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turtlebot / turtlebot4_simulator

TurtleBot 4 Simulator packages
Apache License 2.0
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Robot is out of bounds of the costmap #53

Closed mtfn closed 8 months ago

mtfn commented 9 months ago

Please provide the following information:

No map appears in Rviz, and the logs continue stating that the robot is out of bounds of the costmap, over and over again:

[planner_server-49] [WARN] [1696976945.523998009] [nav2_costmap_2d]: Robot is out of bounds of the costmap!

To Reproduce Provide the steps to reproduce: Attempt to run simulated SLAM with ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=true nav2:=true rviz:=true

My idea is that there is something wrong with nav2; the underlying navigation stack might be misconfigured?

mtfn commented 9 months ago 
turtlebot@MARs:~/turtlebot4_ws$ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=true nav2:=true rviz:=true
[INFO] [launch]: All log files can be found below /home/turtlebot/.ros/log/2023-10-10-15-37-21-040330-MARs-22444
[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 [22447]
[INFO] [parameter_bridge-2]: process started with pid [22450]
[INFO] [robot_state_publisher-3]: process started with pid [22453]
[INFO] [joint_state_publisher-4]: process started with pid [22455]
[INFO] [robot_state_publisher-5]: process started with pid [22457]
[INFO] [static_transform_publisher-6]: process started with pid [22459]
[INFO] [create-7]: process started with pid [22461]
[INFO] [create-8]: process started with pid [22463]
[INFO] [parameter_bridge-9]: process started with pid [22465]
[INFO] [parameter_bridge-10]: process started with pid [22468]
[INFO] [parameter_bridge-11]: process started with pid [22472]
[INFO] [parameter_bridge-12]: process started with pid [22475]
[INFO] [parameter_bridge-13]: process started with pid [22477]
[INFO] [parameter_bridge-14]: process started with pid [22480]
[INFO] [parameter_bridge-15]: process started with pid [22482]
[INFO] [parameter_bridge-16]: process started with pid [22485]
[INFO] [parameter_bridge-17]: process started with pid [22487]
[INFO] [parameter_bridge-18]: process started with pid [22489]
[INFO] [parameter_bridge-19]: process started with pid [22492]
[INFO] [parameter_bridge-20]: process started with pid [22542]
[INFO] [parameter_bridge-21]: process started with pid [22550]
[INFO] [parameter_bridge-22]: process started with pid [22565]
[INFO] [parameter_bridge-23]: process started with pid [22567]
[INFO] [parameter_bridge-24]: process started with pid [22628]
[INFO] [parameter_bridge-25]: process started with pid [22641]
[INFO] [parameter_bridge-26]: process started with pid [22659]
[INFO] [parameter_bridge-27]: process started with pid [22662]
[INFO] [parameter_bridge-28]: process started with pid [22673]
[INFO] [parameter_bridge-29]: process started with pid [22677]
[INFO] [turtlebot4_node-30]: process started with pid [22680]
[INFO] [turtlebot4_ignition_hmi_node-31]: process started with pid [22683]
[INFO] [spawner-32]: process started with pid [22686]
[INFO] [hazards_vector_publisher-33]: process started with pid [22728]
[INFO] [ir_intensity_vector_publisher-34]: process started with pid [22741]
[INFO] [motion_control-35]: process started with pid [22763]
[INFO] [wheel_status_publisher-36]: process started with pid [22779]
[INFO] [mock_publisher-37]: process started with pid [22782]
[INFO] [robot_state-38]: process started with pid [22839]
[INFO] [kidnap_estimator_publisher-39]: process started with pid [22857]
[INFO] [ui_mgr-40]: process started with pid [22878]
[INFO] [pose_republisher_node-41]: process started with pid [22880]
[INFO] [sensors_node-42]: process started with pid [22888]
[INFO] [interface_buttons_node-43]: process started with pid [22896]
[INFO] [static_transform_publisher-44]: process started with pid [22913]
[INFO] [static_transform_publisher-45]: process started with pid [22919]
[INFO] [sync_slam_toolbox_node-46]: process started with pid [22926]
[INFO] [controller_server-47]: process started with pid [22931]
[INFO] [smoother_server-48]: process started with pid [22937]
[INFO] [planner_server-49]: process started with pid [22947]
[INFO] [behavior_server-50]: process started with pid [22949]
[INFO] [bt_navigator-51]: process started with pid [22952]
[INFO] [waypoint_follower-52]: process started with pid [22955]
[INFO] [velocity_smoother-53]: process started with pid [22987]
[INFO] [lifecycle_manager-54]: process started with pid [22992]
[INFO] [rviz2-55]: process started with pid [22998]
[parameter_bridge-2] [INFO] [1696977443.655390588] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[robot_state_publisher-3] [WARN] [1696977443.644017495] [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] [1696977443.644279191] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1696977443.644333016] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-3] [INFO] [1696977443.644338743] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-3] [INFO] [1696977443.644342411] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-3] [INFO] [1696977443.644346144] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-3] [INFO] [1696977443.644349775] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-3] [INFO] [1696977443.644353489] [robot_state_publisher]: got segment bumper
[robot_state_publisher-3] [INFO] [1696977443.644357085] [robot_state_publisher]: got segment button_1
[robot_state_publisher-3] [INFO] [1696977443.644360600] [robot_state_publisher]: got segment button_2
[robot_state_publisher-3] [INFO] [1696977443.644364530] [robot_state_publisher]: got segment button_power
[robot_state_publisher-3] [INFO] [1696977443.644368583] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-3] [INFO] [1696977443.644372270] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-3] [INFO] [1696977443.644376210] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-3] [INFO] [1696977443.644380060] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-3] [INFO] [1696977443.644383781] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-3] [INFO] [1696977443.644387554] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-3] [INFO] [1696977443.644392138] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-3] [INFO] [1696977443.644396329] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-3] [INFO] [1696977443.644400087] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-3] [INFO] [1696977443.644403722] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-3] [INFO] [1696977443.644407178] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-3] [INFO] [1696977443.644410606] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1696977443.644413814] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-3] [INFO] [1696977443.644417240] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-3] [INFO] [1696977443.644420469] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-3] [INFO] [1696977443.644423741] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-3] [INFO] [1696977443.644427162] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-3] [INFO] [1696977443.644430700] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-3] [INFO] [1696977443.644434384] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-3] [INFO] [1696977443.644437890] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-3] [INFO] [1696977443.644441321] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-3] [INFO] [1696977443.644444890] [robot_state_publisher]: got segment mouse
[robot_state_publisher-3] [INFO] [1696977443.644448270] [robot_state_publisher]: got segment oakd_camera_bracket
[robot_state_publisher-3] [INFO] [1696977443.644452029] [robot_state_publisher]: got segment oakd_imu_frame
[robot_state_publisher-3] [INFO] [1696977443.644455531] [robot_state_publisher]: got segment oakd_left_camera_frame
[robot_state_publisher-3] [INFO] [1696977443.644458813] [robot_state_publisher]: got segment oakd_left_camera_optical_frame
[robot_state_publisher-3] [INFO] [1696977443.644462509] [robot_state_publisher]: got segment oakd_link
[robot_state_publisher-3] [INFO] [1696977443.644466064] [robot_state_publisher]: got segment oakd_rgb_camera_frame
[robot_state_publisher-3] [INFO] [1696977443.644469299] [robot_state_publisher]: got segment oakd_rgb_camera_optical_frame
[robot_state_publisher-3] [INFO] [1696977443.644472524] [robot_state_publisher]: got segment oakd_right_camera_frame
[robot_state_publisher-3] [INFO] [1696977443.644476197] [robot_state_publisher]: got segment oakd_right_camera_optical_frame
[robot_state_publisher-3] [INFO] [1696977443.644479797] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-3] [INFO] [1696977443.644483406] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-3] [INFO] [1696977443.644486460] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-3] [INFO] [1696977443.644490388] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-3] [INFO] [1696977443.644519523] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-3] [INFO] [1696977443.644523454] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-3] [INFO] [1696977443.644527566] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-3] [INFO] [1696977443.644531714] [robot_state_publisher]: got segment wheel_drop_right
[robot_state_publisher-5] [WARN] [1696977443.629463533] [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] [1696977443.629526162] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-5] [INFO] [1696977443.629570373] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-5] [INFO] [1696977443.629576627] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-5] [INFO] [1696977443.629580725] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-5] [INFO] [1696977443.629584064] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-6] [WARN] [1696977443.577770981] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [INFO] [1696977443.594690840] [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] [1696977443.634184272] [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] [1696977443.628583910] [ros_gz_sim]: Requesting list of world names.
[parameter_bridge-9] [INFO] [1696977443.681545144] [cmd_vel_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (ignition.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-9] [INFO] [1696977443.684388506] [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-11] [INFO] [1696977443.668693927] [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] [1696977443.687023175] [bumper_contact_bridge]: Creating GZ->ROS Bridge: [/bumper_contact (ignition.msgs.Contacts) -> /bumper_contact (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
[parameter_bridge-15] [INFO] [1696977443.683557218] [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] [1696977443.669811536] [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] [1696977443.710258825] [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] [1696977443.664516265] [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] [1696977443.678101596] [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)
[static_transform_publisher-44] [WARN] [1696977443.718017718] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-45] [WARN] [1696977443.717867016] []: Old-style arguments are deprecated; see --help for new-style arguments
