INFO] [1711559239.993018124] [robot_state_publisher]: got segment oakd_right_camera_optical_frame [robot_state_publisher-3] [INFO] [1711559239.993022355] [robot_state_publisher]: got segment rear_left_tower_standoff [robot_state_publisher-3] [INFO] [1711559239.993026599] [robot_state_publisher]: got segment rear_right_tower_standoff [robot_state_publisher-3] [INFO] [1711559239.993030826] [robot_state_publisher]: got segment right_wheel [robot_state_publisher-3] [INFO] [1711559239.993034874] [robot_state_publisher]: got segment rplidar_link [robot_state_publisher-3] [INFO] [1711559239.993069914] [robot_state_publisher]: got segment shell_link [robot_state_publisher-3] [INFO] [1711559239.993074468] [robot_state_publisher]: got segment tower_sensor_plate [robot_state_publisher-3] [INFO] [1711559239.993078842] [robot_state_publisher]: got segment wheel_drop_left [robot_state_publisher-3] [INFO] [1711559239.993083247] [robot_state_publisher]: got segment wheel_drop_right [robot_state_publisher-5] [WARN] [1711559240.001966939] [kdl_parser]: The root link std_dock_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-5] [INFO] [1711559240.002068089] [dock_state_publisher]: got segment green_buoy_link [robot_state_publisher-5] [INFO] [1711559240.002569805] [dock_state_publisher]: got segment halo_link [robot_state_publisher-5] [INFO] [1711559240.002586134] [dock_state_publisher]: got segment red_buoy_link [robot_state_publisher-5] [INFO] [1711559240.002594764] [dock_state_publisher]: got segment std_dock_link [robot_state_publisher-5] [INFO] [1711559240.002602446] [dock_state_publisher]: got segment yellow_buoy_link [static_transform_publisher-6] [WARN] [1711559239.984078444] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-6] [INFO] [1711559240.000799839] [tf_odom_std_dock_link_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-6] translation: ('0.157000', '0.000000', '0.000000') [static_transform_publisher-6] rotation: ('0.000000', '0.000000', '1.000000', '0.000000') [static_transform_publisher-6] from 'odom' to 'std_dock_link' [create-7] [ros_ign_gazebo] is deprecated! Redirecting to use [ros_gz_sim] instead! [create-7] [create-7] [INFO] [1711559240.014392681] [ros_gz_sim]: Requesting list of world names. [create-8] [ros_ign_gazebo] is deprecated! Redirecting to use [ros_gz_sim] instead! [create-8] [create-8] [INFO] [1711559240.020146338] [ros_gz_sim]: Requesting list of world names. [parameter_bridge-9] [INFO] [1711559240.030617244] [cmd_vel_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (ignition.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0) [parameter_bridge-9] [INFO] [1711559240.032208149] [cmd_vel_bridge]: Creating ROS->GZ Bridge: [/model/turtlebot4/cmd_vel (geometry_msgs/msg/Twist) -> /model/turtlebot4/cmd_vel (ignition.msgs.Twist)] (Lazy 0) [parameter_bridge-10] [INFO] [1711559240.061629526] [pose_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/pose (ignition.msgs.Pose_V) -> /model/turtlebot4/pose (tf2_msgs/msg/TFMessage)] (Lazy 0) [parameter_bridge-10] [INFO] [1711559240.064771114] [pose_bridge]: Creating GZ->ROS Bridge: [/model/standard_dock/pose (ignition.msgs.Pose_V) -> /model/standard_dock/pose (tf2_msgs/msg/TFMessage)] (Lazy 0) [parameter_bridge-11] [INFO] [1711559240.058346133] [odom_base_tf_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/tf (ignition.msgs.Pose_V) -> /model/turtlebot4/tf (tf2_msgs/msg/TFMessage)] (Lazy 0) [parameter_bridge-12] [INFO] [1711559240.072289924] [bumper_contact_bridge]: Creating GZ->ROS Bridge: [/bumper_contact (ignition.msgs.Contacts) -> /bumper_contact (ros_gz_interfaces/msg/Contacts)] (Lazy 0) [parameter_bridge-13] [INFO] [1711559240.028661894] [cliff_front_left_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-14] [INFO] [1711559240.039282200] [cliff_front_right_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-15] [INFO] [1711559240.029640267] [cliff_side_left_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-16] [INFO] [1711559240.036031733] [cliff_side_right_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-17] [INFO] [1711559240.141850677] [ir_intensity_front_center_left_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-18] [INFO] [1711559240.122201182] [ir_intensity_front_center_right_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-19] [INFO] [1711559240.087845140] [ir_intensity_front_left_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-21] [INFO] [1711559240.113459711] [ir_intensity_left_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-22] [INFO] [1711559240.082801894] [ir_intensity_right_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-23] [INFO] [1711559240.150852214] [ir_intensity_side_left_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-26] [INFO] [1711559240.130321836] [hmi_buttons_msg_bridge]: Creating GZ->ROS Bridge: [/hmi/buttons (ignition.msgs.Int32) -> /hmi/buttons (std_msgs/msg/Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.111098624] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/power (std_msgs/msg/Int32) -> /hmi/led/power (ignition.msgs.Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.121576916] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/motors (std_msgs/msg/Int32) -> /hmi/led/motors (ignition.msgs.Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.122343604] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/comms (std_msgs/msg/Int32) -> /hmi/led/comms (ignition.msgs.Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.139707407] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/wifi (std_msgs/msg/Int32) -> /hmi/led/wifi (ignition.msgs.Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.140170771] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/battery (std_msgs/msg/Int32) -> /hmi/led/battery (ignition.msgs.Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.140479006] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user1 (std_msgs/msg/Int32) -> /hmi/led/user1 (ignition.msgs.Int32)] (Lazy 0) [parameter_bridge-27] [INFO] [1711559240.140957391] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user2 (std_msgs/msg/Int32) -> /hmi/led/user2 (ignition.msgs.Int32)] (Lazy 0) [turtlebot4_node-30] [INFO] [1711559240.164569989] [turtlebot4_node]: Init Turtlebot4 Node Main [ERROR] [ruby $(which ign) gazebo-1]: process has died [pid 13422, exit code 255, cmd 'ruby $(which ign) gazebo mundo1.sdf -v 4 --gui-config /opt/ros/humble/share/turtlebot4_ignition_bringup/gui/standard/gui.config --force-version 6']. [static_transform_publisher-45] [WARN] [1711559240.166454656] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-44] [WARN] [1711559240.171759437] []: Old-style arguments are deprecated; see --help for new-style arguments [ruby $(which ign) gazebo-1] [Wrn] [gz.cc:99] Fuel world download failed because Fetch failed. Other errors [ruby $(which ign) gazebo-1] Unable to find or download file [parameter_bridge-24] [INFO] [1711559240.181410925] [buttons_msg_bridge]: Creating GZ->ROS Bridge: [/create3_buttons (ignition.msgs.Int32) -> /create3_buttons (std_msgs/msg/Int32)] (Lazy 0) [INFO] [launch]: process[ruby $(which ign) gazebo-1] was required: shutting down launched system [INFO] [static_transform_publisher-45]: sending signal 'SIGINT' to process[static_transform_publisher-45] [INFO] [static_transform_publisher-44]: sending signal 'SIGINT' to process[static_transform_publisher-44] [INFO] [interface_buttons_node-43]: sending signal 'SIGINT' to process[interface_buttons_node-43] [INFO] [sensors_node-42]: sending signal 'SIGINT' to process[sensors_node-42] [INFO] [pose_republisher_node-41]: sending signal 'SIGINT' to process[pose_republisher_node-41] [INFO] [ui_mgr-40]: sending signal 'SIGINT' to process[ui_mgr-40] [INFO] [kidnap_estimator_publisher-39]: sending signal 'SIGINT' to process[kidnap_estimator_publisher-39] [INFO] [robot_state-38]: sending signal 'SIGINT' to process[robot_state-38] [INFO] [mock_publisher-37]: sending signal 'SIGINT' to process[mock_publisher-37] [INFO] [wheel_status_publisher-36]: sending signal 'SIGINT' to process[wheel_status_publisher-36] [INFO] [motion_control-35]: sending signal 'SIGINT' to process[motion_control-35] [INFO] [ir_intensity_vector_publisher-34]: sending signal 'SIGINT' to process[ir_intensity_vector_publisher-34] [INFO] [hazards_vector_publisher-33]: sending signal 'SIGINT' to process[hazards_vector_publisher-33] [INFO] [spawner-32]: sending signal 'SIGINT' to process[spawner-32] [INFO] [turtlebot4_ignition_hmi_node-31]: sending signal 'SIGINT' to process[turtlebot4_ignition_hmi_node-31] [INFO] [turtlebot4_node-30]: sending signal 'SIGINT' to process[turtlebot4_node-30] [INFO] [parameter_bridge-29]: sending signal 'SIGINT' to process[parameter_bridge-29] [INFO] [parameter_bridge-28]: sending signal 'SIGINT' to process[parameter_bridge-28] [INFO] [parameter_bridge-27]: sending signal 'SIGINT' to process[parameter_bridge-27] [ERROR] [spawner-32]: process has died [pid 13784, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --ros-args -r __ns:=/']. [INFO] [robot_state-38]: process has finished cleanly [pid 13824] [INFO] [parameter_bridge-26]: sending signal 'SIGINT' to process[parameter_bridge-26] [INFO] [parameter_bridge-25]: sending signal 'SIGINT' to process[parameter_bridge-25] [INFO] [parameter_bridge-24]: sending signal 'SIGINT' to process[parameter_bridge-24] [INFO] [parameter_bridge-23]: sending signal 'SIGINT' to process[parameter_bridge-23] [INFO] [parameter_bridge-22]: sending signal 'SIGINT' to process[parameter_bridge-22] [INFO] [parameter_bridge-21]: sending signal 'SIGINT' to process[parameter_bridge-21] [INFO] [parameter_bridge-20]: sending signal 'SIGINT' to process[parameter_bridge-20] [INFO] [turtlebot4_ignition_hmi_node-31]: process has finished cleanly [pid 13781] [INFO] [parameter_bridge-19]: sending signal 'SIGINT' to process[parameter_bridge-19] [INFO] [wheel_status_publisher-36]: process has finished cleanly [pid 13820] [INFO] [parameter_bridge-29]: process has finished cleanly [pid 13714] [INFO] [parameter_bridge-18]: sending signal 'SIGINT' to