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turtlebot / turtlebot4_simulator

TurtleBot 4 Simulator packages
Apache License 2.0
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Turtlebot 4 without wheels and gazebo doesnt show anything #22

Closed MFHuniovi closed 11 months ago

MFHuniovi commented 1 year ago

Hello, I tried to run the turtlebot 4 simulation following the manual and could not do anything. According to rviz my robot didnt has wheels but i didnt modify anything. I was reading that it is possible that the "state publisher" doesnt have it configured correctly but I do not know where to modify it and for lastly I executed turtlebot4 diagnostic and the results was the wheels are ok.

Thanks

Please provide the following information:

ros2@ros2-VirtualBox:~$ sudo dpkg -s ros-galactic-turtlebot4-simulator Package: ros-galactic-turtlebot4-simulator Status: install ok installed Priority: optional Section: misc Installed-Size: 41 Maintainer: rkreinin rkreinin@clearpathrobotics.com Architecture: amd64 Version: 0.1.1-1focal.20220803.133737 Depends: ros-galactic-turtlebot4-ignition-bringup, ros-galactic-turtlebot4-ignition-gui-plugins, ros-galactic-turtlebot4-ignition-toolbox, ros-galactic-ros-workspace Description: TODO: Package description

ros2@ros2-VirtualBox:~$ sudo dpkg -s ros-galactic-irobot-create-nodes Package: ros-galactic-irobot-create-nodes Status: install ok installed Priority: optional Section: misc Installed-Size: 7488 Maintainer: Ekumen ekumen@irbt.onmicrosoft.com Architecture: amd64 Version: 1.0.3-1focal.20220730.030957 Depends: libc6 (>= 2.14), libgcc-s1 (>= 3.0), libstdc++6 (>= 9), ros-galactic-console-bridge-vendor, libboost-all-dev, ros-galactic-angles, ros-galactic-control-msgs, ros-galactic-geometry-msgs, ros-galactic-irobot-create-msgs, ros-galactic-irobot-create-toolbox, ros-galactic-nav-msgs, ros-galactic-rclcpp, ros-galactic-rclcpp-action, ros-galactic-rclcpp-components, ros-galactic-sensor-msgs, ros-galactic-tf2, ros-galactic-tf2-geometry-msgs, ros-galactic-tf2-ros, ros-galactic-ros-workspace Description: ROS 2 Nodes for the simulated iRobot(R) Create(R) 3 Educational Robot.

Actual behaviour Gazebo view: gazebo doesnt show gazebo collisions

rviz view: rviz

diagnostic view: turtlebot4 diagnostic

To Reproduce Provide the steps to reproduce:

  1. Instalation ROS2 from https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html 1.1 Step Set locale 1.2 StepSetup source 1.3 Step Install ros2 desktop 1.4 Step Environment setup 1.5 Step Try some examples
  2. Instalation Turtlebot 4 simulator from https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_packages.html#installation-3 2.1 Step Dev Tools 2.2 Step Ignition Edifice 2.3 Step Debian Instalation
  3. Execute ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync nav2:=true rviz:=true

Other notes Is it normal the ignition gazebo is so slow?? My VM has 8gb RAM.

roni-kreinin commented 1 year ago

@MFHuniovi Can you try running it again without slam and nav2? Like this ros2 launch turtlebot4_ignition_bringup ignition.launch.py rviz:=true.

Also the simulation tends to be GPU intensive, so if you are running this in a VM with limited GPU resources then the performance will suffer.

MFHuniovi commented 1 year ago

I have the same result, I will try to install drivers to use the GPU but I have a question. Why does rviz says "Warning: Invalid frame ID "right_wheel" passed to canTransform argument source_frame - frame does not exist" if the diagnostic doesn't say the same?

MFHuniovi commented 1 year ago

Hello, I gave all my CPU cores because I read that it is very hard to use GPU in a VB, so now it works fine, but I still have the same problem with wheels. Turtlebot4 doesn't move.

turtlebot4 no wheels

roni-kreinin commented 1 year ago

Sorry for the delay.

I have the same result, I will try to install drivers to use the GPU but I have a question. Why does rviz says "Warning: Invalid frame ID "right_wheel" passed to canTransform argument source_frame - frame does not exist" if the diagnostic doesn't say the same?

