Turtlebot 4 Simulator crashes after latest updates

twright commented 3 months ago

Robot Model

Standard

ROS distro

Humble

Networking Configuration

Unknown

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.1-1jammy.20240321.134526

Expected behaviour

Running this command should launch Rviz and the Gazebo simulator

Actual behaviour

Rviz and Gazebo briefly launch before crashing

Error messages

No response

To Reproduce

Install ROS humble
Install the Turtlebot4 packages via sudo apt-get update && sudo apt-get install -y ros-humble-turtlebot4-desktop ros-humble-turtlebot4-simulator ros-humble-turtlebot4-viz ros-humble-turtlebot4-diagnostics
Run ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py world:=maze slam:=true nav2:=true rviz:=true

Other notes

I have encountered this bug both running locally on Ubuntu and in a Docker container. I have an Nvidia Geforce RTX 2070 MaxQ dGPU, and this bugs occurs either running on embedded graphics, or launching it on the Nvidia GPU. This update only started occurring after recent apt updates.

twright commented 3 months ago

The error message is

[INFO] [launch]: All log files can be found below /home/au759518/.ros/log/2024-04-08-12-14-04-324353-d30855-3793056
[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 [3793135]
[INFO] [parameter_bridge-2]: process started with pid [3793137]
[INFO] [robot_state_publisher-3]: process started with pid [3793140]
[INFO] [joint_state_publisher-4]: process started with pid [3793143]
[INFO] [robot_state_publisher-5]: process started with pid [3793145]
[INFO] [static_transform_publisher-6]: process started with pid [3793147]
[INFO] [create-7]: process started with pid [3793149]
[INFO] [create-8]: process started with pid [3793151]
[INFO] [parameter_bridge-9]: process started with pid [3793153]
[INFO] [parameter_bridge-10]: process started with pid [3793156]
[INFO] [parameter_bridge-11]: process started with pid [3793160]
[INFO] [parameter_bridge-12]: process started with pid [3793163]
[INFO] [parameter_bridge-13]: process started with pid [3793165]
[INFO] [parameter_bridge-14]: process started with pid [3793167]
[INFO] [parameter_bridge-15]: process started with pid [3793169]
[INFO] [parameter_bridge-16]: process started with pid [3793171]
[INFO] [parameter_bridge-17]: process started with pid [3793173]
[INFO] [parameter_bridge-18]: process started with pid [3793175]
[INFO] [parameter_bridge-19]: process started with pid [3793177]
[INFO] [parameter_bridge-20]: process started with pid [3793179]
[INFO] [parameter_bridge-21]: process started with pid [3793181]
[INFO] [parameter_bridge-22]: process started with pid [3793183]
[INFO] [parameter_bridge-23]: process started with pid [3793185]
[INFO] [parameter_bridge-24]: process started with pid [3793187]
[INFO] [parameter_bridge-25]: process started with pid [3793189]
[INFO] [parameter_bridge-26]: process started with pid [3793191]
[INFO] [parameter_bridge-27]: process started with pid [3793193]
[INFO] [parameter_bridge-28]: process started with pid [3793195]
[INFO] [parameter_bridge-29]: process started with pid [3793197]
[INFO] [turtlebot4_node-30]: process started with pid [3793211]
[INFO] [turtlebot4_ignition_hmi_node-31]: process started with pid [3793235]
[INFO] [spawner-32]: process started with pid [3793254]
[INFO] [hazards_vector_publisher-33]: process started with pid [3793278]
[INFO] [ir_intensity_vector_publisher-34]: process started with pid [3793331]
[INFO] [motion_control-35]: process started with pid [3793409]
[INFO] [wheel_status_publisher-36]: process started with pid [3793441]
[INFO] [mock_publisher-37]: process started with pid [3793453]
[INFO] [robot_state-38]: process started with pid [3793488]
[INFO] [kidnap_estimator_publisher-39]: process started with pid [3793519]
[INFO] [ui_mgr-40]: process started with pid [3793538]
[INFO] [pose_republisher_node-41]: process started with pid [3793549]
[INFO] [sensors_node-42]: process started with pid [3793552]
[INFO] [interface_buttons_node-43]: process started with pid [3793555]
[INFO] [static_transform_publisher-44]: process started with pid [3793566]
[INFO] [static_transform_publisher-45]: process started with pid [3793569]
[INFO] [sync_slam_toolbox_node-46]: process started with pid [3793571]
[INFO] [controller_server-47]: process started with pid [3793578]
[INFO] [smoother_server-48]: process started with pid [3793581]
[INFO] [planner_server-49]: process started with pid [3793596]
[INFO] [behavior_server-50]: process started with pid [3793602]
[INFO] [bt_navigator-51]: process started with pid [3793619]
[INFO] [waypoint_follower-52]: process started with pid [3793621]
[INFO] [velocity_smoother-53]: process started with pid [3793624]
[INFO] [lifecycle_manager-54]: process started with pid [3793626]
[INFO] [rviz2-55]: process started with pid [3793628]
[parameter_bridge-2] [INFO] [1712571247.142438401] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[robot_state_publisher-3] [WARN] [1712571247.048395247] [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] [1712571247.065356396] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1712571247.065427456] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-3] [INFO] [1712571247.065439651] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-3] [INFO] [1712571247.065445851] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-3] [INFO] [1712571247.065451260] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-3] [INFO] [1712571247.065456654] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-3] [INFO] [1712571247.065462707] [robot_state_publisher]: got segment bumper
[robot_state_publisher-3] [INFO] [1712571247.065468948] [robot_state_publisher]: got segment button_1
[robot_state_publisher-3] [INFO] [1712571247.065474833] [robot_state_publisher]: got segment button_2
[robot_state_publisher-3] [INFO] [1712571247.065480738] [robot_state_publisher]: got segment button_power
[robot_state_publisher-3] [INFO] [1712571247.065487216] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-3] [INFO] [1712571247.065493677] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-3] [INFO] [1712571247.065500171] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-3] [INFO] [1712571247.065506661] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-3] [INFO] [1712571247.065512907] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-3] [INFO] [1712571247.065519349] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065526481] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065533332] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065539889] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065546302] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065552156] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065558474] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1712571247.065565359] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-3] [INFO] [1712571247.065572097] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-3] [INFO] [1712571247.065578651] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-3] [INFO] [1712571247.065585447] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-3] [INFO] [1712571247.065592402] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-3] [INFO] [1712571247.065598755] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-3] [INFO] [1712571247.065846779] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-3] [INFO] [1712571247.065869934] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-3] [INFO] [1712571247.065879812] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-3] [INFO] [1712571247.065888326] [robot_state_publisher]: got segment mouse
[robot_state_publisher-3] [INFO] [1712571247.065896620] [robot_state_publisher]: got segment oakd_camera_bracket
[robot_state_publisher-3] [INFO] [1712571247.065904949] [robot_state_publisher]: got segment oakd_imu_frame
[robot_state_publisher-3] [INFO] [1712571247.065914750] [robot_state_publisher]: got segment oakd_left_camera_frame
[robot_state_publisher-3] [INFO] [1712571247.065923462] [robot_state_publisher]: got segment oakd_left_camera_optical_frame
[robot_state_publisher-3] [INFO] [1712571247.065932149] [robot_state_publisher]: got segment oakd_link
[robot_state_publisher-3] [INFO] [1712571247.065940864] [robot_state_publisher]: got segment oakd_rgb_camera_frame
[robot_state_publisher-3] [INFO] [1712571247.065949399] [robot_state_publisher]: got segment oakd_rgb_camera_optical_frame
[robot_state_publisher-3] [INFO] [1712571247.065957813] [robot_state_publisher]: got segment oakd_right_camera_frame
[robot_state_publisher-3] [INFO] [1712571247.065966198] [robot_state_publisher]: got segment oakd_right_camera_optical_frame
[robot_state_publisher-3] [INFO] [1712571247.065974726] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065983606] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065992125] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-3] [INFO] [1712571247.066000694] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-3] [INFO] [1712571247.066042480] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-3] [INFO] [1712571247.066055599] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-3] [INFO] [1712571247.066064539] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-3] [INFO] [1712571247.066072775] [robot_state_publisher]: got segment wheel_drop_right
[robot_state_publisher-5] [WARN] [1712571247.049761174] [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] [1712571247.049895425] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-5] [INFO] [1712571247.050124523] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-5] [INFO] [1712571247.050139469] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-5] [INFO] [1712571247.050147856] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-5] [INFO] [1712571247.050155889] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-6] [WARN] [1712571246.979091577] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [INFO] [1712571247.026135997] [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] [1712571247.150803260] [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] [1712571247.071694779] [ros_gz_sim]: Requesting list of world names.
[parameter_bridge-9] [INFO] [1712571247.174546052] [cmd_vel_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (ignition.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-9] [INFO] [1712571247.198273568] [cmd_vel_bridge]: Creating ROS->GZ Bridge: [/model/turtlebot4/cmd_vel (geometry_msgs/msg/Twist) -> /model/turtlebot4/cmd_vel (ignition.msgs.Twist)] (Lazy 0)
[parameter_bridge-10] [INFO] [1712571247.118054577] [pose_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/pose (ignition.msgs.Pose_V) -> /model/turtlebot4/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-10] [INFO] [1712571247.147389064] [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-12] [INFO] [1712571247.170163557] [bumper_contact_bridge]: Creating GZ->ROS Bridge: [/bumper_contact (ignition.msgs.Contacts) -> /bumper_contact (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
[parameter_bridge-17] [INFO] [1712571247.131007273] [ir_intensity_front_center_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-20] [INFO] [1712571247.112198272] [ir_intensity_front_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-23] [INFO] [1712571247.147085435] [ir_intensity_side_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-25] [INFO] [1712571247.165856757] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/raw (std_msgs/msg/String) -> /hmi/display/raw (ignition.msgs.StringMsg)] (Lazy 0)
[parameter_bridge-25] [INFO] [1712571247.188639615] [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] [1712571247.125096441] [hmi_buttons_msg_bridge]: Creating GZ->ROS Bridge: [/hmi/buttons (ignition.msgs.Int32) -> /hmi/buttons (std_msgs/msg/Int32)] (Lazy 0)
[parameter_bridge-28] [INFO] [1712571247.163722482] [lidar_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.098037470] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (ignition.msgs.Image) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.107018056] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (ignition.msgs.Image) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.108590489] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (ignition.msgs.PointCloudPacked) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.117717733] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (ignition.msgs.CameraInfo) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[turtlebot4_node-30] [INFO] [1712571247.175065051] [turtlebot4_node]: Init Turtlebot4 Node Main
[static_transform_publisher-44] [WARN] [1712571247.205971648] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-45] [WARN] [1712571247.211373846] []: Old-style arguments are deprecated; see --help for new-style arguments
[parameter_bridge-19] [INFO] [1712571247.327102900] [ir_intensity_front_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-13] [INFO] [1712571247.339214082] [cliff_front_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-24] [INFO] [1712571247.343832076] [buttons_msg_bridge]: Creating GZ->ROS Bridge: [/create3_buttons (ignition.msgs.Int32) -> /create3_buttons (std_msgs/msg/Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1712571247.355215698] [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-18] [INFO] [1712571247.365919137] [ir_intensity_front_center_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1712571247.369515550] [hazards_vector_publisher]: Advertised topic: hazard_detection