process[parameter_bridge-18] [INFO] [parameter_bridge-28]: process has finished cleanly [pid 13665] [INFO] [parameter_bridge-17]: sending signal 'SIGINT' to process[parameter_bridge-17] [INFO] [parameter_bridge-16]: sending signal 'SIGINT' to process[parameter_bridge-16] [INFO] [parameter_bridge-15]: sending signal 'SIGINT' to process[parameter_bridge-15] [INFO] [parameter_bridge-14]: sending signal 'SIGINT' to process[parameter_bridge-14] [INFO] [parameter_bridge-27]: process has finished cleanly [pid 13651] [INFO] [hazards_vector_publisher-33]: process has finished cleanly [pid 13787] [INFO] [ir_intensity_vector_publisher-34]: process has finished cleanly [pid 13812] [INFO] [parameter_bridge-13]: sending signal 'SIGINT' to process[parameter_bridge-13] [INFO] [parameter_bridge-12]: sending signal 'SIGINT' to process[parameter_bridge-12] [INFO] [parameter_bridge-26]: process has finished cleanly [pid 13648] [INFO] [parameter_bridge-11]: sending signal 'SIGINT' to process[parameter_bridge-11] [INFO] [parameter_bridge-25]: process has finished cleanly [pid 13638] [INFO] [parameter_bridge-10]: sending signal 'SIGINT' to process[parameter_bridge-10] [INFO] [parameter_bridge-24]: process has finished cleanly [pid 13628] [INFO] [parameter_bridge-9]: sending signal 'SIGINT' to process[parameter_bridge-9] [INFO] [parameter_bridge-23]: process has finished cleanly [pid 13574] [INFO] [create-8]: sending signal 'SIGINT' to process[create-8] [INFO] [create-7]: sending signal 'SIGINT' to process[create-7] [INFO] [parameter_bridge-22]: process has finished cleanly [pid 13553] [INFO] [static_transform_publisher-6]: sending signal 'SIGINT' to process[static_transform_publisher-6] [INFO] [robot_state_publisher-5]: sending signal 'SIGINT' to process[robot_state_publisher-5] [INFO] [parameter_bridge-21]: process has finished cleanly [pid 13547] [INFO] [joint_state_publisher-4]: sending signal 'SIGINT' to process[joint_state_publisher-4] [INFO] [robot_state_publisher-3]: sending signal 'SIGINT' to process[robot_state_publisher-3] [INFO] [parameter_bridge-20]: process has finished cleanly [pid 13541] [INFO] [parameter_bridge-2]: sending signal 'SIGINT' to process[parameter_bridge-2] [parameter_bridge-28] [INFO] [1711559240.219362547] [lidar_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [INFO] [parameter_bridge-19]: process has finished cleanly [pid 13510] [hazards_vector_publisher-33] [INFO] [1711559240.231315636] [hazards_vector_publisher]: Advertised topic: hazard_detection [hazards_vector_publisher-33] [INFO] [1711559240.231693132] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event [hazards_vector_publisher-33] [INFO] [1711559240.232662432] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event [hazards_vector_publisher-33] [INFO] [1711559240.232944092] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event [hazards_vector_publisher-33] [INFO] [1711559240.233133117] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event [hazards_vector_publisher-33] [INFO] [1711559240.233295182] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event [hazards_vector_publisher-33] [INFO] [1711559240.233491475] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event [hazards_vector_publisher-33] [INFO] [1711559240.233625357] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event [hazards_vector_publisher-33] [INFO] [1711559240.233925980] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[robot_state-38] [INFO] [1711559240.269394313] [robot_state]: Advertised topic: battery_state [robot_state-38] [INFO] [1711559240.274875433] [robot_state]: Subscription to topic: dock_status [robot_state-38] [INFO] [1711559240.275294193] [robot_state]: Advertised topic: stop_status [robot_state-38] [INFO] [1711559240.276317194] [robot_state]: Subscription to topic: odom [motion_control-35] [INFO] [1711559240.274780812] [motion_control]: Enabling REFLEX_BUMP [motion_control-35] [INFO] [1711559240.274974281] [motion_control]: Enabling REFLEX_CLIFF [motion_control-35] [INFO] [1711559240.275165990] [motion_control]: Enabling REFLEX_STUCK [motion_control-35] [INFO] [1711559240.275245799] [motion_control]: Enabling REFLEX_WHEEL_DROP [parameter_bridge-25] [INFO] [1711559240.275401712] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/raw (std_msgs/msg/String) -> /hmi/display/raw (ignition.msgs.StringMsg)] (Lazy 0) [ir_intensity_vector_publisher-34] [INFO] [1711559240.276597261] [ir_intensity_vector_publisher]: Advertised topic: ir_intensity [ir_intensity_vector_publisher-34] [INFO] [1711559240.277094256] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left [ir_intensity_vector_publisher-34] [INFO] [1711559240.277395475] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right [ir_intensity_vector_publisher-34] [INFO] [1711559240.277699382] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left [ir_intensity_vector_publisher-34] [INFO] [1711559240.283403425] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right [ir_intensity_vector_publisher-34] [INFO] [1711559240.284476808] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left [ir_intensity_vector_publisher-34] [INFO] [1711559240.285542091] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right [ir_intensity_vector_publisher-34] [INFO] [1711559240.286282936] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left [parameter_bridge-25] [INFO] [1711559240.279252062] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/selected (std_msgs/msg/Int32) -> /hmi/display/selected (ignition.msgs.Int32)] (Lazy 0)