This is a bug with the Create 3 sim that should not actually affect anything.

Hello, I gave all my CPU cores because I read that it is very hard to use GPU in a VB, so now it works fine, but I still have the same problem with wheels. Turtlebot4 doesn't move.

Can you provide the terminal output when you run ignition bringup?

ipa-rar commented 1 year ago

@roni-kreinin @MFHuniovi I faced the same issue.

I reported the issue here as I felt the issue is from the create_sim package. Screenshot from 2022-11-08 14-50-03

ipa-rar commented 1 year ago

@roni-kreinin

Can you provide the terminal output when you run ignition bringup?

[INFO] [launch]: All log files can be found below /home/ipa/.ros/log/2022-11-08-20-42-32-739058-cloud-server-29271
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [29280]
[INFO] [parameter_bridge-2]: process started with pid [29282]
[INFO] [parameter_bridge-3]: process started with pid [29285]
[INFO] [parameter_bridge-4]: process started with pid [29287]
[INFO] [parameter_bridge-5]: process started with pid [29289]
[INFO] [parameter_bridge-6]: process started with pid [29291]
[INFO] [parameter_bridge-7]: process started with pid [29293]
[INFO] [parameter_bridge-8]: process started with pid [29295]
[INFO] [parameter_bridge-9]: process started with pid [29298]
[INFO] [parameter_bridge-10]: process started with pid [29314]
[INFO] [parameter_bridge-11]: process started with pid [29350]
[INFO] [parameter_bridge-12]: process started with pid [29386]
[INFO] [parameter_bridge-13]: process started with pid [29395]
[INFO] [parameter_bridge-14]: process started with pid [29407]
[INFO] [rviz2-15]: process started with pid [29409]
[INFO] [robot_state_publisher-16]: process started with pid [29416]
[INFO] [robot_state_publisher-17]: process started with pid [29420]
[INFO] [static_transform_publisher-18]: process started with pid [29454]
[INFO] [create-19]: process started with pid [29459]
[INFO] [create-20]: process started with pid [29478]
[INFO] [spawner-21]: process started with pid [29505]
[INFO] [hazards_vector_publisher-22]: process started with pid [29545]
[INFO] [ir_intensity_vector_publisher-23]: process started with pid [29562]
[INFO] [motion_control-24]: process started with pid [29572]
[INFO] [wheel_status_publisher-25]: process started with pid [29592]
[INFO] [mock_publisher-26]: process started with pid [29601]
[INFO] [robot_state-27]: process started with pid [29620]
[INFO] [kidnap_estimator_publisher-28]: process started with pid [29624]
[INFO] [ui_mgr-29]: process started with pid [29641]
[INFO] [pose_republisher_node-30]: process started with pid [29653]
[INFO] [sensors_node-31]: process started with pid [29664]
[INFO] [interface_buttons_node-32]: process started with pid [29673]
[INFO] [turtlebot4_node-33]: process started with pid [29685]
[INFO] [turtlebot4_ignition_hmi_node-34]: process started with pid [29688]
[INFO] [component_container-35]: process started with pid [29694]
[INFO] [static_transform_publisher-36]: process started with pid [29696]
[INFO] [static_transform_publisher-37]: process started with pid [29742]
[robot_state_publisher-16] 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-16] Link bump_front_center had 0 children
[robot_state_publisher-16] Link bump_front_left had 0 children
[robot_state_publisher-16] Link bump_front_right had 0 children
[robot_state_publisher-16] Link bump_left had 0 children
[robot_state_publisher-16] Link bump_right had 0 children
[robot_state_publisher-16] Link button_1 had 0 children
[robot_state_publisher-16] Link button_2 had 0 children
[robot_state_publisher-16] Link button_power had 0 children
[robot_state_publisher-16] Link cliff_front_left had 0 children
[robot_state_publisher-16] Link cliff_front_right had 0 children
[robot_state_publisher-16] Link cliff_side_left had 0 children
[robot_state_publisher-16] Link cliff_side_right had 0 children
[robot_state_publisher-16] Link front_caster_link had 0 children
[robot_state_publisher-16] Link front_left_bottom_weight_block had 0 children
[robot_state_publisher-16] Link front_left_top_weight_block had 0 children
[robot_state_publisher-16] Link front_right_bottom_weight_block had 0 children
[robot_state_publisher-16] Link front_right_top_weight_block had 0 children
[robot_state_publisher-16] Link imu_link had 0 children
[robot_state_publisher-16] Link ir_intensity_front_center_left had 0 children
[robot_state_publisher-16] Link ir_intensity_front_center_right had 0 children
[robot_state_publisher-16] Link ir_intensity_front_left had 0 children
[robot_state_publisher-16] Link ir_intensity_front_right had 0 children