[hazards_vector_publisher-33] [INFO] [1712571247.371485307] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[rviz2-55] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[parameter_bridge-27] [INFO] [1712571247.390745838] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/motors (std_msgs/msg/Int32) -> /hmi/led/motors (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1712571247.391630137] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/comms (std_msgs/msg/Int32) -> /hmi/led/comms (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1712571247.392364461] [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] [1712571247.393043656] [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] [1712571247.393699265] [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-15] [INFO] [1712571247.394424386] [cliff_side_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-11] [INFO] [1712571247.398793485] [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-27] [INFO] [1712571247.448919110] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user2 (std_msgs/msg/Int32) -> /hmi/led/user2 (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712571247.452035877] [cliff_front_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1712571247.456572854] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-33] [INFO] [1712571247.459855275] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[hazards_vector_publisher-33] [INFO] [1712571247.460261187] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-33] [INFO] [1712571247.460618899] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[turtlebot4_node-30] [INFO] [1712571247.456639009] [turtlebot4_node]: Buttons Init
[turtlebot4_node-30] [INFO] [1712571247.460131670] [turtlebot4_node]: Init Display
[parameter_bridge-22] [INFO] [1712571247.462664474] [ir_intensity_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1712571247.463671500] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-33] [INFO] [1712571247.464109889] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-33] [INFO] [1712571247.464457621] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[turtlebot4_node-30] [INFO] [1712571247.478361999] [turtlebot4_node]: Leds Init
[mock_publisher-37] [INFO] [1712571247.481688916] [mock_publisher]: Advertised mocked topic: slip_status
[kidnap_estimator_publisher-39] [INFO] [1712571247.546742409] [kidnap_estimator_publisher]: Advertised topic: kidnap_status
[kidnap_estimator_publisher-39] [INFO] [1712571247.547472616] [kidnap_estimator_publisher]: Subscription to topic: hazard_detection
[ir_intensity_vector_publisher-34] [INFO] [1712571247.604395489] [ir_intensity_vector_publisher]: Advertised topic: ir_intensity
[ir_intensity_vector_publisher-34] [INFO] [1712571247.605596716] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-34] [INFO] [1712571247.606776892] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-34] [INFO] [1712571247.607796635] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-34] [INFO] [1712571247.608223360] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[ir_intensity_vector_publisher-34] [INFO] [1712571247.608672309] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-34] [INFO] [1712571247.609577320] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-34] [INFO] [1712571247.609994799] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[ui_mgr-40] [INFO] [1712571247.609384340] [ui_mgr]: Subscription to topic: cmd_lightring
[ui_mgr-40] [INFO] [1712571247.610767346] [ui_mgr]: Subscription to topic: cmd_audio
[static_transform_publisher-45] [INFO] [1712571247.614096575] [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-16] [INFO] [1712571247.634060887] [cliff_side_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[robot_state-38] [INFO] [1712571247.671093340] [robot_state]: Advertised topic: battery_state
[robot_state-38] [INFO] [1712571247.693843803] [robot_state]: Subscription to topic: dock_status
[robot_state-38] [INFO] [1712571247.696885637] [robot_state]: Advertised topic: stop_status
[robot_state-38] [INFO] [1712571247.700146727] [robot_state]: Subscription to topic: odom
[static_transform_publisher-44] [INFO] [1712571247.708878975] [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'
[wheel_status_publisher-36] [INFO] [1712571247.761535560] [wheel_status_publisher]: Advertised topic: wheel_vels
[wheel_status_publisher-36] [INFO] [1712571247.788757038] [wheel_status_publisher]: Advertised topic: wheel_ticks
[velocity_smoother-53] [INFO] [1712571247.798031535] [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.
[smoother_server-48] [INFO] [1712571247.803681913] [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.
[behavior_server-50] [INFO] [1712571247.833560173] [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.
[motion_control-35] [INFO] [1712571247.837589747] [motion_control]: Enabling REFLEX_BUMP
[motion_control-35] [INFO] [1712571247.839367129] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-35] [INFO] [1712571247.859769147] [motion_control]: Enabling REFLEX_STUCK
[smoother_server-48] [INFO] [1712571247.861084876] [smoother_server]: Creating smoother server
[motion_control-35] [INFO] [1712571247.861597036] [motion_control]: Enabling REFLEX_WHEEL_DROP
[bt_navigator-51] [INFO] [1712571247.876828645] [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] [1712571247.876976726] [bt_navigator]: Creating
[parameter_bridge-21] [INFO] [1712571247.899112766] [ir_intensity_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[lifecycle_manager-54] [INFO] [1712571247.899770443] [lifecycle_manager_navigation]: Creating
[sync_slam_toolbox_node-46] [INFO] [1712571247.915594107] [slam_toolbox]: Node using stack size 40000000
[lifecycle_manager-54] [INFO] [1712571248.013449726] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[ruby $(which ign) gazebo-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[waypoint_follower-52] [INFO] [1712571248.089718757] [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] [1712571248.104349692] [waypoint_follower]: Creating
[planner_server-49] [INFO] [1712571248.100762315] [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] [1712571248.105757209] [planner_server]: Creating
[controller_server-47] [INFO] [1712571248.113397364] [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] [1712571248.118411565] [controller_server]: Creating controller server
[planner_server-49] [INFO] [1712571248.416660809] [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] [1712571248.419432336] [global_costmap.global_costmap]: Creating Costmap
[turtlebot4_node-30] [INFO] [1712571248.448547221] [turtlebot4_node]: Turtlebot4 standard running.
[controller_server-47] [INFO] [1712571248.515600946] [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] [1712571248.516178889] [local_costmap.local_costmap]: Creating Costmap
[parameter_bridge-27] [INFO] [1712571248.523773927] [hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[sync_slam_toolbox_node-46] [INFO] [1712571248.700603147] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[sync_slam_toolbox_node-46] [INFO] [1712571248.702575401] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[create-7] [INFO] [1712571248.763265333] [ros_gz_sim]: Waiting messages on topic [robot_description].
[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 [maze.sdf] from the GUI.
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo Server v6.16.0
[ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/maze.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/maze/create]
[ruby $(which ign) gazebo-1] [Msg] Remove service on [/world/maze/remove]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/maze/set_pose]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/maze/set_pose_vector]
[ruby $(which ign) gazebo-1] [Msg] Light configuration service on [/world/maze/light_config]
[ruby $(which ign) gazebo-1] [Msg] Physics service on [/world/maze/set_physics]
[ruby $(which ign) gazebo-1] [Msg] SphericalCoordinates service on [/world/maze/set_spherical_coordinates]
[ruby $(which ign) gazebo-1] [Msg] Enable collision service on [/world/maze/enable_collision]
[ruby $(which ign) gazebo-1] [Msg] Disable collision service on [/world/maze/disable_collision]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/maze/visual_config]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/maze/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::Contact] for entity [1]
[ruby $(which ign) gazebo-1] [Msg] Loaded level [3]
[ruby $(which ign) gazebo-1] [Msg] Serving world controls on [/world/maze/control], [/world/maze/control/state] and [/world/maze/playback/control]
[ruby $(which ign) gazebo-1] [Msg] Serving GUI information on [/world/maze/gui/info]
[ruby $(which ign) gazebo-1] [Msg] World [maze] initialized with [1ms] physics profile.
[ruby $(which ign) gazebo-1] [Msg] Serving world SDF generation service on [/world/maze/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].
[create-8] [INFO] [1712571248.856939550] [ros_gz_sim]: Waiting messages on topic [standard_dock_description].
[joint_state_publisher-4] [INFO] [1712571248.905600404] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[create-7] [INFO] [1712571248.908170156] [ros_gz_sim]: Requested creation of entity.
[create-7] [INFO] [1712571248.908212861] [ros_gz_sim]: OK creation of entity.
[create-8] [INFO] [1712571249.119903168] [ros_gz_sim]: Requested creation of entity.
[create-8] [INFO] [1712571249.119948606] [ros_gz_sim]: OK creation of entity.
[INFO] [create-7]: process has finished cleanly [pid 3793149]
[rviz2-55] [INFO] [1712571249.416161803] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-55] [INFO] [1712571249.422846213] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-55] [INFO] [1712571249.578605989] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [create-8]: process has finished cleanly [pid 3793151]
[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>) { ... }
[parameter_bridge-25] [INFO] [1712571249.701789074] [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] [1712571249.701899091] [hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[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>) { ... }
[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>) { ... }
[lifecycle_manager-54] [INFO] [1712571249.799542173] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-54] [INFO] [1712571249.799593057] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-47] [INFO] [1712571249.800043059] [controller_server]: Configuring controller interface
[controller_server-47] [INFO] [1712571249.800535492] [controller_server]: getting goal checker plugins..
[controller_server-47] [INFO] [1712571249.800770401] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-47] [INFO] [1712571249.800833188] [local_costmap.local_costmap]: Configuring
[controller_server-47] [INFO] [1712571249.814705703] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-47] [INFO] [1712571249.825361692] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-47] [INFO] [1712571249.828918246] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-47] [INFO] [1712571249.828947632] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-47] [INFO] [1712571249.831812276] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-47] [INFO] [1712571249.856572176] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-47] [INFO] [1712571249.856623994] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-47] [INFO] [1712571249.859359979] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-47] [INFO] [1712571249.882350177] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-47] [INFO] [1712571249.885159093] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-47] [INFO] [1712571249.887809827] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-47] [INFO] [1712571249.892900413] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-47] [INFO] [1712571249.897129386] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-47] [INFO] [1712571249.928136242] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-47] [INFO] [1712571249.929625891] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.929962887] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-47] [INFO] [1712571249.931178877] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.931488056] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-47] [INFO] [1712571249.932005275] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.932279289] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-47] [INFO] [1712571249.933055425] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.933351340] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-47] [INFO] [1712571249.934651024] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.935049360] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-47] [INFO] [1712571249.935792746] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.936184798] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-47] [INFO] [1712571249.936982884] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.937013956] [controller_server]: Controller Server has FollowPath  controllers available.
[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.
[lifecycle_manager-54] [INFO] [1712571249.961634955] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-48] [INFO] [1712571249.961986975] [smoother_server]: Configuring smoother server
[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>) { ... }
[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>) { ... }
[smoother_server-48] [INFO] [1712571249.983538692] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-48] [INFO] [1712571249.991394730] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-54] [INFO] [1712571250.009233149] [lifecycle_manager_navigation]: Configuring planner_server
[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] Resource path resolve service on [/gazebo/resource[Msg] Ignition Gazebo GUI    v6.16.0
[ruby $(which ign) gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which ign) gazebo-1] [Dbg] [Application.cc:92] Initializing application.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/maze/state]...