[turtlebot4_node-30] [INFO] [1711559240.279550623] [turtlebot4_node]: Buttons Init [parameter_bridge-20] [INFO] [1711559240.287026672] [ir_intensity_front_right_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (ignition.msgs.LaserScan) -> /world/mundo1/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [turtlebot4_node-30] [INFO] [1711559240.288309373] [turtlebot4_node]: Init Display [turtlebot4_node-30] [INFO] [1711559240.289528419] [turtlebot4_node]: Leds Init
[wheel_status_publisher-36] [INFO] [1711559240.303298793] [wheel_status_publisher]: Advertised topic: wheel_vels [wheel_status_publisher-36] [INFO] [1711559240.304292446] [wheel_status_publisher]: Advertised topic: wheel_ticks [parameter_bridge-29] [INFO] [1711559240.308345407] [camera_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (ignition.msgs.Image) -> /world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (sensor_msgs/msg/Image)] (Lazy 0)
[sensors_node-42] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [sensors_node-42] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[mock_publisher-37] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [mock_publisher-37] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67 [parameter_bridge-29] [INFO] [1711559240.332289237] [camera_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (ignition.msgs.Image) -> /world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0) [parameter_bridge-29] [INFO] [1711559240.336259454] [camera_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (ignition.msgs.PointCloudPacked) -> /world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[turtlebot4_node-30] [INFO] [1711559240.339200656] [turtlebot4_node]: Turtlebot4 standard running. [INFO] [parameter_bridge-18]: process has finished cleanly [pid 13500]
[pose_republisher_node-41] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [pose_republisher_node-41] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[parameter_bridge-29] [INFO] [1711559240.366222234] [camera_bridge]: Creating GZ->ROS Bridge: [/world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (ignition.msgs.CameraInfo) -> /world/mundo1/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0) [static_transform_publisher-44] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [static_transform_publisher-44] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67 [kidnap_estimator_publisher-39] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [kidnap_estimator_publisher-39] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[interface_buttons_node-43] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[interface_buttons_node-43] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[spawner-32] Traceback (most recent call last):
[spawner-32] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in
[ui_mgr-40] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [ui_mgr-40] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[motion_control-35] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [motion_control-35] what(): rcl node's context is invalid, at ./src/rcl/node.c:428
[joint_state_publisher-4] [INFO] [1711559240.602733785] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[INFO] [parameter_bridge-17]: process has finished cleanly [pid 13488] [INFO] [parameter_bridge-16]: process has finished cleanly [pid 13458] [INFO] [parameter_bridge-15]: process has finished cleanly [pid 13456] [INFO] [parameter_bridge-14]: process has finished cleanly [pid 13454] [INFO] [parameter_bridge-13]: process has finished cleanly [pid 13452] [INFO] [parameter_bridge-12]: process has finished cleanly [pid 13450] [INFO] [parameter_bridge-11]: process has finished cleanly [pid 13447] [INFO] [parameter_bridge-10]: process has finished cleanly [pid 13442] [INFO] [parameter_bridge-9]: process has finished cleanly [pid 13440] [INFO] [static_transform_publisher-6]: process has finished cleanly [pid 13434] [INFO] [robot_state_publisher-5]: process has finished cleanly [pid 13432] [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 13427] [INFO] [parameter_bridge-2]: process has finished cleanly [pid 13425] [INFO] [joint_state_publisher-4]: process has finished cleanly [pid 13430] [ERROR] [sensors_node-42]: process has died [pid 13903, exit code -6, cmd '/opt/ros/humble/lib/irobot_create_ignition_toolbox/sensors_node --ros-args -r node:=sensors_node -r ns:=/ --params-file /opt/ros/humble/share/irobot_create_ignition_bringup/config/sensors_params.yaml --params-file /tmp/launch_params_5k6jdp8h']. [ERROR] [mock_publisher-37]: process has