[robot_state_publisher-16] Link ir_intensity_left had 0 children
[robot_state_publisher-16] Link ir_intensity_right had 0 children
[robot_state_publisher-16] Link ir_intensity_side_left had 0 children
[robot_state_publisher-16] Link ir_omni had 0 children
[robot_state_publisher-16] Link mouse had 0 children
[robot_state_publisher-16] Link shell_link had 7 children
[robot_state_publisher-16] Link front_left_tower_standoff had 0 children
[robot_state_publisher-16] Link front_right_tower_standoff had 0 children
[robot_state_publisher-16] Link oakd_pro_camera_bracket had 1 children
[robot_state_publisher-16] Link oakd_pro_link had 4 children
[robot_state_publisher-16] Link oakd_pro_imu_frame had 0 children
[robot_state_publisher-16] Link oakd_pro_left_camera_frame had 1 children
[robot_state_publisher-16] Link oakd_pro_left_camera_optical_frame had 0 children
[robot_state_publisher-16] Link oakd_pro_rgb_camera_frame had 1 children
[robot_state_publisher-16] Link oakd_pro_rgb_camera_optical_frame had 0 children
[robot_state_publisher-16] Link oakd_pro_right_camera_frame had 1 children
[robot_state_publisher-16] Link oakd_pro_right_camera_optical_frame had 0 children
[robot_state_publisher-16] Link rear_left_tower_standoff had 0 children
[robot_state_publisher-16] Link rear_right_tower_standoff had 0 children
[robot_state_publisher-16] Link rplidar_link had 0 children
[robot_state_publisher-16] Link tower_sensor_plate had 0 children
[robot_state_publisher-16] Link wheel_drop_left had 1 children
[robot_state_publisher-16] Link left_wheel had 0 children
[robot_state_publisher-16] Link wheel_drop_right had 1 children
[robot_state_publisher-16] Link right_wheel had 0 children
[robot_state_publisher-16] [INFO] [1667936555.260260926] [robot_state_publisher]: got segment base_link
[robot_state_publisher-16] [INFO] [1667936555.260402795] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-16] [INFO] [1667936555.260420867] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-16] [INFO] [1667936555.260429900] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-16] [INFO] [1667936555.260438755] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-16] [INFO] [1667936555.260447119] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-16] [INFO] [1667936555.260455478] [robot_state_publisher]: got segment button_1
[robot_state_publisher-16] [INFO] [1667936555.260463914] [robot_state_publisher]: got segment button_2
[robot_state_publisher-16] [INFO] [1667936555.260472484] [robot_state_publisher]: got segment button_power
[robot_state_publisher-16] [INFO] [1667936555.260481808] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-16] [INFO] [1667936555.260490822] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-16] [INFO] [1667936555.260499094] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-16] [INFO] [1667936555.260507580] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-16] [INFO] [1667936555.260515727] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-16] [INFO] [1667936555.260524716] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-16] [INFO] [1667936555.260533724] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-16] [INFO] [1667936555.260541990] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-16] [INFO] [1667936555.260550260] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-16] [INFO] [1667936555.260558692] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-16] [INFO] [1667936555.260567256] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-16] [INFO] [1667936555.260575869] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-16] [INFO] [1667936555.260585539] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-16] [INFO] [1667936555.260594243] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-16] [INFO] [1667936555.260603138] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-16] [INFO] [1667936555.260613293] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-16] [INFO] [1667936555.260622540] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-16] [INFO] [1667936555.260631375] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-16] [INFO] [1667936555.260640095] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-16] [INFO] [1667936555.260648731] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-16] [INFO] [1667936555.260656659] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-16] [INFO] [1667936555.260665498] [robot_state_publisher]: got segment mouse
[robot_state_publisher-16] [INFO] [1667936555.260673629] [robot_state_publisher]: got segment oakd_pro_camera_bracket