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading config [/opt/ros/humble/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/maze/control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/maze/stats]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [WorldControl.cc:248] Using a service to share WorldControl msgs with the server
[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>) { ... }
[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
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315339233] [gz_ros2_control]: [ign_ros2_control] Fixed joint [bumper_joint] (Entity=215)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315525764] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_caster_joint] (Entity=216)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315539723] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_left_bottom_weight_block_joint] (Entity=217)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315548937] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_left_top_weight_block_joint] (Entity=218)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315557187] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_right_bottom_weight_block_joint] (Entity=219)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315565377] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_right_top_weight_block_joint] (Entity=220)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315573623] [gz_ros2_control]: [ign_ros2_control] Fixed joint [imu_joint] (Entity=221)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315581669] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_left_joint] (Entity=222)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315589497] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_right_joint] (Entity=223)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315597267] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_left_joint] (Entity=224)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315605174] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_right_joint] (Entity=225)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315613134] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_left_joint] (Entity=226)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315621059] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_right_joint] (Entity=227)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315629304] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_side_left_joint] (Entity=228)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315636553] [gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_omni_joint] (Entity=229)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315642771] [gz_ros2_control]: [ign_ros2_control] Fixed joint [mouse_joint] (Entity=230)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315648383] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_left_tower_standoff_joint] (Entity=231)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315654204] [gz_ros2_control]: [ign_ros2_control] Fixed joint [front_right_tower_standoff_joint] (Entity=232)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315660244] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_camera_bracket_joint] (Entity=233)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315666046] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_joint] (Entity=234)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315672286] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_imu_joint] (Entity=235)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315679024] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_left_camera_joint] (Entity=236)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315685983] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_left_camera_optical_joint] (Entity=237)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315693472] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_rgb_camera_joint] (Entity=238)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315701015] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_rgb_camera_optical_joint] (Entity=239)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315708403] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_right_camera_joint] (Entity=240)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315716080] [gz_ros2_control]: [ign_ros2_control] Fixed joint [oakd_right_camera_optical_joint] (Entity=241)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315723471] [gz_ros2_control]: [ign_ros2_control] Fixed joint [rear_left_tower_standoff_joint] (Entity=242)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315730778] [gz_ros2_control]: [ign_ros2_control] Fixed joint [rear_right_tower_stan[INFO] [launch]: All log files can be found below /home/au759518/.ros/log/2024-04-08-12-14-04-324353-d30855-3793056
[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 [3793135]
[INFO] [parameter_bridge-2]: process started with pid [3793137]
[INFO] [robot_state_publisher-3]: process started with pid [3793140]
[INFO] [joint_state_publisher-4]: process started with pid [3793143]
[INFO] [robot_state_publisher-5]: process started with pid [3793145]
[INFO] [static_transform_publisher-6]: process started with pid [3793147]
[INFO] [create-7]: process started with pid [3793149]
[INFO] [create-8]: process started with pid [3793151]
[INFO] [parameter_bridge-9]: process started with pid [3793153]
[INFO] [parameter_bridge-10]: process started with pid [3793156]
[INFO] [parameter_bridge-11]: process started with pid [3793160]
[INFO] [parameter_bridge-12]: process started with pid [3793163]
[INFO] [parameter_bridge-13]: process started with pid [3793165]
[INFO] [parameter_bridge-14]: process started with pid [3793167]
[INFO] [parameter_bridge-15]: process started with pid [3793169]
[INFO] [parameter_bridge-16]: process started with pid [3793171]
[INFO] [parameter_bridge-17]: process started with pid [3793173]
[INFO] [parameter_bridge-18]: process started with pid [3793175]
[INFO] [parameter_bridge-19]: process started with pid [3793177]
[INFO] [parameter_bridge-20]: process started with pid [3793179]
[INFO] [parameter_bridge-21]: process started with pid [3793181]
[INFO] [parameter_bridge-22]: process started with pid [3793183]
[INFO] [parameter_bridge-23]: process started with pid [3793185]
[INFO] [parameter_bridge-24]: process started with pid [3793187]
[INFO] [parameter_bridge-25]: process started with pid [3793189]
[INFO] [parameter_bridge-26]: process started with pid [3793191]
[INFO] [parameter_bridge-27]: process started with pid [3793193]
[INFO] [parameter_bridge-28]: process started with pid [3793195]
[INFO] [parameter_bridge-29]: process started with pid [3793197]
[INFO] [turtlebot4_node-30]: process started with pid [3793211]
[INFO] [turtlebot4_ignition_hmi_node-31]: process started with pid [3793235]
[INFO] [spawner-32]: process started with pid [3793254]
[INFO] [hazards_vector_publisher-33]: process started with pid [3793278]
[INFO] [ir_intensity_vector_publisher-34]: process started with pid [3793331]
[INFO] [motion_control-35]: process started with pid [3793409]
[INFO] [wheel_status_publisher-36]: process started with pid [3793441]
[INFO] [mock_publisher-37]: process started with pid [3793453]
[INFO] [robot_state-38]: process started with pid [3793488]
[INFO] [kidnap_estimator_publisher-39]: process started with pid [3793519]
[INFO] [ui_mgr-40]: process started with pid [3793538]
[INFO] [pose_republisher_node-41]: process started with pid [3793549]
[INFO] [sensors_node-42]: process started with pid [3793552]
[INFO] [interface_buttons_node-43]: process started with pid [3793555]
[INFO] [static_transform_publisher-44]: process started with pid [3793566]
[INFO] [static_transform_publisher-45]: process started with pid [3793569]
[INFO] [sync_slam_toolbox_node-46]: process started with pid [3793571]
[INFO] [controller_server-47]: process started with pid [3793578]
[INFO] [smoother_server-48]: process started with pid [3793581]
[INFO] [planner_server-49]: process started with pid [3793596]
[INFO] [behavior_server-50]: process started with pid [3793602]
[INFO] [bt_navigator-51]: process started with pid [3793619]
[INFO] [waypoint_follower-52]: process started with pid [3793621]
[INFO] [velocity_smoother-53]: process started with pid [3793624]
[INFO] [lifecycle_manager-54]: process started with pid [3793626]
[INFO] [rviz2-55]: process started with pid [3793628]
[parameter_bridge-2] [INFO] [1712571247.142438401] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[robot_state_publisher-3] [WARN] [1712571247.048395247] [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] [1712571247.065356396] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1712571247.065427456] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-3] [INFO] [1712571247.065439651] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-3] [INFO] [1712571247.065445851] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-3] [INFO] [1712571247.065451260] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-3] [INFO] [1712571247.065456654] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-3] [INFO] [1712571247.065462707] [robot_state_publisher]: got segment bumper
[robot_state_publisher-3] [INFO] [1712571247.065468948] [robot_state_publisher]: got segment button_1
[robot_state_publisher-3] [INFO] [1712571247.065474833] [robot_state_publisher]: got segment button_2
[robot_state_publisher-3] [INFO] [1712571247.065480738] [robot_state_publisher]: got segment button_power
[robot_state_publisher-3] [INFO] [1712571247.065487216] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-3] [INFO] [1712571247.065493677] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-3] [INFO] [1712571247.065500171] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-3] [INFO] [1712571247.065506661] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-3] [INFO] [1712571247.065512907] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-3] [INFO] [1712571247.065519349] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065526481] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065533332] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065539889] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065546302] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-3] [INFO] [1712571247.065552156] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065558474] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1712571247.065565359] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-3] [INFO] [1712571247.065572097] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-3] [INFO] [1712571247.065578651] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-3] [INFO] [1712571247.065585447] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-3] [INFO] [1712571247.065592402] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-3] [INFO] [1712571247.065598755] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-3] [INFO] [1712571247.065846779] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-3] [INFO] [1712571247.065869934] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-3] [INFO] [1712571247.065879812] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-3] [INFO] [1712571247.065888326] [robot_state_publisher]: got segment mouse
[robot_state_publisher-3] [INFO] [1712571247.065896620] [robot_state_publisher]: got segment oakd_camera_bracket
[robot_state_publisher-3] [INFO] [1712571247.065904949] [robot_state_publisher]: got segment oakd_imu_frame
[robot_state_publisher-3] [INFO] [1712571247.065914750] [robot_state_publisher]: got segment oakd_left_camera_frame
[robot_state_publisher-3] [INFO] [1712571247.065923462] [robot_state_publisher]: got segment oakd_left_camera_optical_frame
[robot_state_publisher-3] [INFO] [1712571247.065932149] [robot_state_publisher]: got segment oakd_link
[robot_state_publisher-3] [INFO] [1712571247.065940864] [robot_state_publisher]: got segment oakd_rgb_camera_frame
[robot_state_publisher-3] [INFO] [1712571247.065949399] [robot_state_publisher]: got segment oakd_rgb_camera_optical_frame
[robot_state_publisher-3] [INFO] [1712571247.065957813] [robot_state_publisher]: got segment oakd_right_camera_frame
[robot_state_publisher-3] [INFO] [1712571247.065966198] [robot_state_publisher]: got segment oakd_right_camera_optical_frame
[robot_state_publisher-3] [INFO] [1712571247.065974726] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065983606] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-3] [INFO] [1712571247.065992125] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-3] [INFO] [1712571247.066000694] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-3] [INFO] [1712571247.066042480] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-3] [INFO] [1712571247.066055599] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-3] [INFO] [1712571247.066064539] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-3] [INFO] [1712571247.066072775] [robot_state_publisher]: got segment wheel_drop_right
[robot_state_publisher-5] [WARN] [1712571247.049761174] [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] [1712571247.049895425] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-5] [INFO] [1712571247.050124523] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-5] [INFO] [1712571247.050139469] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-5] [INFO] [1712571247.050147856] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-5] [INFO] [1712571247.050155889] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-6] [WARN] [1712571246.979091577] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [INFO] [1712571247.026135997] [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] [1712571247.150803260] [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] [1712571247.071694779] [ros_gz_sim]: Requesting list of world names.