[rviz2-55] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[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/1.0/OpenRobotics/models/Warehouse to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Warehouse
[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/pallet_box_mobile to https://fuel.gazebosim.org/1.0/MovAi/models/pallet_box_mobile
[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
[parameter_bridge-13] [INFO] [1696977444.006428652] [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)
[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] [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>) { ... }
[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-14] [INFO] [1696977444.029224070] [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-10] [INFO] [1696977444.032360374] [pose_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/pose (ignition.msgs.Pose_V) -> /model/turtlebot4/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-21] [INFO] [1696977444.032754558] [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)
[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
[parameter_bridge-20] [INFO] [1696977444.046745824] [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)
[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>) { ... }
[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
[ir_intensity_vector_publisher-34] [INFO] [1696977444.069323946] [ir_intensity_vector_publisher]: Advertised topic: ir_intensity
[parameter_bridge-25] [INFO] [1696977444.080437407] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/raw (std_msgs/msg/String) -> /hmi/display/raw (ignition.msgs.StringMsg)] (Lazy 0)
[turtlebot4_node-30] [INFO] [1696977444.081825907] [turtlebot4_node]: Init Turtlebot4 Node Main
[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
[ir_intensity_vector_publisher-34] [INFO] [1696977444.089481994] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-34] [INFO] [1696977444.089826599] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-34] [INFO] [1696977444.090112601] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-34] [INFO] [1696977444.092922668] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[ir_intensity_vector_publisher-34] [INFO] [1696977444.093294907] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-34] [INFO] [1696977444.093589846] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-34] [INFO] [1696977444.093864762] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[static_transform_publisher-44] [INFO] [1696977444.096013795] [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'
[parameter_bridge-10] [INFO] [1696977444.098041557] [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-24] [INFO] [1696977444.104688533] [buttons_msg_bridge]: Creating GZ->ROS Bridge: [/create3_buttons (ignition.msgs.Int32) -> /create3_buttons (std_msgs/msg/Int32)] (Lazy 0)
[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
[parameter_bridge-25] [INFO] [1696977444.108539696] [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] [1696977444.122172171] [hmi_buttons_msg_bridge]: Creating GZ->ROS Bridge: [/hmi/buttons (ignition.msgs.Int32) -> /hmi/buttons (std_msgs/msg/Int32)] (Lazy 0)
[parameter_bridge-23] [INFO] [1696977444.141535499] [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-27] [INFO] [1696977444.145223135] [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] [1696977444.150326049] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/motors (std_msgs/msg/Int32) -> /hmi/led/motors (ignition.msgs.Int32)] (Lazy 0)
[planner_server-49] [INFO] [1696977444.155992863] [planner_server]: 
[planner_server-49]     planner_server lifecycle node launched. 
[planner_server-49]     Waiting on external lifecycle transitions to activate
[planner_server-49]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-49] [INFO] [1696977444.157301705] [planner_server]: Creating
[waypoint_follower-52] [INFO] [1696977444.157753130] [waypoint_follower]: 
[waypoint_follower-52]  waypoint_follower lifecycle node launched. 
[waypoint_follower-52]  Waiting on external lifecycle transitions to activate
[waypoint_follower-52]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-52] [INFO] [1696977444.158227663] [waypoint_follower]: Creating
[hazards_vector_publisher-33] [INFO] [1696977444.161999008] [hazards_vector_publisher]: Advertised topic: hazard_detection
[hazards_vector_publisher-33] [INFO] [1696977444.162569303] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[controller_server-47] [INFO] [1696977444.163811748] [controller_server]: 
[controller_server-47]  controller_server lifecycle node launched. 
[controller_server-47]  Waiting on external lifecycle transitions to activate
[controller_server-47]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-47] [INFO] [1696977444.167166789] [controller_server]: Creating controller server
[hazards_vector_publisher-33] [INFO] [1696977444.168373771] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-33] [INFO] [1696977444.169180769] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[wheel_status_publisher-36] [INFO] [1696977444.170058304] [wheel_status_publisher]: Advertised topic: wheel_vels
[wheel_status_publisher-36] [INFO] [1696977444.170417633] [wheel_status_publisher]: Advertised topic: wheel_ticks
[hazards_vector_publisher-33] [INFO] [1696977444.174097786] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-33] [INFO] [1696977444.180038317] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[mock_publisher-37] [INFO] [1696977444.189244025] [mock_publisher]: Advertised mocked topic: slip_status
[smoother_server-48] [INFO] [1696977444.190269581] [smoother_server]: 
[smoother_server-48]    smoother_server lifecycle node launched. 
[smoother_server-48]    Waiting on external lifecycle transitions to activate
[smoother_server-48]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-48] [INFO] [1696977444.191356414] [smoother_server]: Creating smoother server
[hazards_vector_publisher-33] [INFO] [1696977444.193963451] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-33] [INFO] [1696977444.194405830] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-33] [INFO] [1696977444.194751890] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[static_transform_publisher-45] [INFO] [1696977444.195988621] [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-27] [INFO] [1696977444.199175188] [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-22] [INFO] [1696977444.201020315] [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)
[parameter_bridge-27] [INFO] [1696977444.201484824] [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] [1696977444.202065247] [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] [1696977444.203414636] [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-28] [INFO] [1696977444.214984363] [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] [1696977444.219599511] [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-27] [INFO] [1696977444.222106408] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user2 (std_msgs/msg/Int32) -> /hmi/led/user2 (ignition.msgs.Int32)] (Lazy 0)
[ui_mgr-40] [INFO] [1696977444.239654491] [ui_mgr]: Subscription to topic: cmd_lightring
[ui_mgr-40] [INFO] [1696977444.246545339] [ui_mgr]: Subscription to topic: cmd_audio
[parameter_bridge-29] [INFO] [1696977444.247820587] [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)
[parameter_bridge-29] [INFO] [1696977444.248419637] [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)
[parameter_bridge-29] [INFO] [1696977444.249086639] [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)
[robot_state-38] [INFO] [1696977444.283998263] [robot_state]: Advertised topic: battery_state
[controller_server-47] [INFO] [1696977444.284833467] [local_costmap.local_costmap]: 
[controller_server-47]  local_costmap lifecycle node launched. 
[controller_server-47]  Waiting on external lifecycle transitions to activate
[controller_server-47]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-47] [INFO] [1696977444.285280047] [local_costmap.local_costmap]: Creating Costmap
[robot_state-38] [INFO] [1696977444.288739801] [robot_state]: Subscription to topic: dock_status
[robot_state-38] [INFO] [1696977444.289140360] [robot_state]: Advertised topic: stop_status
[robot_state-38] [INFO] [1696977444.290021131] [robot_state]: Subscription to topic: odom
[bt_navigator-51] [INFO] [1696977444.299243526] [bt_navigator]: 
[bt_navigator-51]   bt_navigator lifecycle node launched. 
[bt_navigator-51]   Waiting on external lifecycle transitions to activate
[bt_navigator-51]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-51] [INFO] [1696977444.299353132] [bt_navigator]: Creating
[planner_server-49] [INFO] [1696977444.300876001] [global_costmap.global_costmap]: 
[planner_server-49]     global_costmap lifecycle node launched. 
[planner_server-49]     Waiting on external lifecycle transitions to activate
[planner_server-49]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-49] [INFO] [1696977444.301323530] [global_costmap.global_costmap]: Creating Costmap
[sync_slam_toolbox_node-46] [INFO] [1696977444.317297704] [slam_toolbox]: Node using stack size 40000000
[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
[turtlebot4_node-30] [INFO] [1696977444.388385004] [turtlebot4_node]: Buttons Init
[turtlebot4_node-30] [INFO] [1696977444.395453446] [turtlebot4_node]: Init Display
[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
[motion_control-35] [INFO] [1696977444.412780949] [motion_control]: Enabling REFLEX_BUMP
[motion_control-35] [INFO] [1696977444.412907611] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-35] [INFO] [1696977444.413000277] [motion_control]: Enabling REFLEX_STUCK
[motion_control-35] [INFO] [1696977444.413039227] [motion_control]: Enabling REFLEX_WHEEL_DROP
[turtlebot4_node-30] [INFO] [1696977444.429095360] [turtlebot4_node]: Leds Init
[behavior_server-50] [INFO] [1696977444.439460374] [behavior_server]: 
[behavior_server-50]    behavior_server lifecycle node launched. 
[behavior_server-50]    Waiting on external lifecycle transitions to activate
[behavior_server-50]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-54] [INFO] [1696977444.440378253] [lifecycle_manager_navigation]: Creating
[joint_state_publisher-4] [INFO] [1696977444.441454240] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[lifecycle_manager-54] [INFO] [1696977444.442639407] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[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
[velocity_smoother-53] [INFO] [1696977444.480623081] [velocity_smoother]: 
[velocity_smoother-53]  velocity_smoother lifecycle node launched. 
[velocity_smoother-53]  Waiting on external lifecycle transitions to activate
[velocity_smoother-53]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[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
[kidnap_estimator_publisher-39] [INFO] [1696977444.522971925] [kidnap_estimator_publisher]: Advertised topic: kidnap_status
[kidnap_estimator_publisher-39] [INFO] [1696977444.523736079] [kidnap_estimator_publisher]: Subscription to topic: hazard_detection
[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