[robot_state_publisher-16] [INFO] [1667936555.260681452] [robot_state_publisher]: got segment oakd_pro_imu_frame
[robot_state_publisher-16] [INFO] [1667936555.260690808] [robot_state_publisher]: got segment oakd_pro_left_camera_frame
[robot_state_publisher-16] [INFO] [1667936555.260699128] [robot_state_publisher]: got segment oakd_pro_left_camera_optical_frame
[robot_state_publisher-16] [INFO] [1667936555.260707547] [robot_state_publisher]: got segment oakd_pro_link
[robot_state_publisher-16] [INFO] [1667936555.260716498] [robot_state_publisher]: got segment oakd_pro_rgb_camera_frame
[robot_state_publisher-16] [INFO] [1667936555.260725881] [robot_state_publisher]: got segment oakd_pro_rgb_camera_optical_frame
[robot_state_publisher-16] [INFO] [1667936555.260734733] [robot_state_publisher]: got segment oakd_pro_right_camera_frame
[robot_state_publisher-16] [INFO] [1667936555.260821815] [robot_state_publisher]: got segment oakd_pro_right_camera_optical_frame
[robot_state_publisher-16] [INFO] [1667936555.260834755] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-16] [INFO] [1667936555.260844222] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-16] [INFO] [1667936555.260852621] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-16] [INFO] [1667936555.260861407] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-16] [INFO] [1667936555.260870215] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-16] [INFO] [1667936555.260879113] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-16] [INFO] [1667936555.260887739] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-16] [INFO] [1667936555.260896404] [robot_state_publisher]: got segment wheel_drop_right
[robot_state_publisher-17] 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-17] Link green_buoy_link had 0 children
[robot_state_publisher-17] Link halo_link had 0 children
[robot_state_publisher-17] Link red_buoy_link had 0 children
[robot_state_publisher-17] Link yellow_buoy_link had 0 children
[robot_state_publisher-17] [INFO] [1667936555.237479349] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-17] [INFO] [1667936555.237567203] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-17] [INFO] [1667936555.237584282] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-17] [INFO] [1667936555.237595011] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-17] [INFO] [1667936555.237605284] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-18] [INFO] [1667936555.233608410] [tf_odom_std_dock_link_publisher]: Spinning until killed publishing transform from 'odom' to 'std_dock_link'
[create-19] [INFO] [1667936555.281128376] [ros_ign_gazebo]: Requesting list of world names.
[create-20] [INFO] [1667936555.336849295] [ros_ign_gazebo]: Requesting list of world names.
[hazards_vector_publisher-22] [INFO] [1667936555.306295396] [hazards_vector_publisher]: Advertised topic: /hazard_detection
[hazards_vector_publisher-22] [INFO] [1667936555.309571792] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[hazards_vector_publisher-22] [INFO] [1667936555.309924652] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-22] [INFO] [1667936555.310208894] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[hazards_vector_publisher-22] [INFO] [1667936555.310474983] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-22] [INFO] [1667936555.310836956] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[hazards_vector_publisher-22] [INFO] [1667936555.311113458] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-22] [INFO] [1667936555.311395705] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-22] [INFO] [1667936555.313516139] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[ir_intensity_vector_publisher-23] [INFO] [1667936555.307026611] [ir_intensity_vector_publisher]: Advertised topic: /ir_intensity
[ir_intensity_vector_publisher-23] [INFO] [1667936555.308511389] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-23] [INFO] [1667936555.308802600] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-23] [INFO] [1667936555.309026597] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-23] [INFO] [1667936555.309226524] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[ir_intensity_vector_publisher-23] [INFO] [1667936555.309426942] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-23] [INFO] [1667936555.309622658] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-23] [INFO] [1667936555.309817226] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[motion_control-24] [INFO] [1667936555.415964424] [motion_control]: Enabling REFLEX_BUMP