[parameter_bridge-9] [INFO] [1712571247.174546052] [cmd_vel_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (ignition.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-9] [INFO] [1712571247.198273568] [cmd_vel_bridge]: Creating ROS->GZ Bridge: [/model/turtlebot4/cmd_vel (geometry_msgs/msg/Twist) -> /model/turtlebot4/cmd_vel (ignition.msgs.Twist)] (Lazy 0)
[parameter_bridge-10] [INFO] [1712571247.118054577] [pose_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot4/pose (ignition.msgs.Pose_V) -> /model/turtlebot4/pose (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-10] [INFO] [1712571247.147389064] [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-12] [INFO] [1712571247.170163557] [bumper_contact_bridge]: Creating GZ->ROS Bridge: [/bumper_contact (ignition.msgs.Contacts) -> /bumper_contact (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
[parameter_bridge-17] [INFO] [1712571247.131007273] [ir_intensity_front_center_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-20] [INFO] [1712571247.112198272] [ir_intensity_front_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-23] [INFO] [1712571247.147085435] [ir_intensity_side_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-25] [INFO] [1712571247.165856757] [hmi_display_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/display/raw (std_msgs/msg/String) -> /hmi/display/raw (ignition.msgs.StringMsg)] (Lazy 0)
[parameter_bridge-25] [INFO] [1712571247.188639615] [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] [1712571247.125096441] [hmi_buttons_msg_bridge]: Creating GZ->ROS Bridge: [/hmi/buttons (ignition.msgs.Int32) -> /hmi/buttons (std_msgs/msg/Int32)] (Lazy 0)
[parameter_bridge-28] [INFO] [1712571247.163722482] [lidar_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.098037470] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (ignition.msgs.Image) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.107018056] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (ignition.msgs.Image) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.108590489] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (ignition.msgs.PointCloudPacked) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[parameter_bridge-29] [INFO] [1712571247.117717733] [camera_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (ignition.msgs.CameraInfo) -> /world/maze/model/turtlebot4/link/oakd_rgb_camera_frame/sensor/rgbd_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[turtlebot4_node-30] [INFO] [1712571247.175065051] [turtlebot4_node]: Init Turtlebot4 Node Main
[static_transform_publisher-44] [WARN] [1712571247.205971648] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-45] [WARN] [1712571247.211373846] []: Old-style arguments are deprecated; see --help for new-style arguments
[parameter_bridge-19] [INFO] [1712571247.327102900] [ir_intensity_front_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-13] [INFO] [1712571247.339214082] [cliff_front_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-24] [INFO] [1712571247.343832076] [buttons_msg_bridge]: Creating GZ->ROS Bridge: [/create3_buttons (ignition.msgs.Int32) -> /create3_buttons (std_msgs/msg/Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1712571247.355215698] [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-18] [INFO] [1712571247.365919137] [ir_intensity_front_center_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1712571247.369515550] [hazards_vector_publisher]: Advertised topic: hazard_detection
[hazards_vector_publisher-33] [INFO] [1712571247.371485307] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[rviz2-55] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[parameter_bridge-27] [INFO] [1712571247.390745838] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/motors (std_msgs/msg/Int32) -> /hmi/led/motors (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1712571247.391630137] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/comms (std_msgs/msg/Int32) -> /hmi/led/comms (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-27] [INFO] [1712571247.392364461] [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] [1712571247.393043656] [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] [1712571247.393699265] [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-15] [INFO] [1712571247.394424386] [cliff_side_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-11] [INFO] [1712571247.398793485] [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-27] [INFO] [1712571247.448919110] [hmi_led_msg_bridge]: Creating ROS->GZ Bridge: [/hmi/led/user2 (std_msgs/msg/Int32) -> /hmi/led/user2 (ignition.msgs.Int32)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712571247.452035877] [cliff_front_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1712571247.456572854] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-33] [INFO] [1712571247.459855275] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[hazards_vector_publisher-33] [INFO] [1712571247.460261187] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-33] [INFO] [1712571247.460618899] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[turtlebot4_node-30] [INFO] [1712571247.456639009] [turtlebot4_node]: Buttons Init
[turtlebot4_node-30] [INFO] [1712571247.460131670] [turtlebot4_node]: Init Display
[parameter_bridge-22] [INFO] [1712571247.462664474] [ir_intensity_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[hazards_vector_publisher-33] [INFO] [1712571247.463671500] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-33] [INFO] [1712571247.464109889] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-33] [INFO] [1712571247.464457621] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[turtlebot4_node-30] [INFO] [1712571247.478361999] [turtlebot4_node]: Leds Init
[mock_publisher-37] [INFO] [1712571247.481688916] [mock_publisher]: Advertised mocked topic: slip_status
[kidnap_estimator_publisher-39] [INFO] [1712571247.546742409] [kidnap_estimator_publisher]: Advertised topic: kidnap_status
[kidnap_estimator_publisher-39] [INFO] [1712571247.547472616] [kidnap_estimator_publisher]: Subscription to topic: hazard_detection
[ir_intensity_vector_publisher-34] [INFO] [1712571247.604395489] [ir_intensity_vector_publisher]: Advertised topic: ir_intensity
[ir_intensity_vector_publisher-34] [INFO] [1712571247.605596716] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-34] [INFO] [1712571247.606776892] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-34] [INFO] [1712571247.607796635] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-34] [INFO] [1712571247.608223360] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[ir_intensity_vector_publisher-34] [INFO] [1712571247.608672309] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-34] [INFO] [1712571247.609577320] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-34] [INFO] [1712571247.609994799] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[ui_mgr-40] [INFO] [1712571247.609384340] [ui_mgr]: Subscription to topic: cmd_lightring
[ui_mgr-40] [INFO] [1712571247.610767346] [ui_mgr]: Subscription to topic: cmd_audio
[static_transform_publisher-45] [INFO] [1712571247.614096575] [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-16] [INFO] [1712571247.634060887] [cliff_side_right_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[robot_state-38] [INFO] [1712571247.671093340] [robot_state]: Advertised topic: battery_state
[robot_state-38] [INFO] [1712571247.693843803] [robot_state]: Subscription to topic: dock_status
[robot_state-38] [INFO] [1712571247.696885637] [robot_state]: Advertised topic: stop_status
[robot_state-38] [INFO] [1712571247.700146727] [robot_state]: Subscription to topic: odom
[static_transform_publisher-44] [INFO] [1712571247.708878975] [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'
[wheel_status_publisher-36] [INFO] [1712571247.761535560] [wheel_status_publisher]: Advertised topic: wheel_vels
[wheel_status_publisher-36] [INFO] [1712571247.788757038] [wheel_status_publisher]: Advertised topic: wheel_ticks
[velocity_smoother-53] [INFO] [1712571247.798031535] [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.
[smoother_server-48] [INFO] [1712571247.803681913] [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.
[behavior_server-50] [INFO] [1712571247.833560173] [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.
[motion_control-35] [INFO] [1712571247.837589747] [motion_control]: Enabling REFLEX_BUMP
[motion_control-35] [INFO] [1712571247.839367129] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-35] [INFO] [1712571247.859769147] [motion_control]: Enabling REFLEX_STUCK
[smoother_server-48] [INFO] [1712571247.861084876] [smoother_server]: Creating smoother server
[motion_control-35] [INFO] [1712571247.861597036] [motion_control]: Enabling REFLEX_WHEEL_DROP
[bt_navigator-51] [INFO] [1712571247.876828645] [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] [1712571247.876976726] [bt_navigator]: Creating
[parameter_bridge-21] [INFO] [1712571247.899112766] [ir_intensity_left_bridge]: Creating GZ->ROS Bridge: [/world/maze/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (ignition.msgs.LaserScan) -> /world/maze/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[lifecycle_manager-54] [INFO] [1712571247.899770443] [lifecycle_manager_navigation]: Creating
[sync_slam_toolbox_node-46] [INFO] [1712571247.915594107] [slam_toolbox]: Node using stack size 40000000
[lifecycle_manager-54] [INFO] [1712571248.013449726] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[ruby $(which ign) gazebo-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[waypoint_follower-52] [INFO] [1712571248.089718757] [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] [1712571248.104349692] [waypoint_follower]: Creating
[planner_server-49] [INFO] [1712571248.100762315] [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] [1712571248.105757209] [planner_server]: Creating
[controller_server-47] [INFO] [1712571248.113397364] [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] [1712571248.118411565] [controller_server]: Creating controller server
[planner_server-49] [INFO] [1712571248.416660809] [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] [1712571248.419432336] [global_costmap.global_costmap]: Creating Costmap
[turtlebot4_node-30] [INFO] [1712571248.448547221] [turtlebot4_node]: Turtlebot4 standard running.
[controller_server-47] [INFO] [1712571248.515600946] [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] [1712571248.516178889] [local_costmap.local_costmap]: Creating Costmap
[parameter_bridge-27] [INFO] [1712571248.523773927] [hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[sync_slam_toolbox_node-46] [INFO] [1712571248.700603147] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[sync_slam_toolbox_node-46] [INFO] [1712571248.702575401] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[create-7] [INFO] [1712571248.763265333] [ros_gz_sim]: Waiting messages on topic [robot_description].
[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 [maze.sdf] from the GUI.
[ruby $(which ign) gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo Server v6.16.0
[ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/maze.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/maze/create]
[ruby $(which ign) gazebo-1] [Msg] Remove service on [/world/maze/remove]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/maze/set_pose]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/maze/set_pose_vector]
[ruby $(which ign) gazebo-1] [Msg] Light configuration service on [/world/maze/light_config]
[ruby $(which ign) gazebo-1] [Msg] Physics service on [/world/maze/set_physics]
[ruby $(which ign) gazebo-1] [Msg] SphericalCoordinates service on [/world/maze/set_spherical_coordinates]
[ruby $(which ign) gazebo-1] [Msg] Enable collision service on [/world/maze/enable_collision]
[ruby $(which ign) gazebo-1] [Msg] Disable collision service on [/world/maze/disable_collision]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/maze/visual_config]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/maze/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::Contact] for entity [1]
[ruby $(which ign) gazebo-1] [Msg] Loaded level [3]
[ruby $(which ign) gazebo-1] [Msg] Serving world controls on [/world/maze/control], [/world/maze/control/state] and [/world/maze/playback/control]
[ruby $(which ign) gazebo-1] [Msg] Serving GUI information on [/world/maze/gui/info]
[ruby $(which ign) gazebo-1] [Msg] World [maze] initialized with [1ms] physics profile.
[ruby $(which ign) gazebo-1] [Msg] Serving world SDF generation service on [/world/maze/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].
[create-8] [INFO] [1712571248.856939550] [ros_gz_sim]: Waiting messages on topic [standard_dock_description].
[joint_state_publisher-4] [INFO] [1712571248.905600404] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[create-7] [INFO] [1712571248.908170156] [ros_gz_sim]: Requested creation of entity.
[create-7] [INFO] [1712571248.908212861] [ros_gz_sim]: OK creation of entity.
[create-8] [INFO] [1712571249.119903168] [ros_gz_sim]: Requested creation of entity.
[create-8] [INFO] [1712571249.119948606] [ros_gz_sim]: OK creation of entity.
[INFO] [create-7]: process has finished cleanly [pid 3793149]
[rviz2-55] [INFO] [1712571249.416161803] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-55] [INFO] [1712571249.422846213] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-55] [INFO] [1712571249.578605989] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [create-8]: process has finished cleanly [pid 3793151]
[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>) { ... }
[parameter_bridge-25] [INFO] [1712571249.701789074] [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] [1712571249.701899091] [hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Gazebo gz.msgs.Int32 (showing msg only once per type)