died [pid 13822, exit code -6, cmd '/opt/ros/humble/lib/irobot_create_nodes/mock_publisher --ros-args -r node:=mock_publisher -r ns:=/ --params-file /opt/ros/humble/share/irobot_create_common_bringup/config/mock_params.yaml --params-file /tmp/launch_params_j4mpsdn7']. [ERROR] [static_transform_publisher-44]: process has died [pid 13911, exit code -6, cmd '/opt/ros/humble/lib/tf2_ros/static_transform_publisher 0 0 0 0 0 0.0 rplidar_link turtlebot4/rplidar_link/rplidar --ros-args -r node:=rplidar_stf -r ns:=/ -r /tf:=tf -r /tf_static:=tf_static']. [create-7] [INFO] [1711559245.014774024] [ros_gz_sim]: Requesting list of world names. [create-8] [INFO] [1711559245.020552198] [ros_gz_sim]: Requesting list of world names. [ERROR] [static_transform_publisher-45]: process[static_transform_publisher-45] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [interface_buttons_node-43]: process[interface_buttons_node-43] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [pose_republisher_node-41]: process[pose_republisher_node-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [ui_mgr-40]: process[ui_mgr-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [kidnap_estimator_publisher-39]: process[kidnap_estimator_publisher-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [motion_control-35]: process[motion_control-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [static_transform_publisher-45]: sending signal 'SIGTERM' to process[static_transform_publisher-45] [INFO] [interface_buttons_node-43]: sending signal 'SIGTERM' to process[interface_buttons_node-43] [ERROR] [kidnap_estimator_publisher-39]: process has died [pid 13828, exit code -6, cmd '/opt/ros/humble/lib/irobot_create_nodes/kidnap_estimator_publisher --ros-args -r node:=kidnap_estimator_publisher -r ns:=/ --params-file /opt/ros/humble/share/irobot_create_common_bringup/config/kidnap_estimator_params.yaml --params-file /tmp/launch_params_ml9liihb']. [ERROR] [create-8]: process[create-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [create-7]: process[create-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [pose_republisher_node-41]: sending signal 'SIGTERM' to process[pose_republisher_node-41] [INFO] [ui_mgr-40]: sending signal 'SIGTERM' to process[ui_mgr-40] [INFO] [motion_control-35]: sending signal 'SIGTERM' to process[motion_control-35] [INFO] [create-8]: sending signal 'SIGTERM' to process[create-8] [INFO] [create-7]: sending signal 'SIGTERM' to process[create-7] [ERROR] [create-8]: process has died [pid 13438, exit code -15, cmd '/opt/ros/humble/lib/ros_ign_gazebo/create -name standard_dock -x 2.157 -y 5.0 -z 0.0 -Y 3.1416 -topic standard_dock_description --ros-args -r ns:=/']. [ERROR] [create-7]: process has died [pid 13436, exit code -15, cmd '/opt/ros/humble/lib/ros_ign_gazebo/create -name turtlebot4 -x 2.0 -y 5.0 -z -0.0025 -Y 0.0 -topic robot_description --ros-args -r ns:=/']. [ERROR] [pose_republisher_node-41]: process has died [pid 13886, exit code -6, cmd '/opt/ros/humble/lib/irobot_create_ignition_toolbox/pose_republisher_node --ros-args -r node:=pose_republisher_node -r ns:=/ --params-file /opt/ros/humble/share/irobot_create_ignition_bringup/config/pose_republisher_params.yaml --params-file /tmp/launch_params_rzbcns3u --params-file /tmp/launch_params_x1hrv7uq --params-file /tmp/launch_params_bkjy5mep']. [ERROR] [static_transform_publisher-45]: process has died [pid 13913, exit code -6, cmd '/opt/ros/humble/lib/tf2_ros/static_transform_publisher 0 0 0 1.5707 -1.5707 0 oakd_rgb_camera_optical_frame turtlebot4/oakd_rgb_camera_frame/rgbd_camera --ros-args -r node:=camera_stf -r __ns:=/ -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [interface_buttons_node-43]: process has died [pid 13908, exit code -6, cmd '/opt/ros/humble/lib/irobot_create_ignition_toolbox/interface_buttons_node --ros-args -r node:=interface_buttons_node -r ns:=/ --params-file /tmp/launch_params_me_2_npm']. [ERROR] [ui_mgr-40]: process has died [pid 13861, exit code -6, cmd '/opt/ros/humble/lib/irobot_create_nodes/ui_mgr --ros-args -r node:=ui_mgr -r ns:=/ --params-file /opt/ros/humble/share/irobot_create_common_bringup/config/ui_mgr_params.yaml --params-file /tmp/launch_params_rl23cgmd --params-file /tmp/launch_params_1q3_w3vg']. [ERROR] [motion_control-35]: process[motion_control-35] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' [INFO] [motion_control-35]: sending signal 'SIGKILL' to process[motion_control-35] [ERROR] [motion_control-35]: process has died [pid 13818, exit code -9, cmd '/opt/ros/humble/lib/irobot_create_nodes/motion_control --ros-args -r node:=motion_control -r __ns:=/ --params-file /tmp/launch_params_oxemix00 -r /tf:=tf -r /tf_static:=tf_static'].
ajjaya18
commented
3 months ago @hilary-luo
hilary-luo
commented
3 months ago Which navigation algorithm is used in TurtleBot4? I've been searching for this in the launch files and other resources, but I couldn't find much information about it. I would like to know if it uses A* or any other algorithm, but I can't seem to find this.