[motion_control-24] [INFO] [1667936555.420250285] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-24] [INFO] [1667936555.427794932] [motion_control]: Enabling REFLEX_STUCK
[motion_control-24] [INFO] [1667936555.431782304] [motion_control]: Enabling REFLEX_WHEEL_DROP
[wheel_status_publisher-25] [INFO] [1667936555.367811311] [wheel_status_publisher]: Advertised topic: /wheel_vels
[wheel_status_publisher-25] [INFO] [1667936555.368401475] [wheel_status_publisher]: Advertised topic: /wheel_ticks
[mock_publisher-26] [INFO] [1667936555.400411967] [mock_publisher]: Advertised mocked topic: /slip_status
[robot_state-27] [INFO] [1667936555.403866001] [robot_state]: Advertised topic: /battery_state
[robot_state-27] [INFO] [1667936555.406102772] [robot_state]: Subscription to topic: /dock
[robot_state-27] [INFO] [1667936555.406740244] [robot_state]: Advertised topic: /stop_status
[robot_state-27] [INFO] [1667936555.408251673] [robot_state]: Subscription to topic: /odom
[kidnap_estimator_publisher-28] [INFO] [1667936555.405209162] [kidnap_estimator_publisher]: Advertised topic: /kidnap_status
[kidnap_estimator_publisher-28] [INFO] [1667936555.410394397] [kidnap_estimator_publisher]: Subscription to topic: /hazard_detection
[ui_mgr-29] [INFO] [1667936555.421671926] [ui_mgr]: Subscription to topic: /cmd_lightring
[ui_mgr-29] [INFO] [1667936555.423038342] [ui_mgr]: Subscription to topic: /cmd_audio
[turtlebot4_node-33] [INFO] [1667936555.553245694] [turtlebot4_node]: Init Turtlebot4 Node Main
[turtlebot4_node-33] [INFO] [1667936555.574835857] [turtlebot4_node]: Buttons Init
[turtlebot4_node-33] [INFO] [1667936555.582203740] [turtlebot4_node]: Init Display
[turtlebot4_node-33] [INFO] [1667936555.582763084] [turtlebot4_node]: Leds Init
[turtlebot4_node-33] [INFO] [1667936555.584509634] [turtlebot4_node]: Turtlebot4 standard running.
[parameter_bridge-10] [INFO] [1667936555.653163988] [turtlebot4.hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/String to Ignition ignition.msgs.StringMsg (showing msg only once per type)
[parameter_bridge-10] [INFO] [1667936555.653357293] [turtlebot4.hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Ignition ignition.msgs.Int32 (showing msg only once per type)
[static_transform_publisher-36] [INFO] [1667936555.669290142] [rplidar_stf]: Spinning until killed publishing transform from 'rplidar_link' to 'turtlebot4/rplidar_link/rplidar'
[parameter_bridge-12] [INFO] [1667936555.685128728] [turtlebot4.hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Ignition ignition.msgs.Int32 (showing msg only once per type)
[static_transform_publisher-37] [INFO] [1667936555.702446426] [camera_stf]: Spinning until killed publishing transform from 'oakd_pro_rgb_camera_optical_frame' to 'turtlebot4/oakd_pro_rgb_camera_frame/rgbd_camera'
[spawner-21] [INFO] [1667936555.798210532] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ign gazebo-1] [Msg] Ignition Gazebo Server v5.4.0
[ign gazebo-1] [Msg] Loading SDF world file[/home/ipa/sim_ws/install/turtlebot4_ignition_bringup/share/turtlebot4_ignition_bringup/worlds/depot.sdf].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8064491505919932473] / [ign_gazebo_components.Level].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
[ign gazebo-1] [Dbg] [Physics.cc:753] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-4/engine-plugins/libignition-physics-dartsim-plugin.so]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ign gazebo-1] [Msg] Create service on [/world/depot/create]
[ign gazebo-1] [Msg] Remove service on [/world/depot/remove]
[ign gazebo-1] [Msg] Pose service on [/world/depot/set_pose]
[ign gazebo-1] [Msg] Pose service on [/world/depot/set_pose_vector]
[ign gazebo-1] [Msg] Light configuration service on [/world/depot/light_config]
[ign gazebo-1] [Msg] Physics service on [/world/depot/set_physics]
[ign gazebo-1] [Msg] Enable collision service on [/world/depot/enable_collision]
[ign gazebo-1] [Msg] Disable collision service on [/world/depot/disable_collision]
[ign gazebo-1] [Msg] Material service on [/world/depot/visual_config]
[ign gazebo-1] [Msg] Material service on [/world/depot/wheel_slip]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3866641186784191835] / [ign_gazebo_components.Light].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9912133897551038435] / [ign_gazebo_components.LightType].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [360894313363162387] / [ign_gazebo_components.Joint].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4514298940308304267] / [ign_gazebo_components.JointType].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [6791213906290467105] / [ign_gazebo_components.ThreadPitch].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [14863055383328686534] / [ign_gazebo_components.ParentLinkName].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3888602368311486678] / [ign_gazebo_components.ChildLinkName].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [16752981946841796574] / [ign_gazebo_components.JointAxis].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17053779755061317520] / [ign_gazebo_components.ModelCanonicalLink].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