[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>) { ... }
[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>) { ... }
[lifecycle_manager-54] [INFO] [1712571249.799542173] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-54] [INFO] [1712571249.799593057] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-47] [INFO] [1712571249.800043059] [controller_server]: Configuring controller interface
[controller_server-47] [INFO] [1712571249.800535492] [controller_server]: getting goal checker plugins..
[controller_server-47] [INFO] [1712571249.800770401] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-47] [INFO] [1712571249.800833188] [local_costmap.local_costmap]: Configuring
[controller_server-47] [INFO] [1712571249.814705703] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-47] [INFO] [1712571249.825361692] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-47] [INFO] [1712571249.828918246] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-47] [INFO] [1712571249.828947632] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-47] [INFO] [1712571249.831812276] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-47] [INFO] [1712571249.856572176] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-47] [INFO] [1712571249.856623994] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-47] [INFO] [1712571249.859359979] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-47] [INFO] [1712571249.882350177] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-47] [INFO] [1712571249.885159093] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-47] [INFO] [1712571249.887809827] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-47] [INFO] [1712571249.892900413] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-47] [INFO] [1712571249.897129386] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-47] [INFO] [1712571249.928136242] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-47] [INFO] [1712571249.929625891] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.929962887] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-47] [INFO] [1712571249.931178877] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.931488056] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-47] [INFO] [1712571249.932005275] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.932279289] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-47] [INFO] [1712571249.933055425] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.933351340] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-47] [INFO] [1712571249.934651024] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.935049360] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-47] [INFO] [1712571249.935792746] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.936184798] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-47] [INFO] [1712571249.936982884] [controller_server]: Critic plugin initialized
[controller_server-47] [INFO] [1712571249.937013956] [controller_server]: Controller Server has FollowPath  controllers available.
[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.
[lifecycle_manager-54] [INFO] [1712571249.961634955] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-48] [INFO] [1712571249.961986975] [smoother_server]: Configuring smoother server
[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>) { ... }
[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>) { ... }
[smoother_server-48] [INFO] [1712571249.983538692] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-48] [INFO] [1712571249.991394730] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-54] [INFO] [1712571250.009233149] [lifecycle_manager_navigation]: Configuring planner_server
[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] Resource path resolve service on [/gazebo/resource[Msg] Ignition Gazebo GUI    v6.16.0
[ruby $(which ign) gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which ign) gazebo-1] [Dbg] [Application.cc:92] Initializing application.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/maze/state]...
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading config [/opt/ros/humble/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/maze/control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/maze/stats]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [WorldControl.cc:248] Using a service to share WorldControl msgs with the server
[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>) { ... }
doff_joint] (Entity=243)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315738582] [gz_ros2_control]: [ign_ros2_control] Fixed joint [rplidar_joint] (Entity=244)] is skipped
[ruby $(which ign) gazebo-1] [INFO] [1712571250.315746378] [gz_ros2_control]: [ign_ros2_control] Fixed joint [tower_sensor_plate_joint] (Entity=245)] is skipped
[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] [1712571250.629300061] [planner_server]: Configuring
[planner_server-49] [INFO] [1712571250.629358440] [global_costmap.global_costmap]: Configuring
[ruby $(which ign) gazebo-1] [INFO] [1712571250.665909229] [gz_ros2_control]: connected to service!! robot_state_publisher asking for robot_description
[ruby $(which ign) gazebo-1] [INFO] [1712571250.669140784] [gz_ros2_control]: Received URDF from param server
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705461623] [gz_ros2_control]: The position_proportional_gain has been set to: 0.1
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705550297] [gz_ros2_control]: Loading joint: left_wheel_joint
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705575651] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705590727] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705602277] [gz_ros2_control]:        position
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705611221] [gz_ros2_control]:   Command:
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705620871] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705857393] [gz_ros2_control]: Loading sensor: imu
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705879663] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1712571250.705921310] [resource_manager]: Initialize hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [WARN] [1712571250.705947120] [gz_ros2_control]: On init...
[ruby $(which ign) gazebo-1] [INFO] [1712571250.706030186] [resource_manager]: Successful initialization of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1712571250.706086126] [resource_manager]: 'configure' hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1712571250.706093172] [gz_ros2_control]: System Successfully configured!
[ruby $(which ign) gazebo-1] [INFO] [1712571250.706111922] [resource_manager]: Successful 'configure' of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1712571250.706120428] [resource_manager]: 'activate' hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1712571250.706127849] [resource_manager]: Successful 'activate' of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'
[ruby $(which ign) gazebo-1]   what():  parameter 'position_proportional_gain' has already been declared
[ruby $(which ign) gazebo-1] Stack trace (most recent call last):
[ruby $(which ign) gazebo-1] #31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa34c96, in 
[ruby $(which ign) gazebo-1] #30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa31fc5, in 
[ruby $(which ign) gazebo-1] #29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa2fc34, in 
[ruby $(which ign) gazebo-1] #28   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x79e0dfb9b44b, in 
[ruby $(which ign) gazebo-1] #27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0df9fd088, in rb_nogvl
[ruby $(which ign) gazebo-1] #26   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x79e0dfb9ad6b, in 
[ruby $(which ign) gazebo-1] #25   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x79e0dfb8c492, in 
[ruby $(which ign) gazebo-1] #24   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x79e0dfb8fe2d, in 
[ruby $(which ign) gazebo-1] #23   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.16.0", at 0x79e0dadaee20, in runServer
[ruby $(which ign) gazebo-1] #22   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da81fad9, in 
[ruby $(which ign) gazebo-1] #21   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da830d3a, in ignition::gazebo::v6::SimulationRunner::Run(unsigned long)
[ruby $(which ign) gazebo-1] #20   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da8305cd, in ignition::gazebo::v6::SimulationRunner::Step(ignition::gazebo::v6::UpdateInfo const&)
[ruby $(which ign) gazebo-1] #19   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da827549, in ignition::gazebo::v6::SimulationRunner::UpdateSystems()
[ruby $(which ign) gazebo-1] #18   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x79e0b07897b8, in ignition::gazebo::v6::systems::UserCommands::PreUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager&)
[ruby $(which ign) gazebo-1] #17   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x79e0b078e5fc, in ignition::gazebo::v6::systems::CreateCommand::Execute()
[ruby $(which ign) gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da7f2d7f, in ignition::gazebo::v6::SdfEntityCreator::CreateEntities(sdf::v12::Model const*)
[ruby $(which ign) gazebo-1] #15   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da803275, in void ignition::gazebo::v6::EventManager::Emit<ignition::common::EventT<void (unsigned long, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> >), ignition::gazebo::v6::events::LoadPluginsTag>, unsigned long const&, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> > const&>(unsigned long const&, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> > const&)
[ruby $(which ign) gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da827788, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> > const&)
[ruby $(which ign) gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da842265, in ignition::gazebo::v6::SystemManager::LoadPlugin(unsigned long, sdf::v12::Plugin const&)
[ruby $(which ign) gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da841f66, in ignition::gazebo::v6::SystemManager::AddSystem(ignition::plugin::TemplatePluginPtr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v6::System, ignition::gazebo::v6::ISystemConfigure, ignition::gazebo::v6::ISystemPreUpdate, ignition::gazebo::v6::ISystemUpdate, ignition::gazebo::v6::ISystemPostUpdate> > const&, unsigned long, std::shared_ptr<sdf::v12::Element const>)
[ruby $(which ign) gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x79e0da841900, in ignition::gazebo::v6::SystemManager::AddSystemImpl(ignition::gazebo::v6::SystemInternal, std::shared_ptr<sdf::v12::Element const>)
[ruby $(which ign) gazebo-1] #10   Object "/opt/ros/humble/lib/libign_ros2_control-system.so", at 0x79e0b02a2954, in ign_ros2_control::IgnitionROS2ControlPlugin::Configure(unsigned long const&, std::shared_ptr<sdf::v12::Element const> const&, ignition::gazebo::v6::EntityComponentManager&, ignition::gazebo::v6::EventManager&)
[ruby $(which ign) gazebo-1] #9    Object "/opt/ros/humble/lib/libign_hardware_plugins.so", at 0x79e09d2e59f9, in ign_ros2_control::IgnitionSystem::initSim(std::shared_ptr<rclcpp::Node>&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned long, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned long> > >&, hardware_interface::HardwareInfo const&, ignition::gazebo::v6::EntityComponentManager&, int&)
[ruby $(which ign) gazebo-1] #8    Object "/opt/ros/humble/lib/librclcpp.so", at 0x79e0ad318a76, in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool)
[ruby $(which ign) gazebo-1] #7    Object "/opt/ros/humble/lib/librclcpp.so", at 0x79e0ad2c61c3, in 
[ruby $(which ign) gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x79e0db6ae4d7, in __cxa_throw
[ruby $(which ign) gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x79e0db6ae276, in std::terminate()
[ruby $(which ign) gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x79e0db6ae20b, in 
[ruby $(which ign) gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x79e0db6a2b9d, in 
[ruby $(which ign) gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df4287f2, in abort
[ruby $(which ign) gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df442475, in raise
[ruby $(which ign) gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df4969fc, in pthread_kill
[ruby $(which ign) gazebo-1] Aborted (Signal sent by tkill() 3793947 1426681560)
[planner_server-49] [INFO] [1712571250.725421079] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-49] [INFO] [1712571250.753972598] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-49] [INFO] [1712571250.759528752] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-49] [INFO] [1712571250.759634217] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-49] [INFO] [1712571250.782539519] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-49] [INFO] [1712571250.796536358] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-49] [INFO] [1712571250.796602887] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-49] [INFO] [1712571250.809079386] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[spawner-32] [INFO] [1712571250.811462722] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[planner_server-49] [INFO] [1712571250.847492367] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-49] [INFO] [1712571250.847528294] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-49] [INFO] [1712571250.850639690] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-54] [INFO] [1712571250.882983470] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-50] [INFO] [1712571250.883551139] [behavior_server]: Configuring
[behavior_server-50] [INFO] [1712571250.902307459] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-50] [INFO] [1712571250.906721887] [behavior_server]: Configuring spin