[rviz2-55] [INFO] [1696977444.589657834] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-55] [INFO] [1696977444.610435063] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-55] [INFO] [1696977444.656233920] [rviz2]: Stereo is NOT SUPPORTED
[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] [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 v6.15.0
[ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/home/turtlebot/turtlebot4_ws/install/turtlebot4_ignition_bringup/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf].
[ruby $(which ign) gazebo-1] [Msg] Serving entity system service on [/entity/system/add]
[ruby $(which ign) gazebo-1] [Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ruby $(which ign) gazebo-1] [Msg] Create service on [/world/warehouse/create]
[ruby $(which ign) gazebo-1] [Msg] Remove service on [/world/warehouse/remove]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/warehouse/set_pose]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/warehouse/set_pose_vector]
[ruby $(which ign) gazebo-1] [Msg] Light configuration service on [/world/warehouse/light_config]
[ruby $(which ign) gazebo-1] [Msg] Physics service on [/world/warehouse/set_physics]
[ruby $(which ign) gazebo-1] [Msg] SphericalCoordinates service on [/world/warehouse/set_spherical_coordinates]
[ruby $(which ign) gazebo-1] [Msg] Enable collision service on [/world/warehouse/enable_collision]
[ruby $(which ign) gazebo-1] [Msg] Disable collision service on [/world/warehouse/disable_collision]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/warehouse/visual_config]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/warehouse/wheel_slip]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [12]
[ruby $(which ign) gazebo-1] [Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [141]
[ruby $(which ign) gazebo-1] [Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288.15 kelvin, and a max temperature of 305 kelvin.
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Thermal] for entity [139]
[ruby $(which ign) gazebo-1] [Msg] Loaded level [3]
[ruby $(which ign) gazebo-1] [Msg] Serving world controls on [/world/warehouse/control], [/world/warehouse/control/state] and [/world/warehouse/playback/control]
[turtlebot4_node-30] [INFO] [1696977444.876135113] [turtlebot4_node]: Turtlebot4 standard running.
[parameter_bridge-27] [INFO] [1696977444.928414142] [hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[parameter_bridge-25] [INFO] [1696977444.932206494] [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] [1696977444.932280765] [hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[create-8] [INFO] [1696977445.018489809] [ros_gz_sim]: Waiting messages on topic [standard_dock_description].
[create-7] [INFO] [1696977445.089585127] [ros_gz_sim]: Waiting messages on topic [robot_description].
[sync_slam_toolbox_node-46] [INFO] [1696977445.146493473] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[sync_slam_toolbox_node-46] [INFO] [1696977445.150246242] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[create-7] [INFO] [1696977445.173957564] [ros_gz_sim]: Requested creation of entity.
[create-7] [INFO] [1696977445.174004789] [ros_gz_sim]: OK creation of entity.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Scene3D.cc:2941] The GzScene3D plugin is deprecated on v6 and will be removed on v7. Use MinimalScene together with other plugins as needed.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:108:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[create-8] [INFO] [1696977445.274663398] [ros_gz_sim]: Requested creation of entity.
[create-8] [INFO] [1696977445.274704635] [ros_gz_sim]: OK creation of entity.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:63:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[INFO] [create-7]: process has finished cleanly [pid 22461]
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [Msg] [Msg] Ignition Gazebo GUI    v6.15.0
[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] [PathManager.cc:55] Received resource paths.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/warehouse/state]...
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading config [/home/turtlebot/turtlebot4_ws/install/turtlebot4_ignition_bringup/share/turtlebot4_ignition_bringup/gui/standard/gui.config]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzScene3D]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Transform mode service on [/gui/transform_mode]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Record video service on [/gui/record_video]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Move to service on [/gui/move_to]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Follow service on [/gui/follow]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Follow offset service on [/gui/follow/offset]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View angle service on [/gui/view_angle]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View wireframes service on [/gui/view/wireframes]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzScene3D.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Using world control service [/world/warehouse/control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/warehouse/stats]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [WorldControl.cc:248] Using a service to share WorldControl msgs with the server
[INFO] [create-8]: process has finished cleanly [pid 22463]
[lifecycle_manager-54] [INFO] [1696977445.478001095] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-54] [INFO] [1696977445.478077284] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-47] [INFO] [1696977445.478376509] [controller_server]: Configuring controller interface
[controller_server-47] [INFO] [1696977445.478771176] [controller_server]: getting goal checker plugins..
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: 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] file::/TransformControl/TransformControl.qml:99:3: 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] file::/TransformControl/TransformControl.qml:94:3: 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] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[controller_server-47] [INFO] [1696977445.478909450] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-47] [INFO] [1696977445.478951139] [local_costmap.local_costmap]: Configuring
[controller_server-47] [INFO] [1696977445.491989443] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-47] [INFO] [1696977445.500639958] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-47] [INFO] [1696977445.510407946] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-47] [INFO] [1696977445.510448168] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-47] [INFO] [1696977445.518671437] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-47] [INFO] [1696977445.541784712] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-47] [INFO] [1696977445.541841620] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-47] [INFO] [1696977445.544690238] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-47] [INFO] [1696977445.560008677] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-47] [INFO] [1696977445.561388481] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-47] [INFO] [1696977445.562388674] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-47] [INFO] [1696977445.563384582] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-47] [INFO] [1696977445.565711502] [controller_server]: Setting transform_tolerance to 0.200000
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:36:3: 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] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:388: ReferenceError: control is not defined
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:410: ReferenceError: control is not defined
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:432: ReferenceError: control is not defined
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:454: ReferenceError: control is not defined
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:102:7: Unable to assign [undefined] to QString
[controller_server-47] [INFO] [1696977445.582009062] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-47] [INFO] [1696977445.583003033] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.583249075] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-47] [INFO] [1696977445.584712850] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.584941653] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-47] [INFO] [1696977445.585317760] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.585617207] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-47] [INFO] [1696977445.586160563] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.586358735] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-47] [INFO] [1696977445.586840184] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.587024235] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-47] [INFO] [1696977445.587350295] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.587516404] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-47] [INFO] [1696977445.587882304] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1696977445.587903489] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-54] [INFO] [1696977445.601731031] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-48] [INFO] [1696977445.602041841] [smoother_server]: Configuring smoother server
[smoother_server-48] [INFO] [1696977445.611111707] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-48] [INFO] [1696977445.612462644] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-54] [INFO] [1696977445.623061450] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-49] [INFO] [1696977445.623277460] [planner_server]: Configuring
[planner_server-49] [INFO] [1696977445.623315189] [global_costmap.global_costmap]: Configuring
[planner_server-49] [INFO] [1696977445.629423552] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-49] [INFO] [1696977445.633078893] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-49] [INFO] [1696977445.634939453] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-49] [INFO] [1696977445.634970639] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-49] [INFO] [1696977445.635936054] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-49] [INFO] [1696977445.643456661] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-49] [INFO] [1696977445.643496462] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[planner_server-49] [INFO] [1696977445.646993618] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-49] [INFO] [1696977445.667902296] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-49] [INFO] [1696977445.667951064] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-49] [INFO] [1696977445.670961368] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-54] [INFO] [1696977445.693998094] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-50] [INFO] [1696977445.694220891] [behavior_server]: Configuring
[behavior_server-50] [INFO] [1696977445.705617949] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-50] [INFO] [1696977445.706258552] [behavior_server]: Configuring spin