[ign gazebo-1] [Msg] Joint velocity initialized to [1]
[ign gazebo-1] [Dbg] [JointController.cc:142] [JointController] Velocity mode
[ign gazebo-1] [Msg] JointController subscribing to Double messages on [/model/Depot/joint/fan1_joint/cmd_vel]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::JointController] for entity [4]
[ign gazebo-1] [Msg] Joint velocity initialized to [2]
[ign gazebo-1] [Dbg] [JointController.cc:142] [JointController] Velocity mode
[ign gazebo-1] [Msg] JointController subscribing to Double messages on [/model/Depot/joint/fan2_joint/cmd_vel]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::JointController] for entity [4]
[ign gazebo-1] [Msg] Loaded level [3]
[ign gazebo-1] [Msg] Serving world controls on [/world/depot/control] and [/world/depot/playback/control]
[ign gazebo-1] [Msg] Serving GUI information on [/world/depot/gui/info]
[ign gazebo-1] [Msg] World [depot] initialized with [1ms] physics profile.
[rviz2-15] [INFO] [1667936555.965249228] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-15] [INFO] [1667936555.965397164] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-15] [INFO] [1667936555.983804863] [rviz2]: Stereo is NOT SUPPORTED
[create-19] [INFO] [1667936556.128014176] [ros_ign_gazebo]: Waiting messages on topic [robot_description].
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[create-20] [INFO] [1667936556.228729623] [ros_ign_gazebo]: Waiting messages on topic [standard_dock_description].
[rviz2-15] [WARN] [1667936556.239789893] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-15] [WARN] [1667936556.262566717] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-15] [WARN] [1667936556.288903842] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[create-20] [INFO] [1667936556.327939625] [ros_ign_gazebo]: Requested creation of entity.
[create-20] [INFO] [1667936556.328021880] [ros_ign_gazebo]: OK creation of entity.
[create-19] [INFO] [1667936556.327939528] [ros_ign_gazebo]: Requested creation of entity.
[create-19] [INFO] [1667936556.328011059] [ros_ign_gazebo]: OK creation of entity.
[INFO] [create-20]: process has finished cleanly [pid 29478]
[INFO] [create-19]: process has finished cleanly [pid 29459]
[ign gazebo-1] [Msg] S[Msg] Ignition Gazebo GUI    v5.4.0
[ign gazebo-1] [Dbg] [Application.cc:90] Initializing application.
[ign gazebo-1] [GUI] [Dbg] [Application.cc:515] Create main window
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:145] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:91] Requesting initial state from [/world/depot/state]...
[ign gazebo-1] [GUI] [Msg] Loading config [/home/ipa/sim_ws/install/turtlebot4_ignition_bringup/share/turtlebot4_ignition_bringup/gui/standard/gui.config]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [GzScene3D]
[ign gazebo-1] [GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[ign gazebo-1] [GUI] [Msg] Transform mode service on [/gui/transform_mode]
[ign gazebo-1] [GUI] [Msg] Record video service on [/gui/record_video]
[ign gazebo-1] [GUI] [Msg] Move to service on [/gui/move_to]
[ign gazebo-1] [GUI] [Msg] Follow service on [/gui/follow]
[ign gazebo-1] [GUI] [Msg] Follow offset service on [/gui/follow/offset]
[ign gazebo-1] [GUI] [Msg] View angle service on [/gui/view_angle]
[ign gazebo-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[ign gazebo-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-5/plugins/gui/libGzScene3D.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [WorldControl]
[ign gazebo-1] [GUI] [Msg] Using world control service [/world/depot/control]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libWorldControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [WorldStats]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libWorldStats.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [TransformControl]
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:369: ReferenceError: control is not defined
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:391: ReferenceError: control is not defined