[behavior_server-50] [INFO] [1712571250.927595595] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-50] [INFO] [1712571250.929631861] [behavior_server]: Configuring backup
[behavior_server-50] [INFO] [1712571250.947002773] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-50] [INFO] [1712571250.949512848] [behavior_server]: Configuring drive_on_heading
[behavior_server-50] [INFO] [1712571250.970986392] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-50] [INFO] [1712571250.974275286] [behavior_server]: Configuring assisted_teleop
[behavior_server-50] [INFO] [1712571250.992758090] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-50] [INFO] [1712571250.994155675] [behavior_server]: Configuring wait
[lifecycle_manager-54] [INFO] [1712571251.007223318] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-51] [INFO] [1712571251.007555844] [bt_navigator]: Configuring
[ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen
[lifecycle_manager-54] [INFO] [1712571251.241372043] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-52] [INFO] [1712571251.241667460] [waypoint_follower]: Configuring
[waypoint_follower-52] [INFO] [1712571251.273336220] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-54] [INFO] [1712571251.275865554] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-53] [INFO] [1712571251.276403923] [velocity_smoother]: Configuring velocity smoother
[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.
[lifecycle_manager-54] [INFO] [1712571251.286669756] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-47] [INFO] [1712571251.286860164] [controller_server]: Activating
[controller_server-47] [INFO] [1712571251.286891268] [local_costmap.local_costmap]: Activating
[controller_server-47] [INFO] [1712571251.286902919] [local_costmap.local_costmap]: Checking transform
[controller_server-47] [INFO] [1712571251.286929013] [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] [1712571251.786973640] [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] [1712571252.286984569] [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] [1712571252.787044415] [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] [1712571252.823158623] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[controller_server-47] [INFO] [1712571253.286988623] [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] [1712571253.786975456] [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] [1712571254.286978604] [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] [1712571254.786981830] [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] [1712571254.832248093] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[controller_server-47] [INFO] [1712571255.287021720] [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] [1712571255.786977219] [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] [1712571256.287006406] [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] [1712571256.786975469] [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] [1712571256.841384057] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[controller_server-47] [INFO] [1712571257.286981071] [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] [1712571257.786979837] [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] [Application.cc:797] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:251: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:219: TypeError: Cannot read property 'showPluginMenu' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:202: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:188: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/maze/stats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene.
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Turtlebot4Hmi]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Turtlebot4 HMI] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Turtlebot4Hmi] from path [/opt/ros/humble/share/turtlebot4_ignition_gui_plugins/lib/libTurtlebot4Hmi.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Teleop]
[ruby $(which ign) gazebo-1] [GUI] [Msg] A new topic has been entered: '/cmd_vel ' 
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Teleop] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Teleop] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libTeleop.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [RenderUtil.cc:2591] Create scene [scene]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [TransformControl.cc:531] TransformControl plugin is using camera [scene::Camera(65527)]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:472] Shutting down ign-gazebo-gui
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:140] Terminating application.
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Scene3D.cc:2165] Destroy scene [scene]
[ruby $(which ign) gazebo-1] Stack trace (most recent call last):
[ruby $(which ign) gazebo-1] #19   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which ign) gazebo-1] #18   Object "ign gazebo gui", at 0x581d94bf91c4, in _start
[ruby $(which ign) gazebo-1] #17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df429e3f, in __libc_start_main
[ruby $(which ign) gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df429d8f, in 
[ruby $(which ign) gazebo-1] #15   Object "ign gazebo gui", at 0x581d94bf917e, in 
[ruby $(which ign) gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0df8a8e19, in ruby_run_node
[ruby $(which ign) gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0df8a5317, in 
[ruby $(which ign) gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa3a30c, in rb_vm_exec
[ruby $(which ign) gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa34c96, in 
[ruby $(which ign) gazebo-1] #10   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa31fc5, in 
[ruby $(which ign) gazebo-1] #9    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0dfa2fc34, in 
[ruby $(which ign) gazebo-1] #8    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0df97ba27, in 
[ruby $(which ign) gazebo-1] #7    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x79e0df8a8db5, in ruby_stop
[ruby $(which ign) gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df44560f, in exit
[ruby $(which ign) gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x79e0df445494, in 
[ruby $(which ign) gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x79e0d829c64c, in 
[ruby $(which ign) gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x79e0d82aa611, in 
[ruby $(which ign) gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x79e0d82c544c, in QQmlPropertyCache::~QQmlPropertyCache()
[ruby $(which ign) gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x79e0d82c5108, in QQmlPropertyCache::~QQmlPropertyCache()
[ruby $(which ign) gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x79e0d8260ff0, in 
[ruby $(which ign) gazebo-1] Segmentation fault (Address not mapped to object [0x79e0700b1f80])
[controller_server-47] [INFO] [1712571258.286982678] [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] [ERROR] [1712571258.649015310] [spawner_joint_state_broadcaster]: Controller manager not available
[controller_server-47] [INFO] [1712571258.787009435] [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.
[ERROR] [spawner-32]: process has died [pid 3793254, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --ros-args -r __ns:=/'].
[INFO] [spawner-56]: process started with pid [3795015]
[controller_server-47] [INFO] [1712571259.287511225] [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.
[INFO] [ruby $(which ign) gazebo-1]: process has finished cleanly [pid 3793135]
[INFO] [launch]: process[ruby $(which ign) gazebo-1] was required: shutting down launched system
[INFO] [spawner-56]: sending signal 'SIGINT' to process[spawner-56]
[INFO] [rviz2-55]: sending signal 'SIGINT' to process[rviz2-55]
[INFO] [lifecycle_manager-54]: sending signal 'SIGINT' to process[lifecycle_manager-54]
[INFO] [velocity_smoother-53]: sending signal 'SIGINT' to process[velocity_smoother-53]
[ERROR] [spawner-56]: process has died [pid 3795015, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller -c controller_manager --ros-args -r __ns:=/ --params-file /opt/ros/humble/share/irobot_create_control/config/control.yaml'].
[INFO] [waypoint_follower-52]: sending signal 'SIGINT' to process[waypoint_follower-52]
[INFO] [bt_navigator-51]: sending signal 'SIGINT' to process[bt_navigator-51]
[INFO] [behavior_server-50]: sending signal 'SIGINT' to process[behavior_server-50]
[INFO] [planner_server-49]: sending signal 'SIGINT' to process[planner_server-49]
[INFO] [smoother_server-48]: sending signal 'SIGINT' to process[smoother_server-48]
[INFO] [controller_server-47]: sending signal 'SIGINT' to process[controller_server-47]
[INFO] [sync_slam_toolbox_node-46]: sending signal 'SIGINT' to process[sync_slam_toolbox_node-46]
[INFO] [static_transform_publisher-45]: sending signal 'SIGINT' to process[static_transform_publisher-45]
[INFO] [static_transform_publisher-44]: sending signal 'SIGINT' to process[static_transform_publisher-44]
[INFO] [velocity_smoother-53]: process has finished cleanly [pid 3793624]
[INFO] [interface_buttons_node-43]: sending signal 'SIGINT' to process[interface_buttons_node-43]
[INFO] [sensors_node-42]: sending signal 'SIGINT' to process[sensors_node-42]
[INFO] [pose_republisher_node-41]: sending signal 'SIGINT' to process[pose_republisher_node-41]
[INFO] [waypoint_follower-52]: process has finished cleanly [pid 3793621]
[INFO] [ui_mgr-40]: sending signal 'SIGINT' to process[ui_mgr-40]
[INFO] [kidnap_estimator_publisher-39]: sending signal 'SIGINT' to process[kidnap_estimator_publisher-39]
[INFO] [robot_state-38]: sending signal 'SIGINT' to process[robot_state-38]
[INFO] [static_transform_publisher-45]: process has finished cleanly [pid 3793569]
[INFO] [mock_publisher-37]: sending signal 'SIGINT' to process[mock_publisher-37]
[INFO] [wheel_status_publisher-36]: sending signal 'SIGINT' to process[wheel_status_publisher-36]
[INFO] [static_transform_publisher-44]: process has finished cleanly [pid 3793566]
[INFO] [sync_slam_toolbox_node-46]: process has finished cleanly [pid 3793571]
[INFO] [behavior_server-50]: process has finished cleanly [pid 3793602]
[INFO] [motion_control-35]: sending signal 'SIGINT' to process[motion_control-35]
[INFO] [smoother_server-48]: process has finished cleanly [pid 3793581]
[INFO] [ir_intensity_vector_publisher-34]: sending signal 'SIGINT' to process[ir_intensity_vector_publisher-34]
[INFO] [interface_buttons_node-43]: process has finished cleanly [pid 3793555]
[INFO] [hazards_vector_publisher-33]: sending signal 'SIGINT' to process[hazards_vector_publisher-33]
[INFO] [bt_navigator-51]: process has finished cleanly [pid 3793619]
[INFO] [turtlebot4_ignition_hmi_node-31]: sending signal 'SIGINT' to process[turtlebot4_ignition_hmi_node-31]
[INFO] [turtlebot4_node-30]: sending signal 'SIGINT' to process[turtlebot4_node-30]
[INFO] [parameter_bridge-29]: sending signal 'SIGINT' to process[parameter_bridge-29]
[INFO] [kidnap_estimator_publisher-39]: process has finished cleanly [pid 3793519]
[INFO] [pose_republisher_node-41]: process has finished cleanly [pid 3793549]
[INFO] [parameter_bridge-28]: sending signal 'SIGINT' to process[parameter_bridge-28]
[INFO] [ui_mgr-40]: process has finished cleanly [pid 3793538]
[INFO] [mock_publisher-37]: process has finished cleanly [pid 3793453]
[INFO] [planner_server-49]: process has finished cleanly [pid 3793596]
[INFO] [robot_state-38]: process has finished cleanly [pid 3793488]
[INFO] [parameter_bridge-27]: sending signal 'SIGINT' to process[parameter_bridge-27]
[INFO] [wheel_status_publisher-36]: process has finished cleanly [pid 3793441]
[INFO] [sensors_node-42]: process has finished cleanly [pid 3793552]
[INFO] [parameter_bridge-26]: sending signal 'SIGINT' to process[parameter_bridge-26]
[INFO] [parameter_bridge-25]: sending signal 'SIGINT' to process[parameter_bridge-25]
[INFO] [ir_intensity_vector_publisher-34]: process has finished cleanly [pid 3793331]
[INFO] [parameter_bridge-24]: sending signal 'SIGINT' to process[parameter_bridge-24]
[INFO] [parameter_bridge-23]: sending signal 'SIGINT' to process[parameter_bridge-23]
[INFO] [hazards_vector_publisher-33]: process has finished cleanly [pid 3793278]
[INFO] [parameter_bridge-22]: sending signal 'SIGINT' to process[parameter_bridge-22]
[INFO] [turtlebot4_ignition_hmi_node-31]: process has finished cleanly [pid 3793235]
[INFO] [parameter_bridge-21]: sending signal 'SIGINT' to process[parameter_bridge-21]
[INFO] [motion_control-35]: process has finished cleanly [pid 3793409]
[INFO] [parameter_bridge-20]: sending signal 'SIGINT' to process[parameter_bridge-20]
[INFO] [parameter_bridge-29]: process has finished cleanly [pid 3793197]
[INFO] [parameter_bridge-19]: sending signal 'SIGINT' to process[parameter_bridge-19]
[INFO] [parameter_bridge-28]: process has finished cleanly [pid 3793195]
[INFO] [parameter_bridge-18]: sending signal 'SIGINT' to process[parameter_bridge-18]
[INFO] [parameter_bridge-17]: sending signal 'SIGINT' to process[parameter_bridge-17]
[INFO] [turtlebot4_node-30]: process has finished cleanly [pid 3793211]
[INFO] [parameter_bridge-27]: process has finished cleanly [pid 3793193]
[INFO] [parameter_bridge-16]: sending signal 'SIGINT' to process[parameter_bridge-16]
[INFO] [parameter_bridge-26]: process has finished cleanly [pid 3793191]
[INFO] [parameter_bridge-15]: sending signal 'SIGINT' to process[parameter_bridge-15]
[INFO] [parameter_bridge-14]: sending signal 'SIGINT' to process[parameter_bridge-14]
[INFO] [parameter_bridge-25]: process has finished cleanly [pid 3793189]
[INFO] [parameter_bridge-13]: sending signal 'SIGINT' to process[parameter_bridge-13]
[INFO] [parameter_bridge-24]: process has finished cleanly [pid 3793187]
[INFO] [parameter_bridge-23]: process has finished cleanly [pid 3793185]