[behavior_server-50] [INFO] [1696977445.716716722] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-50] [INFO] [1696977445.717361216] [behavior_server]: Configuring backup
[behavior_server-50] [INFO] [1696977445.724104391] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-50] [INFO] [1696977445.724705842] [behavior_server]: Configuring drive_on_heading
[behavior_server-50] [INFO] [1696977445.731944990] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-50] [INFO] [1696977445.732982180] [behavior_server]: Configuring assisted_teleop
[behavior_server-50] [INFO] [1696977445.744591675] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-50] [INFO] [1696977445.745089981] [behavior_server]: Configuring wait
[lifecycle_manager-54] [INFO] [1696977445.752586352] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-51] [INFO] [1696977445.752767513] [bt_navigator]: Configuring
[lifecycle_manager-54] [INFO] [1696977445.849603182] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-52] [INFO] [1696977445.849782121] [waypoint_follower]: Configuring
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Ogre2Camera.cc:390] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[waypoint_follower-52] [INFO] [1696977445.864142638] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-54] [INFO] [1696977445.865379872] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-53] [INFO] [1696977445.865609349] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-54] [INFO] [1696977445.870062788] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-47] [INFO] [1696977445.870217243] [controller_server]: Activating
[controller_server-47] [INFO] [1696977445.870250079] [local_costmap.local_costmap]: Activating
[controller_server-47] [INFO] [1696977445.870261325] [local_costmap.local_costmap]: Checking transform
[controller_server-47] [INFO] [1696977445.870281423] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955651311] [gz_ros2_control]: [ign_ros2_control] Fixed joint [bumper_joint] (Entity=233)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955820399] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_caster_joint] (Entity=234)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955830361] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_left_bottom_weight_block_joint] (Entity=235)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955836643] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_left_top_weight_block_joint] (Entity=236)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955841137] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_right_bottom_weight_block_joint] (Entity=237)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955844566] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_right_top_weight_block_joint] (Entity=238)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955849235] [gz_ros2_control]: [ign_ros2_control] Fixed joint [imu_joint] (Entity=239)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955854063] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_left_joint] (Entity=240)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955859198] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_right_joint] (Entity=241)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955864436] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_left_joint] (Entity=242)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955869166] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_right_joint] (Entity=243)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955874139] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_left_joint] (Entity=244)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955878524] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_right_joint] (Entity=245)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955882945] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_side_left_joint] (Entity=246)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955887062] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_omni_joint] (Entity=247)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955890977] [gz_ros2_control]: [ign_ros2_control] Fixed joint [mouse_joint] (Entity=248)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955894913] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_left_tower_standoff_joint] (Entity=249)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955898661] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_right_tower_standoff_joint] (Entity=250)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955903250] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_camera_bracket_joint] (Entity=251)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955907077] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_joint] (Entity=252)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955911340] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_imu_joint] (Entity=253)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955915408] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_left_camera_joint] (Entity=254)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955919468] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_left_camera_optical_joint] (Entity=255)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955923983] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_rgb_camera_joint] (Entity=256)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955928401] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_rgb_camera_optical_joint] (Entity=257)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955932929] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_right_camera_joint] (Entity=258)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955937582] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_right_camera_optical_joint] (Entity=259)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955941572] [gz_ros2_control]: [ign_ros2_control] Fixed joint [rear_left_tower_standoff_joint] (Entity=260)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955945945] [gz_ros2_control]: [ign_ros2_control] Fixed joint [rear_right_tower_standoff_joint] (Entity=261)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955950301] [gz_ros2_control]: [ign_ros2_control] Fixed joint [rplidar_joint] (Entity=262)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1696977445.955954063] [gz_ros2_control]: [ign_ros2_control] Fixed joint [tower_sensor_plate_joint] (Entity=263)] is skipped
[controller_server-47] [INFO] [1696977446.370380183] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[spawner-32] [INFO] [1696977446.393562788] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ruby $(which ign) gazebo-1] [ERROR] [1696977446.460800760] [gz_ros2_control]: robot_state_publisher service not available, waiting again...
[ruby $(which ign) gazebo-1] [INFO] [1696977446.598386570] [gz_ros2_control]: connected to service!! robot_state_publisher asking for robot_description
[ruby $(which ign) gazebo-1] [INFO] [1696977446.601769223] [gz_ros2_control]: Received URDF from param server
[ruby $(which ign) gazebo-1] [WARN] [1696977446.616452977] [gz_ros2_control]: The position_proportional_gain parameter was not defined, defaulting to: 0.1
[ruby $(which ign) gazebo-1] [INFO] [1696977446.616649183] [gz_ros2_control]: Loading joint: left_wheel_joint
[ruby $(which ign) gazebo-1] [INFO] [1696977446.616706770] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1696977446.616744694] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1696977446.616782506] [gz_ros2_control]:        position
[ruby $(which ign) gazebo-1] [INFO] [1696977446.616814499] [gz_ros2_control]:   Command:
[ruby $(which ign) gazebo-1] [INFO] [1696977446.616842133] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617234456] [gz_ros2_control]: Loading sensor: imu
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617298484] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617405658] [resource_manager]: Initialize hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [WARN] [1696977446.617462711] [gz_ros2_control]: On init...
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617691625] [resource_manager]: Successful initialization of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617814510] [resource_manager]: 'configure' hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617834834] [gz_ros2_control]: System Successfully configured!
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617888363] [resource_manager]: Successful 'configure' of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617908962] [resource_manager]: 'activate' hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1696977446.617927443] [resource_manager]: Successful 'activate' of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [WARN] [1696977446.618062668] [gz_ros2_control]: The position_proportional_gain parameter was not defined, defaulting to: 0.1
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618144505] [gz_ros2_control]: Loading joint: right_wheel_joint
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618178794] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618208409] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618238655] [gz_ros2_control]:        position
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618267081] [gz_ros2_control]:   Command:
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618295396] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618346761] [gz_ros2_control]: Loading sensor: imu
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618379861] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618411226] [resource_manager]: Initialize hardware 'right_wheel_controller' 
[ruby $(which ign) gazebo-1] [WARN] [1696977446.618428479] [gz_ros2_control]: On init...
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618487098] [resource_manager]: Successful initialization of hardware 'right_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618524098] [resource_manager]: 'configure' hardware 'right_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618540322] [gz_ros2_control]: System Successfully configured!
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618574702] [resource_manager]: Successful 'configure' of hardware 'right_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618593074] [resource_manager]: 'activate' hardware 'right_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618609839] [resource_manager]: Successful 'activate' of hardware 'right_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1696977446.618623572] [gz_ros2_control]: Loading controller_manager
[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/3/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/3/files/meshes/Chair.obj
[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/3/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/3/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [Wrn] [OBJLoader.cc:91] Both `d` and `Tr` parameters defined for "Chair". Use the value of `d` for dissolve (line 8 in .mtl.)
[ruby $(which ign) gazebo-1] 
[controller_server-47] [INFO] [1696977446.870336965] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] 0mServing GUI information on [/world/warehouse/gui/info]
[ruby $(which ign) gazebo-1] [Msg] World [warehouse] initialized with [default_physics] physics profile.