The turtlebot4 uses the nav2 packages. Within the Turtlebot4 package you should be able to see launch files that launch nav2 functionality (slam, navigation and localization) and corresponding config files for each of them. Those config files contain all of the parameters that will be sent to the Nav2 packages and that shape the Nav2 operation. All this to say, if you want to understand how the navigation algorithms work, you will need to look at the nav2 documentation. Further questions about nav2 are best handled on the nav2 repos, robotics stack exchange or the nav2 slack. When you run the turtlebot4 navigation launch files, you are able to pass through custom config files to modify the default operation.
Is it posible implement RRT algorithm? If it's possible, how should I start?
See the Nav2 documentation to see if it is already implemented and if not, about how to build your own plugins.
If I have a laptop with a GPU, how should I configure it or something so that the RPLIDAR scans the environment?look the issues https://github.com/turtlebot/turtlebot4/issues/384
As I told you before, since your issues are all about running simulations I am only going to be helping you with one issue at a time. I gave the option of issue 383 or 384 and you have continued to communicate on this ticket. If you want to switch to 384 then we can, just provide full detailed terminal output on that ticket and I can switch to responding to that ticket instead of this one.
I try to launch my own wolrd but I get mistakes, the following
If you would like support on a custom world then please provide the world sdf file. If you are running any other additional custom code or custom nodes please provide a link to the relevant repos with the code.
ajjaya18
commented
3 months ago
<?xml version="1.0"?>
<sdf version='1.8'>
<world name='maze'>
<physics name='1ms' type='ignored'>
<max_step_size>0.003</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system' />
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system' />
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system' />
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system' />
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.90000000000000002</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic' />
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode />
</friction>
<bounce />
<contact />
</surface>
</collision>
<visual name='visual'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
<plugin name='__default__' filename='__default__' />
</visual>
</link>
<plugin name='__default__' filename='__default__' />
<pose>0 0 0 0 -0 0</pose>
</model>
<model name='border'>
<pose>0 0 1 0 0 0</pose>
<static>true</static>
<link name='wall1'>
<pose>-10.005 0 0 0 0 0</pose>
<static>true</static>
<collision name='wall1_collision'>
<geometry>
<box>
<size>0.01 20 2</size>
</box>
</geometry>
</collision>
<visual name='wall1_visual'>
<geometry>
<box>
<size>0.01 20 2</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.01 0.05 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall2'>
<pose>10.005 0 0 0 0 0</pose>
<static>true</static>
<collision name='wall2_collision'>
<geometry>
<box>
<size>0.01 20 2</size>
</box>
</geometry>
</collision>
<visual name='wall2_visual'>
<geometry>
<box>
<size>0.01 20 2</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.01 0.05 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall3'>
<pose>0 10.005 0 0 0 0</pose>
<static>true</static>
<collision name='wall3_collision'>
<geometry>
<box>
<size>20 0.01 2</size>
</box>
</geometry>
</collision>
<visual name='wall3_visual'>
<geometry>
<box>
<size>20 0.01 2</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.01 0.05 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall4'>
<pose>0 -10.005 0 0 0 0</pose>
<static>true</static>
<collision name='wall4_collision'>
<geometry>
<box>
<size>20 0.01 2</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.01 0.05 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</collision>
<visual name='wall4_visual'>
<geometry>
<box>
<size>20 0.01 2</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.01 0.05 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
</model>
<model name='obstacles'>
<pose>0 0 0.5 0 0 0</pose>
<static>true</static>
<link name='wall1'>
<pose>-6.5 -9 0 0 0 0</pose>
<static>true</static>
<collision name='wall1_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall1_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall2'>
<pose>-8.5 -6.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall2_collision'>
<geometry>
<box>
<size>3 1 1</size>
</box>
</geometry>
</collision>
<visual name='wall2_visual'>
<geometry>
<box>
<size>3 1 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall3'>
<pose>-3.5 -7 0 0 0 0</pose>
<static>true</static>
<collision name='wall3_collision'>
<geometry>
<box>
<size>1 6 1</size>
</box>
</geometry>
</collision>
<visual name='wall3_visual'>
<geometry>
<box>
<size>1 6 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall4'>
<pose>2.5 -9 0 0 0 0</pose>
<static>true</static>
<collision name='wall4_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall4_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall21'>
<pose>9.5 -4.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall21_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name='wall21_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall22'>
<pose>3.5 -0.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall22_collision'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
</collision>
<visual name='wall22_visual'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall23'>
<pose>7 0.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall23_collision'>
<geometry>
<box>
<size>6 1 1</size>
</box>
</geometry>
</collision>
<visual name='wall23_visual'>
<geometry>
<box>
<size>6 1 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall24'>
<pose>7.5 2 0 0 0 0</pose>
<static>true</static>