[INFO] [parameter_bridge-12]: sending signal 'SIGINT' to process[parameter_bridge-12]
[INFO] [parameter_bridge-22]: process has finished cleanly [pid 3793183]
[INFO] [parameter_bridge-11]: sending signal 'SIGINT' to process[parameter_bridge-11]
[INFO] [parameter_bridge-10]: sending signal 'SIGINT' to process[parameter_bridge-10]
[INFO] [parameter_bridge-21]: process has finished cleanly [pid 3793181]
[INFO] [parameter_bridge-20]: process has finished cleanly [pid 3793179]
[INFO] [parameter_bridge-9]: sending signal 'SIGINT' to process[parameter_bridge-9]
[INFO] [parameter_bridge-19]: process has finished cleanly [pid 3793177]
[INFO] [static_transform_publisher-6]: sending signal 'SIGINT' to process[static_transform_publisher-6]
[INFO] [parameter_bridge-18]: process has finished cleanly [pid 3793175]
[INFO] [robot_state_publisher-5]: sending signal 'SIGINT' to process[robot_state_publisher-5]
[INFO] [parameter_bridge-17]: process has finished cleanly [pid 3793173]
[INFO] [joint_state_publisher-4]: sending signal 'SIGINT' to process[joint_state_publisher-4]
[INFO] [robot_state_publisher-3]: sending signal 'SIGINT' to process[robot_state_publisher-3]
[INFO] [parameter_bridge-16]: process has finished cleanly [pid 3793171]
[INFO] [parameter_bridge-2]: sending signal 'SIGINT' to process[parameter_bridge-2]
[INFO] [parameter_bridge-15]: process has finished cleanly [pid 3793169]
[INFO] [parameter_bridge-14]: process has finished cleanly [pid 3793167]
[spawner-56] Traceback (most recent call last):
[spawner-56]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-56]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[spawner-56]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[spawner-56]     if not wait_for_controller_manager(
[spawner-56]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[spawner-56]     node_and_namespace = wait_for_value_or(
[spawner-56]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[spawner-56]     time.sleep(0.2)
[spawner-56] KeyboardInterrupt
[INFO] [parameter_bridge-13]: process has finished cleanly [pid 3793165]
[rviz2-55] [INFO] [1712571259.481811586] [rclcpp]: signal_handler(signum=2)
[rviz2-55] 
[rviz2-55] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-55] This error state is being overwritten:
[rviz2-55] 
[rviz2-55]   'rcl node's context is invalid, at ./src/rcl/node.c:428'
[rviz2-55] 
[rviz2-55] with this new error message:
[rviz2-55] 
[rviz2-55]   'the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130'
[rviz2-55] 
[rviz2-55] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-55] <<<
[rviz2-55] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-55]   what():  failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130
[lifecycle_manager-54] [INFO] [1712571259.506514717] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-54] [INFO] [1712571259.506640516] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation)
[velocity_smoother-53] [INFO] [1712571259.529765669] [rclcpp]: signal_handler(signum=2)
[velocity_smoother-53] [INFO] [1712571259.529846001] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)
[velocity_smoother-53] [INFO] [1712571259.529897068] [velocity_smoother]: Cleaning up
[velocity_smoother-53] [INFO] [1712571259.529921981] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[velocity_smoother-53] [INFO] [1712571259.533943916] [velocity_smoother]: Destroying
[waypoint_follower-52] [INFO] [1712571259.554634815] [rclcpp]: signal_handler(signum=2)
[waypoint_follower-52] [INFO] [1712571259.554728507] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)
[waypoint_follower-52] [INFO] [1712571259.554796453] [waypoint_follower]: Cleaning up
[waypoint_follower-52] [INFO] [1712571259.573747950] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[bt_navigator-51] [INFO] [1712571259.576364352] [rclcpp]: signal_handler(signum=2)
[bt_navigator-51] [INFO] [1712571259.576453246] [bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator)
[bt_navigator-51] [INFO] [1712571259.576525196] [bt_navigator]: Cleaning up
[waypoint_follower-52] [INFO] [1712571259.590606358] [waypoint_follower]: Destroying
[behavior_server-50] [INFO] [1712571259.597309471] [rclcpp]: signal_handler(signum=2)
[behavior_server-50] [INFO] [1712571259.597423960] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[behavior_server-50] [INFO] [1712571259.597496848] [behavior_server]: Cleaning up
[behavior_server-50] [INFO] [1712571259.610405183] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[planner_server-49] [INFO] [1712571259.618524872] [rclcpp]: signal_handler(signum=2)
[planner_server-49] [INFO] [1712571259.618769857] [global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)
[planner_server-49] [INFO] [1712571259.618867280] [global_costmap.global_costmap]: Cleaning up
[planner_server-49] [INFO] [1712571259.632173695] [global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager.
[planner_server-49] [INFO] [1712571259.632270557] [planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server)
[planner_server-49] [INFO] [1712571259.632296882] [planner_server]: Cleaning up
[smoother_server-48] [INFO] [1712571259.640927653] [rclcpp]: signal_handler(signum=2)
[smoother_server-48] [INFO] [1712571259.641104157] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server)
[smoother_server-48] [INFO] [1712571259.641173456] [smoother_server]: Cleaning up
[controller_server-47] [INFO] [1712571259.663826700] [rclcpp]: signal_handler(signum=2)
[controller_server-47] [INFO] [1712571259.663977476] [local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)
[controller_server-47] [INFO] [1712571259.664054721] [local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager.
[controller_server-47] [INFO] [1712571259.664075106] [controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server)
[controller_server-47] [INFO] [1712571259.664089391] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[controller_server-47] [INFO] [1712571259.664316743] [local_costmap.local_costmap]: start
[controller_server-47] [ERROR] [1712571259.665446956] [local_costmap.local_costmap]: Caught exception in callback for transition 13
[controller_server-47] [ERROR] [1712571259.665463025] [local_costmap.local_costmap]: Original error: could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428
[controller_server-47] [ERROR] [1712571259.665492440] [local_costmap.local_costmap]: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368)
[controller_server-47] [INFO] [1712571259.665534631] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[controller_server-47] [ERROR] [1712571259.665771100] [controller_server]: Caught exception in callback for transition 13
[controller_server-47] [ERROR] [1712571259.665778124] [controller_server]: Original error: could not create publisher: rcl node's context is invalid, at ./src/rcl/node.c:428
[controller_server-47] [ERROR] [1712571259.665788707] [controller_server]: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368)
[sync_slam_toolbox_node-46] [INFO] [1712571259.689220470] [rclcpp]: signal_handler(signum=2)
[smoother_server-48] [INFO] [1712571259.695898524] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[smoother_server-48] [INFO] [1712571259.711077846] [smoother_server]: Destroying
[static_transform_publisher-45] [INFO] [1712571259.725033740] [rclcpp]: signal_handler(signum=2)
[bt_navigator-51] [INFO] [1712571259.734632016] [bt_navigator]: Completed Cleaning up
[bt_navigator-51] [INFO] [1712571259.734694308] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[planner_server-49] [INFO] [1712571259.735612700] [planner_server]: Cleaning up plugin GridBased of type NavfnPlanner
[planner_server-49] [INFO] [1712571259.735663807] [planner_server]: Destroying plugin GridBased of type NavfnPlanner
[static_transform_publisher-44] [INFO] [1712571259.756357763] [rclcpp]: signal_handler(signum=2)
[behavior_server-50] [INFO] [1712571259.758446551] [behavior_server]: Destroying
[controller_server-47] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[controller_server-47]          at line 127 in ./src/class_loader.cpp
[controller_server-47] terminate called without an active exception
[interface_buttons_node-43] [INFO] [1712571259.783555989] [rclcpp]: signal_handler(signum=2)
[sensors_node-42] [INFO] [1712571259.813735423] [rclcpp]: signal_handler(signum=2)
[planner_server-49] [INFO] [1712571259.825835795] [planner_server]: Destroying bond (planner_server) to lifecycle manager.
[planner_server-49] [INFO] [1712571259.836804089] [global_costmap.global_costmap]: Destroying
[pose_republisher_node-41] [INFO] [1712571259.843829702] [rclcpp]: signal_handler(signum=2)
[bt_navigator-51] [INFO] [1712571259.860707625] [bt_navigator]: Destroying
[ui_mgr-40] [INFO] [1712571259.873999739] [rclcpp]: signal_handler(signum=2)
[kidnap_estimator_publisher-39] [INFO] [1712571259.904731005] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-12]: process has finished cleanly [pid 3793163]
[robot_state-38] [INFO] [1712571259.936906576] [rclcpp]: signal_handler(signum=2)
[planner_server-49] [INFO] [1712571259.942887834] [planner_server]: Destroying
[mock_publisher-37] [INFO] [1712571259.959925282] [rclcpp]: signal_handler(signum=2)
[wheel_status_publisher-36] [INFO] [1712571259.987306443] [rclcpp]: signal_handler(signum=2)
[motion_control-35] [INFO] [1712571260.012431610] [rclcpp]: signal_handler(signum=2)
[ir_intensity_vector_publisher-34] [INFO] [1712571260.031793908] [rclcpp]: signal_handler(signum=2)
[hazards_vector_publisher-33] [INFO] [1712571260.050808077] [rclcpp]: signal_handler(signum=2)
[turtlebot4_ignition_hmi_node-31] [INFO] [1712571260.072158700] [rclcpp]: signal_handler(signum=2)
[turtlebot4_node-30] [INFO] [1712571260.094689901] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-29] [INFO] [1712571260.112486962] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-28] [INFO] [1712571260.131329833] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-27] [INFO] [1712571260.152293512] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-26] [INFO] [1712571260.168254751] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-25] [INFO] [1712571260.181053982] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-24] [INFO] [1712571260.193081840] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-23] [INFO] [1712571260.206978110] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-22] [INFO] [1712571260.218637005] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-21] [INFO] [1712571260.232960303] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-20] [INFO] [1712571260.245031453] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-19] [INFO] [1712571260.258002761] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-18] [INFO] [1712571260.270328066] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-17] [INFO] [1712571260.282608183] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-16] [INFO] [1712571260.294497391] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-15] [INFO] [1712571260.306457497] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-14] [INFO] [1712571260.318174040] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-13] [INFO] [1712571260.330082410] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-12] [INFO] [1712571260.343001357] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-11] [INFO] [1712571260.356629369] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-11]: process has finished cleanly [pid 3793160]
[parameter_bridge-10] [INFO] [1712571260.370079659] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-9] [INFO] [1712571260.381891641] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-6] [INFO] [1712571260.394192554] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-5] [INFO] [1712571260.406419777] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-3] [INFO] [1712571260.429473107] [rclcpp]: signal_handler(signum=2)
[parameter_bridge-2] [INFO] [1712571260.441342053] [rclcpp]: signal_handler(signum=2)
[INFO] [parameter_bridge-10]: process has finished cleanly [pid 3793156]
[INFO] [parameter_bridge-9]: process has finished cleanly [pid 3793153]
[INFO] [static_transform_publisher-6]: process has finished cleanly [pid 3793147]
[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 3793145]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3793140]
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 3793137]
[INFO] [joint_state_publisher-4]: process has finished cleanly [pid 3793143]
[lifecycle_manager-54] [ERROR] [1712571261.666616434] [lifecycle_manager_navigation]: Failed to change state for node: controller_server. Exception: controller_server/get_state service client: async_send_request failed.
[lifecycle_manager-54] [ERROR] [1712571261.666659235] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-54] [INFO] [1712571261.688398821] [lifecycle_manager_navigation]: Destroying lifecycle_manager_navigation
[INFO] [lifecycle_manager-54]: process has finished cleanly [pid 3793626]
[ERROR] [rviz2-55]: process[rviz2-55] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [rviz2-55]: sending signal 'SIGTERM' to process[rviz2-55]
[ERROR] [controller_server-47]: process[controller_server-47] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [controller_server-47]: sending signal 'SIGTERM' to process[controller_server-47]
[ERROR] [rviz2-55]: process has died [pid 3793628, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/turtlebot4_viz/rviz/robot.rviz --ros-args -r __node:=rviz2 -r __ns:=/ --params-file /tmp/launch_params_0r8mj_gg -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [controller_server-47]: process has died [pid 3793578, exit code -6, cmd '/opt/ros/humble/lib/nav2_controller/controller_server --ros-args --log-level info --ros-args -r __ns:=/ --params-file /tmp/launch_params_yjnx371d -r /global_costmap/scan:=/scan -r /local_costmap/scan:=/scan -r /tf:=tf -r /tf_static:=tf_static -r cmd_vel:=cmd_vel_nav'].