[ruby $(which ign) gazebo-1] [Msg] Serving world SDF generation service on [/world/warehouse/generate_world_sdf]
[ruby $(which ign) gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ruby $(which ign) gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ruby $(which ign) gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ruby $(which ign) gazebo-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[ruby $(which ign) gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ruby $(which ign) gazebo-1] [Msg] Server control service on [/server_control].
[ruby $(which ign) gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ruby $(which ign) gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 4
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (1)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (2)
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ign_ros2_control::IgnitionROS2ControlPlugin] for entity [150]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [150]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Contact] for entity [150]
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:490] Configuring Sensors system
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:415] SensorsPrivate::Run
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Sensors[Dbg] [Sensors.cc:395] SensorsPrivate::RenderThread startedignition::gazebo::systems::Sensors] for entity [150]
[ruby $(which ign) gazebo-1] ][Dbg] [Sensors.cc:246] Waiting for init
[ruby $(which ign) gazebo-1] [Dbg] [UserCommands.cc:1303] Created entity [150] named [turtlebot4]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [268]
[ruby $(which ign) gazebo-1] [Dbg] [UserCommands.cc:1303] Created entity [268] named [standard_dock]
[ruby $(which ign) gazebo-1] [Msg] Serving scene information on [/world/warehouse/scene/info]
[ruby $(which ign) gazebo-1] [Msg] Serving graph information on [/world/warehouse/scene/graph]
[ruby $(which ign) gazebo-1] [Msg] Serving full state on [/world/warehouse/state]
[ruby $(which ign) gazebo-1] [Msg] Serving full state (async) on [/world/warehouse/state_async]
[ruby $(which ign) gazebo-1] [Msg] Publishing scene information on [/world/warehouse/scene/info]
[ruby $(which ign) gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.[Wrn] [Model.hh:69] 
[ruby $(which ign) gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.Trying to serialize component with data type [[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] [Wrn] [Component.hh:127] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] [Wrn] [Component.hh:127] Skipping serialization / deserialization for models Skipping serialization / deserialization for models Skipping serialization / deserialization for models N3sdf3v125WorldE], which doesn't have with //pose/@relative_to attribute.], which doesn't have Trying to serialize component with data type [Trying to serialize component with data type [[Wrn] [Model.hh:69] 
[ruby $(which ign) gazebo-1] ], which doesn't have St10shared_ptrIN3sdf3v127ElementEE], which doesn't have `operator<<`. Component will not be serialized.
[ruby $(which ign) gazebo-1] with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] with //pose/@relative_to attribute.Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] `operator<<`. Component will not be serialized.
[ruby $(which ign) gazebo-1] [WARN] [1696977446.941924642] [gz_ros2_control]:  Desired controller update period (0.001 s) is slower than the gazebo simulation period (0 s).
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[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/pallet/tip/files/meshes/pallet.dae to https://fuel.gazebosim.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae
[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/pallet/tip/files/meshes/pallet.dae to https://fuel.gazebosim.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae
[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/pallet_box_mobile/3/files/meshes/boxes.dae to https://fuel.gazebosim.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae
[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/pallet_box_mobile/3/files/meshes/boxes.dae to https://fuel.gazebosim.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[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/4/files/Table_Diffuse.jpg to https://fuel.gazebosim.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg
[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/4/files/Table_Diffuse.jpg to https://fuel.gazebosim.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[controller_server-47] [INFO] [1696977447.370438253] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[controller_server-47] [INFO] [1696977447.870368858] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [INFO] [1696977448.216419024] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ruby $(which ign) gazebo-1] [INFO] [1696977448.247007450] [controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[spawner-32] [INFO] [1696977448.248025803] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ruby $(which ign) gazebo-1] [INFO] [1696977448.250910065] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ruby $(which ign) gazebo-1] [INFO] [1696977448.251095095] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Component.hh:172] Trying to deserialize component with data type [St10shared_ptrIN3sdf3v127ElementEE], which doesn't have `operator>>`. Component will not be deserialized.
[controller_server-47] [INFO] [1696977448.370364070] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [Msg] Publishing entity deletions on [/world/warehouse/scene/deletion]
[ruby $(which ign) gazebo-1] [Msg] Publishing state changes on [/world/warehouse/state]
[ruby $(which ign) gazebo-1] [Msg] Publishing pose messages on [/world/warehouse/pose/info]
[ruby $(which ign) gazebo-1] [Msg] Publishing dynamic pose messages on [/world/warehouse/dynamic_pose/info]
[ruby $(which ign) gazebo-1] [Dbg] [EntityComponentManager.cc:1623] Updated state thread iterators: 20 threads processing around 15 entities each.
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:523] [Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (2)[Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (1
[ruby $(which ign) gazebo-1] )
[ruby $(which ign) gazebo-1] )Exiting postupdate worker thread (0)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 9
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (1)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (2)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (3)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (4)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (5)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (6)
[ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (7)
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:594] Initialization needed
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:258] Initializing render context
[ruby $(which ign) gazebo-1] [Msg] Loading plugin [ignition-rendering-ogre]
[ruby $(which ign) gazebo-1] [Dbg] [RenderUtil.cc:2588] Create scene [scene]
[ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:272] Rendering Thread initialized
[ruby $(which ign) gazebo-1] Initialization needed
[ruby $(which ign) gazebo-1] [Dbg] [RgbdCameraSensor.cc:216] RGB images for [turtlebot4::oakd_rgb_camera_frame::rgbd_camera] advertised on [world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image]
[ruby $(which ign) gazebo-1] [Dbg] [RgbdCameraSensor.cc:230] Depth images for [turtlebot4::oakd_rgb_camera_frame::rgbd_camera] advertised on [world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image]
[ruby $(which ign) gazebo-1] [Dbg] [RgbdCameraSensor.cc:244] Points for [turtlebot4::oakd_rgb_camera_frame::rgbd_camera] advertised on [world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points]
[ruby $(which ign) gazebo-1] [Dbg] [CameraSensor.cc:619] Camera info for [turtlebot4::oakd_rgb_camera_frame::rgbd_camera] advertised on [world/warehouse/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::base_link::cliff_front_left] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::base_link::cliff_front_left] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::base_link::cliff_front_right] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::base_link::cliff_front_right] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::base_link::cliff_side_left] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::base_link::cliff_side_left] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::base_link::cliff_side_right] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::base_link::cliff_side_right] advertised on [world/warehouse/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_left::ir_intensity_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_left::ir_intensity_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_right::ir_intensity_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_right::ir_intensity_right] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/warehouse/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [turtlebot4::rplidar_link::rplidar] advertised on [world/warehouse/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [turtlebot4::rplidar_link::rplidar] advertised on [world/warehouse/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [standard_dock::green_buoy_link::green_buoy] advertised on [world/warehouse/model/standard_dock/link/green_buoy_link/sensor/green_buoy/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [standard_dock::green_buoy_link::green_buoy] advertised on [world/warehouse/model/standard_dock/link/green_buoy_link/sensor/green_buoy/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [standard_dock::halo_link::halo] advertised on [world/warehouse/model/standard_dock/link/halo_link/sensor/halo/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [standard_dock::halo_link::halo] advertised on [world/warehouse/model/standard_dock/link/halo_link/sensor/halo/scan/points]
[ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [standard_dock::red_buoy_link::red_buoy] advertised on [world/warehouse/model/standard_dock/link/red_buoy_link/sensor/red_buoy/scan]
[ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [standard_dock::red_buoy_link::red_buoy] advertised on [world/warehouse/model/standard_dock/link/red_buoy_link/sensor/red_buoy/scan/points]
[ruby $(which ign) gazebo-1] [Wrn] [OgreGpuRays.cc:258] Horizontal FOV for GPU rays is capped at 180 degrees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[controller_server-47] [INFO] [1696977448.870366347] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[controller_server-47] [INFO] [1696977449.370358945] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae to https://fuel.gazebosim.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae to https://fuel.gazebosim.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae to https://fuel.gazebosim.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae to https://fuel.gazebosim.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae
[controller_server-47] [INFO] [1696977449.870333789] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/chair/3/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/3/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/chair/3/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/3/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [OBJLoader.cc:91] Both `d` and `Tr` parameters defined for "Chair". Use the value of `d` for dissolve (line 8 in .mtl.)
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg to https://fuel.gazebosim.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg to https://fuel.gazebosim.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg
[controller_server-47] [INFO] [1696977450.370458925] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977450.870376215] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977451.370334800] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[controller_server-47] [INFO] [1696977451.870382499] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977452.370370851] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977452.870376375] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977453.370376577] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977453.870391930] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977454.370357224] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977454.870376276] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977455.370385730] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977455.870358877] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977456.370332816] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977456.870334306] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977457.370362038] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977457.870380580] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977458.370340810] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977458.870370096] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-47] [INFO] [1696977459.370439007] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[spawner-32] [INFO] [1696977459.701590612] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[sync_slam_toolbox_node-46] [INFO] [1696977459.748299973] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.000 for reason 'discarding message because the queue is full'
[parameter_bridge-9] [INFO] [1696977459.751960447] [cmd_vel_bridge]: Passing message from ROS geometry_msgs/msg/Twist to Gazebo gz.msgs.Twist (showing msg only once per type)
[sync_slam_toolbox_node-46] [INFO] [1696977459.789002314] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.018 for reason 'discarding message because the queue is full'
[turtlebot4_node-30] [INFO] [1696977459.801891309] [turtlebot4_node]: OAKD stopped
[turtlebot4_node-30] [INFO] [1696977459.801945619] [turtlebot4_node]: RPLIDAR stopped
[sync_slam_toolbox_node-46] [INFO] [1696977459.826424463] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.033 for reason 'discarding message because the queue is full'
[controller_server-47] [INFO] [1696977459.870365964] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[sync_slam_toolbox_node-46] [INFO] [1696977459.875112489] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.051 for reason 'discarding message because the queue is full'
[INFO] [spawner-32]: process has finished cleanly [pid 22686]
[INFO] [spawner-56]: process started with pid [23630]
[sync_slam_toolbox_node-46] [INFO] [1696977459.915401446] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.066 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977459.955864388] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.081 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977459.988123347] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.099 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.017137108] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.114 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.048474489] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.129 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.079019598] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.144 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.114148362] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.000 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.125657376] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.162 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.146637547] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.018 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.158406055] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.177 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.178752077] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.033 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.200646990] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.195 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.210472848] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.051 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.243890656] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.210 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.274170725] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.066 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.278438918] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.228 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.306077619] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.081 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.312061624] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.240 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.338352428] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.099 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.352050232] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.258 for reason 'discarding message because the queue is full'
[controller_server-47] [INFO] [1696977460.370349909] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[rviz2-55] [INFO] [1696977460.370365072] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.114 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.390042362] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.273 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.402798182] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.129 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.445669718] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.291 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.466746494] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.144 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.478113985] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.306 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.498053845] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.162 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.525414210] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.321 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.530793219] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.177 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.556190692] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.336 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.561972118] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.195 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.595598625] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.354 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.626360984] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.210 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.633085492] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.369 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.658056838] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.228 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.680684267] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.387 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.690596075] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.240 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.731167763] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.402 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.754909902] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.258 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.778845349] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.417 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.786819837] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.273 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.831209386] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.432 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.850682277] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.291 for reason 'discarding message because the queue is full'
[controller_server-47] [INFO] [1696977460.870374691] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[sync_slam_toolbox_node-46] [INFO] [1696977460.883345626] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.450 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.914502905] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.306 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.929924659] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.465 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.946377379] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.321 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977460.971893503] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.483 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977460.978056939] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.336 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.002177614] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.498 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.010585475] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.354 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.049183957] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.513 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.074541195] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.369 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.095204662] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.528 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.107058206] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.387 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.168441689] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.546 for reason 'discarding message because the queue is full'
[ruby $(which ign) gazebo-1] [INFO] [1696977461.169547610] [controller_manager]: Loading controller 'diffdrive_controller'
[rviz2-55] [INFO] [1696977461.169955495] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.402 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.211885900] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.561 for reason 'discarding message because the queue is full'
[ruby $(which ign) gazebo-1] [INFO] [1696977461.214108740] [controller_manager]: Setting use_sim_time=True for diffdrive_controller to match controller manager (see ros2_control#325 for details)
[spawner-56] [INFO] [1696977461.216796792] [spawner_diffdrive_controller]: Loaded diffdrive_controller
[ruby $(which ign) gazebo-1] [INFO] [1696977461.218654673] [controller_manager]: Configuring controller 'diffdrive_controller'