<collision name='wall24_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall24_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall25'>
<pose>1.5 5.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall25_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name='wall25_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall26'>
<pose>2.5 6 0 0 0 0</pose>
<static>true</static>
<collision name='wall26_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall26_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall27'>
<pose>3.5 7.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall27_collision'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
</collision>
<visual name='wall27_visual'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall28'>
<pose>4.5 8.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall28_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name='wall28_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall29'>
<pose>5.5 9 0 0 0 0</pose>
<static>true</static>
<collision name='wall29_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall29_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall30'>
<pose>6.5 9.5 0 0 0 0</pose>
<static>true</static>
<collision name='wall30_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name='wall30_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall31'>
<pose>4.5 3 0 0 0 0</pose>
<static>true</static>
<collision name='wall31_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall31_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall32'>
<pose>5.5 4 0 0 0 0</pose>
<static>true</static>
<collision name='wall32_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall32_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall33'>
<pose>6.5 5 0 0 0 0</pose>
<static>true</static>
<collision name='wall33_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall33_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall34'>
<pose>7.5 6 0 0 0 0</pose>
<static>true</static>
<collision name='wall34_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall34_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall35'>
<pose>8.5 7 0 0 0 0</pose>
<static>true</static>
<collision name='wall35_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall35_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
<link name='wall36'>
<pose>9.5 8 0 0 0 0</pose>
<static>true</static>
<collision name='wall36_collision'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
</collision>
<visual name='wall36_visual'>
<geometry>
<box>
<size>1 2 1</size>
</box>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0 0.1 0.2 1</diffuse>
<specular>0 0.01 0.05 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>
``this is my sdf, is similar to world maze @hilary-luo
ajjaya18
commented
3 months ago this one is the other one
<sdf version='1.9'>
<world name='actors'>
<plugin name='gz::sim::systems::Physics' filename='ignition-gazebo-physics-system'/>
<plugin name='gz::sim::systems::Sensors' filename='ignition-gazebo-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>
<plugin name='gz::sim::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='gz::sim::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<actor name='demo_actor'>
<pose>0 0 0 0 0 0</pose>
<skin>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/walk.dae</filename>
<scale>1</scale>
</skin>
<animation name='gesture'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/gesture.bvh</filename>
<scale>0.055</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='walk'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/walk.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='moonwalk'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/moonwalk.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='run'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/run.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='stand'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/stand.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='sit_down'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/sit_down.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='sitting'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/sitting.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<animation name='stand_up'>
<filename>https://fuel.gazebosim.org/1.0/mingfei/models/actor/1/files/meshes/stand_up.dae</filename>
<scale>1</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<delay_start>1</delay_start>
<auto_start>true</auto_start>
<trajectory id='0' type='stand'>
<waypoint>
<time>0</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>3</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
</trajectory>
<trajectory id='1' type='sit_down'>
<waypoint>
<time>0</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>3</time>
<pose>0 0 0.6 0 0 0</pose>
</waypoint>
</trajectory>
<trajectory id='2' type='sitting'>
<waypoint>
<time>0</time>
<pose>0 0 0.6 0 0 0</pose>
</waypoint>
<waypoint>
<time>4</time>
<pose>0 0 0.6 0 0 0</pose>
</waypoint>
</trajectory>
<trajectory id='3' type='stand_up'>
<waypoint>
<time>0</time>
<pose>0 0 0.6 0 0 0</pose>
</waypoint>
<waypoint>
<time>3</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
</trajectory>
<trajectory id='4' type='gesture'>
<waypoint>
<time>0</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>6</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
</trajectory>
<trajectory id='5' type='walk'>
<waypoint>
<time>0</time>
<pose>0 0 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>4</time>
<pose>4 0 1.0 0 0 0</pose>
</waypoint>
</trajectory>
<trajectory id='6' type='stand'>
<waypoint>
<time>0</time>
<pose>4 0 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>2</time>
<pose>4 0 1.0 0 0 -1.57</pose>
</waypoint>
</trajectory>
<trajectory id='7' type='run'>
<waypoint>
<time>0</time>
<pose>4 0 1.0 0 0 -1.57</pose>
</waypoint>
<waypoint>
<time>4</time>
<pose>4 -4 1.0 0 0 -1.57</pose>
</waypoint>
</trajectory>
<trajectory id='8' type='stand'>
<waypoint>
<time>0</time>