alexdo105 commented 2 months ago

I have the same issue, would appreciate the solution.

hilary-luo commented 2 months ago

@twright Thanks for bringing this to our attention. This error is from an upstream package and has been fixed. It looks like we will just need to wait until the fix gets pushed. Alternatively you can run the afflicted package from source, see the commit fixing it here: https://github.com/ros-controls/gz_ros2_control/commit/f724da5d37d3a9f88ee38d2aea05899679c3c448

@alexdo105 To confirm that you are experiencing the same issue, can you verify that your output also gives the following error:

[ruby $(which ign) gazebo-1] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'
[ruby $(which ign) gazebo-1]   what():  parameter 'position_proportional_gain' has already been declared

It would be in the center of the output so it's best to search for it. If not please open your own ticket so we can troubleshoot the issue you are seeing.

alexdo105 commented 2 months ago

@hilary-luo The error that I am having now is the following: URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org to https://fuel.gazebosim.org [ruby $(which ign) gazebo-1] [Err] [RestClient.cc:343] Error in REST request [ruby $(which ign) gazebo-1] [ruby $(which ign) gazebo-1] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org [ruby $(which ign) gazebo-1] [Err] [FuelClient.cc:717] Failed to download model. [ruby $(which ign) gazebo-1] Server: https://fuel.ignitionrobotics.org [ruby $(which ign) gazebo-1] Route: openrobotics/models/table/tip/table.zip [ruby $(which ign) gazebo-1] REST response code: 0 [ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org to https://fuel.gazebosim.org [ruby $(which ign) gazebo-1] [Err] [RestClient.cc:343] Error in REST request [ruby $(which ign) gazebo-1] [ruby $(which ign) gazebo-1] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org [ruby $(which ign) gazebo-1] [Err] [FuelClient.cc:717] Failed to download model. [ruby $(which ign) gazebo-1] Server: https://fuel.ignitionrobotics.org [ruby $(which ign) gazebo-1] Route: openrobotics/models/artifact proximity detector/tip/artifact proximity detector.zip [ruby $(which ign) gazebo-1] REST response code: 0 [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [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() { ... } [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() { ... } [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() { ... } [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() { ... } [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[1]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L54]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet_box_mobile] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[2]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L64]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[3]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L71]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[4]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L78]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[5]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L85]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[6]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L92]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[7]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L99]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[8]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L106]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[9]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L113]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[10]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L123]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[11]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L130]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[12]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L137]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[13]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L144]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[14]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L151]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[19]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L192]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Chair] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[20]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L199]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Chair] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[21]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L206]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/foldable_chair] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[22]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L213]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/foldable_chair] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/world[@name="warehouse"]/include[23]/uri:/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf:L223]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table] [ruby $(which ign) gazebo-1] [Err] [Server.cc:139] Error Code 13: [/sdf/model[@name="rescue_randy_sitting"]/include[0]/uri:/home/alexdo105/.ignition/fuel/fuel.gazebosim.org/openrobotics/models/rescue randy sitting/8/model.sdf:L6]: Msg: Unable to find uri[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Artifact Proximity Detector] [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() { ... } [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 v6.16.0 [ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/opt/ros/humble/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf]. [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/pallet_box_mobile] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf_big] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf_big] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf_big] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf_big] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf_big] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/movai/models/shelf] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/chair] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/chair] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/foldable_chair] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/foldable_chair] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/table] [ruby $(which ign) gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/artifact proximity detector] [ruby $(which ign) gazebo-1] [Dbg] [gz.cc:410] Shutting down ign-gazebo-server [spawner-32] [INFO] [1712864729.365556586] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [create-7] [INFO] [1712864731.167072845] [ros_gz_sim]: Requesting list of world names. [create-8] [INFO] [1712864731.167183571] [ros_gz_sim]: Requesting list of world names. [spawner-32] [INFO] [1712864731.377687782] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:251: TypeError: Cannot read property 'showDrawer' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:126: TypeError: Cannot call method 'PluginListModel' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:219: TypeError: Cannot read property 'showPluginMenu' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:202: TypeError: Cannot read property 'showDrawer' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:188: TypeError: Cannot read property 'showDrawer' of null [ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo GUI v6.16.0 [ruby $(which ign) gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]... [ruby $(which ign) gazebo-1] [Dbg] [Application.cc:92] Initializing application. [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window [ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient. [ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2]. [ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2]. [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:140] Terminating application.

hilary-luo commented 2 months ago

@alexdo105 That is addressed here: https://github.com/turtlebot/turtlebot4_simulator/pull/70

Either you can run it from source or wait for the update to come through. Alternatively you can manually download the files as mentioned here: https://github.com/clearpathrobotics/clearpath_simulator/issues/30

ajjaya18 commented 2 months ago

Hi, Hello, when will this problem be solved? Because I also try with maze and with warehouse, and I am having the same issue. It is of utmost importance that it works for me because it would help me a lot since I am working on this

ajjaya18 commented 2 months ago

If I launch my own world, will the problem be solved or not?

hilary-luo commented 2 months ago

The updated package was synced. Please update your packages and this issue should be resolved for everyone.

alexdo105 commented 2 months ago

Hello Hillary, thanks for updating us. One question, has a change been made to the way that the initial pose is set? Before this update I called navigator.setInitialPose to set it and it worked, but after this update something seems to have changed, beginning with that now there is a topic called “initialpose”… Thanks again!

The updated package was synced. Please update your packages and this issue should be resolved for everyone.

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hilary-luo commented 2 months ago

@alexdo105 all of the navigation is handled by the nav2 packages which the Turtlebot4 packages launch. If something is nonfunctional now in the Turtlebot4 packages / tutorials then please make a ticket including the full terminal output. If you are just looking for information about the latest updates in nav2 I would suggest looking at the recent commits on the nav2 repo.

turtlebot / turtlebot4_simulator