[ruby $(which ign) gazebo-1] [INFO] [1696977461.218738907] [diffdrive_controller]: Parameters were updated
[rviz2-55] [INFO] [1696977461.234580641] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.417 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.251794947] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.579 for reason 'discarding message because the queue is full'
[spawner-56] [INFO] [1696977461.257586100] [spawner_diffdrive_controller]: Configured and activated diffdrive_controller
[rviz2-55] [INFO] [1696977461.265957805] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.432 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.296086630] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.594 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.298736903] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.450 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.345826616] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.609 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.362258388] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.465 for reason 'discarding message because the queue is full'
[controller_server-47] [INFO] [1696977461.370418786] [local_costmap.local_costmap]: start
[sync_slam_toolbox_node-46] [INFO] [1696977461.381943475] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.627 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.394045227] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.483 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.417969267] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.642 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.426391641] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.498 for reason 'discarding message because the queue is full'
[INFO] [spawner-56]: process has finished cleanly [pid 23630]
[sync_slam_toolbox_node-46] [INFO] [1696977461.460190988] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.657 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] Registering sensor: [Custom Described Lidar]
[rviz2-55] [INFO] [1696977461.490416617] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.513 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.522219340] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.528 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.536906602] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.690 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.554651040] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.546 for reason 'discarding message because the queue is full'
[controller_server-47] [INFO] [1696977461.571849720] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[sync_slam_toolbox_node-46] [INFO] [1696977461.574346197] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.705 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.586233243] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.561 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.614700864] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.723 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.618176994] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.579 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.647439729] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.738 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.650053422] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.594 for reason 'discarding message because the queue is full'
[lifecycle_manager-54] [INFO] [1696977461.683775577] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-54] [INFO] [1696977461.683938716] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-48] [INFO] [1696977461.684938361] [smoother_server]: Activating
[smoother_server-48] [INFO] [1696977461.685074782] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[sync_slam_toolbox_node-46] [INFO] [1696977461.711181561] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.753 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.714011270] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.609 for reason 'discarding message because the queue is full'
[sync_slam_toolbox_node-46] [INFO] [1696977461.758471306] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.768 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.778625504] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.627 for reason 'discarding message because the queue is full'
[lifecycle_manager-54] [INFO] [1696977461.801231592] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-54] [INFO] [1696977461.801306716] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-49] [INFO] [1696977461.801988084] [planner_server]: Activating
[planner_server-49] [INFO] [1696977461.802068202] [global_costmap.global_costmap]: Activating
[planner_server-49] [INFO] [1696977461.802105813] [global_costmap.global_costmap]: Checking transform
[planner_server-49] [INFO] [1696977461.802208724] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 0.798000 but the earliest data is at time 0.872000, when looking up transform from frame [base_link] to frame [map]
[sync_slam_toolbox_node-46] [INFO] [1696977461.811474506] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.786 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.842570712] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.642 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.874476725] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.657 for reason 'discarding message because the queue is full'
[planner_server-49] [INFO] [1696977461.900608842] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 0 X 0 at 0.050000 m/pix
[controller_server-47] [INFO] [1696977461.900618211] [local_costmap.local_costmap]: StaticLayer: Resizing static layer to 0 X 0 at 0.050000 m/pix
[rviz2-55] [INFO] [1696977461.906324430] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.672 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977461.969946575] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.690 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977462.002665019] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.705 for reason 'discarding message because the queue is full'
[rviz2-55] [INFO] [1696977462.034795337] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 0.723 for reason 'discarding message because the queue is full'
[planner_server-49] [INFO] [1696977462.302360050] [global_costmap.global_costmap]: start
[controller_server-47] [INFO] [1696977462.570533636] [local_costmap.local_costmap]: StaticLayer: Resizing static layer to 0 X 0 at 0.050000 m/pix
[controller_server-47] [INFO] [1696977462.970523322] [local_costmap.local_costmap]: StaticLayer: Resizing static layer to 0 X 0 at 0.050000 m/pix
[rviz2-55] [INFO] [1696977463.001636870] [rviz2]: Trying to create a map of size 50 x 50 using 1 swatches
[rviz2-55] [ERROR] [1696977463.040951360] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : 
[rviz2-55] active samplers with a different type refer to the same texture image unit
[planner_server-49] [WARN] [1696977463.302718132] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [INFO] [1696977463.302773081] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 0 X 0 at 0.050000 m/pix
[planner_server-49] [INFO] [1696977463.305960379] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-49] [INFO] [1696977463.312432375] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-54] [INFO] [1696977463.428823599] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-54] [INFO] [1696977463.428990024] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-50] [INFO] [1696977463.430109437] [behavior_server]: Activating
[behavior_server-50] [INFO] [1696977463.430187368] [behavior_server]: Activating spin
[behavior_server-50] [INFO] [1696977463.430218823] [behavior_server]: Activating backup
[behavior_server-50] [INFO] [1696977463.430241172] [behavior_server]: Activating drive_on_heading
[behavior_server-50] [INFO] [1696977463.430265285] [behavior_server]: Activating assisted_teleop
[behavior_server-50] [INFO] [1696977463.430286222] [behavior_server]: Activating wait
[behavior_server-50] [INFO] [1696977463.430324596] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-54] [INFO] [1696977463.549759051] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-54] [INFO] [1696977463.549848622] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-51] [INFO] [1696977463.551281823] [bt_navigator]: Activating
[bt_navigator-51] [INFO] [1696977463.686763274] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-54] [INFO] [1696977463.793108047] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-54] [INFO] [1696977463.793163675] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-52] [INFO] [1696977463.793704658] [waypoint_follower]: Activating
[waypoint_follower-52] [INFO] [1696977463.793750029] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-54] [INFO] [1696977463.910225275] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-54] [INFO] [1696977463.910377981] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-53] [INFO] [1696977463.911395516] [velocity_smoother]: Activating
[velocity_smoother-53] [INFO] [1696977463.911624103] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[controller_server-47] [INFO] [1696977463.970581630] [local_costmap.local_costmap]: StaticLayer: Resizing static layer to 0 X 0 at 0.050000 m/pix
[lifecycle_manager-54] [INFO] [1696977464.039675154] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-54] [INFO] [1696977464.039724629] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-54] [INFO] [1696977464.039742339] [lifecycle_manager_navigation]: Creating bond timer...
[planner_server-49] [WARN] [1696977464.302509575] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [INFO] [1696977464.302571405] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 0 X 0 at 0.050000 m/pix
[planner_server-49] [WARN] [1696977465.302486014] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977466.302495791] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977467.302557581] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977468.302564227] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977469.302472040] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977470.302638812] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977471.302580186] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977472.302466250] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977473.302586259] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977474.302517659] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977475.302483278] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977476.302564769] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977477.302523442] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977478.302491723] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977479.302543504] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977480.302575995] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977481.302505321] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977482.302498915] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977483.302507857] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[planner_server-49] [WARN] [1696977484.302557076] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
HyydenJakcz commented 9 months ago