<pose>4 -4 1.0 0 0 -1.57</pose>
</waypoint>
<waypoint>
<time>2</time>
<pose>4 -4 1.0 0 0 -3.14</pose>
</waypoint>
</trajectory>
<trajectory id='9' type='run'>
<waypoint>
<time>0</time>
<pose>4 -4 1.0 0 0 -3.14</pose>
</waypoint>
<waypoint>
<time>4</time>
<pose>0 -4 1.0 0 0 -3.14</pose>
</waypoint>
</trajectory>
<trajectory id='10' type='stand'>
<waypoint>
<time>0</time>
<pose>0 -4 1.0 0 0 -3.14</pose>
</waypoint>
<waypoint>
<time>2</time>
<pose>0 -4 1.0 0 0 -4.71</pose>
</waypoint>
</trajectory>
<trajectory id='11' type='walk'>
<waypoint>
<time>0</time>
<pose>0 -4 1.0 0 0 -4.71</pose>
</waypoint>
<waypoint>
<time>4</time>
<pose>0 0 1.0 0 0 -4.71</pose>
</waypoint>
</trajectory>
<trajectory id='12' type='stand'>
<waypoint>
<time>0</time>
<pose>0 0 1.0 0 0 -4.71</pose>
</waypoint>
<waypoint>
<time>2</time>
<pose>0 0 1.0 0 0 -6.28</pose>
</waypoint>
</trajectory>
</script>
</actor>
<actor name='actor_talking'>
<skin>
<filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae</filename>
<scale>1</scale>
</skin>
<animation name='talk_b'>
<filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae</filename>
<scale>0.055</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<auto_start>true</auto_start>
<trajectory id='0' type='talk_b'>
<waypoint>
<time>0</time>
<pose>2 -2 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>30</time>
<pose>2 -2 1.0 0 0 0</pose>
</waypoint>
</trajectory>
</script>
</actor>
<actor name='actor_walking'>
<skin>
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
<scale>1</scale>
</skin>
<animation name='walk'>
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<delay_start>0</delay_start>
<auto_start>true</auto_start>
<trajectory id='0' type='walk' tension='0.59999999999999998'>
<waypoint>
<time>0</time>
<pose>3 4 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>2</time>
<pose>5 4 1.0 0 0 0</pose>
</waypoint>
<waypoint>
<time>2.5</time>
<pose>5 4 1.0 0 0 1.57</pose>
</waypoint>
<waypoint>
<time>4</time>
<pose>5 6 1.0 0 0 1.57</pose>
</waypoint>
<waypoint>
<time>4.5</time>
<pose>5 6 1.0 0 0 3.142</pose>
</waypoint>
<waypoint>
<time>6</time>
<pose>3 6 1 0 0 3.142</pose>
</waypoint>
<waypoint>
<time>6.5</time>
<pose>3 6 1 0 0 -1.57</pose>
</waypoint>
<waypoint>
<time>8</time>
<pose>3 4 1.0 0 0 -1.57</pose>
</waypoint>
<waypoint>
<time>8.5</time>
<pose>3 4 1.0 0 0 0</pose>
</waypoint>
</trajectory>
</script>
</actor>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name='ground_plane'>
<static>true</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='visual'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<model name='box'>
<pose>7.4828 6.38918 0.5 0 -0 -0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
<specular>0.3 0.5 0.3 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='camera'>
<static>true</static>
<pose>3 -3 10 0 1.57 0</pose>
<link name='link'>
<pose>0.05 0.05 0.05 0 -0 0</pose>
<visual name='visual'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name='camera' type='camera'>
<pose>0 0 0 0 -0 0</pose>
<topic>camera</topic>
<update_rate>30</update_rate>
<enable_metrics>false</enable_metrics>
<camera>
<pose>0 0 0 0 -0 0</pose>
<horizontal_fov>1.0469999999999999</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>RGB_INT8</format>
<anti_aliasing>4</anti_aliasing>
</image>
<camera_info_topic>__default__</camera_info_topic>
<trigger_topic></trigger_topic>
<triggered>false</triggered>
<clip>
<near>0.10000000000000001</near>
<far>100</far>
</clip>
<save enabled='false'>
<path>__default__</path>
</save>
<visibility_mask>4294967295</visibility_mask>
<noise>
<type>none</type>
<mean>0</mean>
<stddev>0</stddev>
</noise>
<distortion>
<k1>0</k1>
<k2>0</k2>
<k3>0</k3>
<p1>0</p1>
<p2>0</p2>
<center>0.5 0.5</center>
</distortion>
<lens>
<type>stereographic</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>1.5708</cutoff_angle>
<env_texture_size>256</env_texture_size>
</lens>
<optical_frame_id></optical_frame_id>
</camera>
</sensor>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<self_collide>false</self_collide>
</model>
<model name='box_0'>
<pose>7.27543 -0.214299 0.5 0 -0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_1'>
<pose>-2.5532 7.68987 0.5 0 -0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_2'>
<pose>-2.59185 -6.71063 0.5 0 -0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<light name='sun' type='directional'>
<pose>0 0 10 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>-0.5 0.1 -0.9</direction>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<linear>0.01</linear>
<constant>0.90000000000000002</constant>
<quadratic>0.001</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
</world>
</sdf>when I try to launch my robot with own world I have the mistakes @hilary-luo
smatarCPR
commented
2 months ago Hello @ajjaya18 , This issue is being closed per your comments on #389. If you believe this to be a mistake, feel free to reopen this thread by replying to this message. Best Regards, Saif
Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
I do not know
OS
Ubuntu 22.04
Built from source or installed?
installed
Package version
Package: ros-humble-turtlebot4-simulator Version: 1.0.1-1jammy.20240304.161058 Priority: optional Section: misc Maintainer: rkreinin rkreinin@clearpathrobotics.com Installed-Size: 42.0 kB Depends: ros-humble-turtlebot4-ignition-bringup, ros-humble-turtlebot4-ignition-gui-plugins, ros-humble-turtlebot4-ignition-toolbox, ros-humble-ros-workspace Download-Size: 5,112 B APT-Manual-Installed: yes APT-Sources: http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages Description: TODO: Package description
Type of issue
Other
Expected behaviour
I hope the simulated world 'depot' goes well.
Actual behaviour
I'm getting errors with a controller manager and the robot never loads in the simulator. It also says it's waiting for the world list.
Error messages
To Reproduce
I run this command. ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py world:=depot
Other notes
@hilary-luo, Hi can you help me with this?