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:413: ReferenceError: control is not defined
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:435: ReferenceError: control is not defined
[ign gazebo-1] [INFO] [1667936556.788165527] [ignition_ros_control]: [ign_ros2_control] Fixed joint [bump_front_center_joint] (Entity=113)] is skipped
[ign gazebo-1] [INFO] [1667936556.788364286] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_caster_joint] (Entity=114)] is skipped
[ign gazebo-1] [INFO] [1667936556.788385113] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_left_bottom_weight_block_joint] (Entity=115)] is skipped
[ign gazebo-1] [INFO] [1667936556.788398966] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_left_top_weight_block_joint] (Entity=116)] is skipped
[ign gazebo-1] [INFO] [1667936556.788409670] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_right_bottom_weight_block_joint] (Entity=117)] is skipped
[ign gazebo-1] [INFO] [1667936556.788419796] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_right_top_weight_block_joint] (Entity=118)] is skipped
[ign gazebo-1] [INFO] [1667936556.788429731] [ignition_ros_control]: [ign_ros2_control] Fixed joint [imu_joint] (Entity=119)] is skipped
[ign gazebo-1] [INFO] [1667936556.788439709] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_left_joint] (Entity=120)] is skipped
[ign gazebo-1] [INFO] [1667936556.788449010] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_right_joint] (Entity=121)] is skipped
[ign gazebo-1] [INFO] [1667936556.788458957] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_left_joint] (Entity=122)] is skipped
[ign gazebo-1] [INFO] [1667936556.788469080] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_right_joint] (Entity=123)] is skipped
[ign gazebo-1] [INFO] [1667936556.788478982] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_left_joint] (Entity=124)] is skipped
[ign gazebo-1] [INFO] [1667936556.788489208] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_right_joint] (Entity=125)] is skipped
[ign gazebo-1] [INFO] [1667936556.788496874] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_side_left_joint] (Entity=126)] is skipped
[ign gazebo-1] [INFO] [1667936556.788506301] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_omni_joint] (Entity=127)] is skipped
[ign gazebo-1] [INFO] [1667936556.788516286] [ignition_ros_control]: [ign_ros2_control] Fixed joint [mouse_joint] (Entity=128)] is skipped
[ign gazebo-1] [INFO] [1667936556.788526183] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_left_tower_standoff_joint] (Entity=129)] is skipped
[ign gazebo-1] [INFO] [1667936556.788536851] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_right_tower_standoff_joint] (Entity=130)] is skipped
[ign gazebo-1] [INFO] [1667936556.788547438] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_camera_bracket_joint] (Entity=131)] is skipped
[ign gazebo-1] [INFO] [1667936556.788557807] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_joint] (Entity=132)] is skipped
[ign gazebo-1] [INFO] [1667936556.788564701] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_imu_joint] (Entity=133)] is skipped
[ign gazebo-1] [INFO] [1667936556.788570921] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_left_camera_joint] (Entity=134)] is skipped
[ign gazebo-1] [INFO] [1667936556.788576748] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_left_camera_optical_joint] (Entity=135)] is skipped
[ign gazebo-1] [INFO] [1667936556.788582473] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_rgb_camera_joint] (Entity=136)] is skipped
[ign gazebo-1] [INFO] [1667936556.788591442] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_rgb_camera_optical_joint] (Entity=137)] is skipped
[ign gazebo-1] [INFO] [1667936556.788601480] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_right_camera_joint] (Entity=138)] is skipped
[ign gazebo-1] [INFO] [1667936556.788610888] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_right_camera_optical_joint] (Entity=139)] is skipped
[ign gazebo-1] [INFO] [1667936556.788616949] [ignition_ros_control]: [ign_ros2_control] Fixed joint [rear_left_tower_standoff_joint] (Entity=140)] is skipped
[ign gazebo-1] [INFO] [1667936556.788625092] [ignition_ros_control]: [ign_ros2_control] Fixed joint [rear_right_tower_standoff_joint] (Entity=141)] is skipped
[ign gazebo-1] [INFO] [1667936556.788634220] [ignition_ros_control]: [ign_ros2_control] Fixed joint [rplidar_joint] (Entity=142)] is skipped
[ign gazebo-1] [INFO] [1667936556.788669153] [ignition_ros_control]: [ign_ros2_control] Fixed joint [tower_sensor_plate_joint] (Entity=143)] is skipped