I have the same problem. Were you able to visualize anything in rviz without running nav2?

hilary-luo commented 9 months ago

Can you both start off by making sure that you are running the latest of all of the turtlebot packages? (sudo apt update and sudo apt upgrade)

The command that you shared works as intended on my system. How do you have your system set up in terms of networking. Do you happen to still have it set up for discovery server from working with a physical robot? This can interfere with simulations.

HyydenJakcz commented 8 months ago

I was able to fix the issue with the robot being out of bounds. It turns out that when I visualized the lidar rays, they were not behaving normally, aka they only extended to the perimeter of the robot. (I'm not really sure why that is) but I managed to fix that after changing the render engine as was mentioned in #20 from ogre to ogre2

hilary-luo commented 8 months ago

@HyydenJakcz Can you clarify, are you using hardware acceleration (GPU) to run the simulation? and can you clarify where all you changed the render engine to ogre2? was it just this single line: https://github.com/iRobotEducation/create3_sim/blob/fa3d501baec47a4fee51b11e3638d7ad417bf2b4/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro#L301

@yeetus-skeetus can you clarify, are you using hardware acceleration (GPU) to run the simulation?

HyydenJakcz commented 8 months ago

I am not sure how to check if I am using hardware acceleration. And for your second question, yes I just changed the one line

mtfn commented 8 months ago

Can you both start off by making sure that you are running the latest of all of the turtlebot packages? (sudo apt update and sudo apt upgrade)

The command that you shared works as intended on my system. How do you have your system set up in terms of networking. Do you happen to still have it set up for discovery server from working with a physical robot? This can interfere with simulations.

Yes, the machine in question has been configured as a discovery server in the past. Should I begin by reversing that?

hilary-luo commented 8 months ago

@yeetus-skeetus yes start there. Personally I have two separate lines in my bashrc and I comment/uncomment them based on whether I am running simulation/simple discovery or discovery server.

@HyydenJakcz if you don't have a GPU, I wonder if this issue you had is related to that. The lidar rays sometimes seem to misbehave when not run on a gpu. I will look into that setting. Thank you for getting back to me.

HyydenJakcz commented 8 months ago

I also have the same two lines that I comment/uncomment out of my bashrc when networking with the robot so I don't think that's the issue.

mtfn commented 8 months ago

I've also commented out simple discovery from .bashrc, which has not changed anything.

I don't know for sure if Gazebo is being hardware accelerated, but the machine does have drivers for its Nvidia GeForce RTX 3060.

hilary-luo commented 8 months ago

@yeetus-skeetus you should be commenting out the discovery server sourcing from .bashrc but you still need the simple discovery sourcing. When you are running the simulation check to see if the simulation is actually using the GPU. You can usually do this by checking nvidia-smi and ensuring that the simulation is listed as one of the processes. If it isn't using your GPU I would suggest starting there.

@HyydenJakcz Perhaps I wasn't clear, in my comment to you I was referring to this issue being related to not having a GPU. This helps me understand for trying to reproduce what you are seeing.

mtfn commented 8 months ago

nvidia-smi doesn't list anything related to Gazebo while the system is running. I've tried reinstalling Gazebo and the simulator but the error remains the same. How should I proceed?

hilary-luo commented 8 months ago

@yeetus-skeetus The easiest way to ensure that the simulation uses the GPU is to set your GPU to always be used. There are several guides online such as this one: https://www.linuxbabe.com/desktop-linux/switch-intel-nvidia-graphics-card-ubuntu

Step 4: Switch to Nvidia Graphics Card Once rebooted, open Nvidia X Server Settings (nvidia-settings)

image

Click PRIME Profiles tab on the left pane, and then select Nvidia card on the right pane. If you don’t have PRIME Profiles, reboot your computer so PRIME can be enabled.

mtfn commented 8 months ago

@yeetus-skeetus The easiest way to ensure that the simulation uses the GPU is to set your GPU to always be used. There are several guides online such as this one: https://www.linuxbabe.com/desktop-linux/switch-intel-nvidia-graphics-card-ubuntu

Step 4: Switch to Nvidia Graphics Card

Once rebooted, open Nvidia X Server Settings (nvidia-settings)

image

Click PRIME Profiles tab on the left pane, and then select Nvidia card on the right pane. If you don’t have PRIME Profiles, reboot your computer so PRIME can be enabled.

Thank you! This appears to have fixed the issue. I went under PRIME in nvidia-settings and set it to Performance Mode.