[ign gazebo-1] [INFO] [1667936556.810990653] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1667936556.821939012] [ignition_ros_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1667936556.830419697] [ignition_ros_control]: Loading joint: left_wheel_joint
[ign gazebo-1] [INFO] [1667936556.831379149] [ignition_ros_control]:    Command:
[ign gazebo-1] [INFO] [1667936556.831401193] [ignition_ros_control]:         velocity
[ign gazebo-1] [INFO] [1667936556.831425628] [ignition_ros_control]:    State:
[ign gazebo-1] [INFO] [1667936556.831440289] [ignition_ros_control]:         velocity
[ign gazebo-1] [INFO] [1667936556.831460614] [ignition_ros_control]:         position
[ign gazebo-1] [INFO] [1667936556.831605355] [ignition_ros_control]: Loading sensor: imu
[ign gazebo-1] [INFO] [1667936556.831621562] [ignition_ros_control]:    State:
[ign gazebo-1] [WARN] [1667936556.831682448] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1667936556.831761844] [ignition_ros_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1667936556.831963908] [ignition_ros_control]: Loading joint: right_wheel_joint
[ign gazebo-1] [INFO] [1667936556.831982691] [ignition_ros_control]:    Command:
[ign gazebo-1] [INFO] [1667936556.831993702] [ignition_ros_control]:         velocity
[ign gazebo-1] [INFO] [1667936556.832004143] [ignition_ros_control]:    State:
[ign gazebo-1] [INFO] [1667936556.832014444] [ignition_ros_control]:         velocity
[ign gazebo-1] [INFO] [1667936556.832024689] [ignition_ros_control]:         position
[ign gazebo-1] [INFO] [1667936556.832037898] [ignition_ros_control]: Loading sensor: imu
[ign gazebo-1] [INFO] [1667936556.832049380] [ignition_ros_control]:    State:
[ign gazebo-1] [WARN] [1667936556.832060652] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1667936556.832072130] [ignition_ros_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1667936556.832088233] [ignition_ros_control]: Loading controller_manager
[ign gazebo-1] [GUI] [Msg] Addederving world SDF generation service on [/world/depot/generate_world_sdf]
[ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ign gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ign gazebo-1] [Msg] Server control service on [/server_control].
[ign gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ign gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ign gazebo-1] [Dbg] [SimulationRunner.cc:521] Creating PostUpdate worker threads: 2
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (0)
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [1301926277928136113] / [ign_gazebo_components.GpuLidar].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9386381083157376121] / [ign_gazebo_components.ContactSensor].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17771214158902094494] / [ign_gazebo_components.Imu].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [10461520141335422054] / [ign_gazebo_components.WorldPose].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9810498410555695050] / [ign_gazebo_components.AngularVelocity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17373107141547024696] / [ign_gazebo_components.LinearAcceleration].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [12225837088678955875] / [ign_gazebo_components.RgbdCamera].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4068291309002341380] / [ign_gazebo_components.JointVelocity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [16434675394613771646] / [ign_gazebo_components.JointForce].
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ign_ros2_control::IgnitionROS2ControlPlugin] for entity [30]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [30]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::Contact] for entity [30]
[ign gazebo-1] [Dbg] [Sensors.cc:381] Configuring Sensors system
[ign gazebo-1] [Dbg] [Sensors.cc:311] SensorsPrivate::Run
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::Sensors] for entity [30]
[ign gazebo-1] [INFO] [1667936557.017974132] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-21] [INFO] [1667936557.051782272] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ign gazebo-1] [INFO] [1667936557.055367935] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1667936557.055571593] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
ipa-rar commented 1 year ago

TF2 frames does not contains left and right wheels frames.pdf

hilary-luo commented 11 months ago

This issue is being closed due to inactivity. If you are still experiencing the issue, feel free to reopen this ticket when you are ready to continue the troubleshooting process.