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wil3 / gymfc

A universal flight control tuning framework
http://wfk.io/neuroflight/
MIT License
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test_axis.py timeout #82

Closed xabierolaz closed 4 years ago

xabierolaz commented 4 years ago

Prerequisites

Description

test_axis.py timeouts. GymFC and all aircraft plugins are built according to /examples This was discussed in #40 but never tried with the new install_dependencies.sh system

STEP 1 INSTALLATION sudo MAKE_FLAGS=-j4 ./install_dependencies.sh pip3 install -e . gymfc/envs/assets/gazebo/plugins/build_plugin.sh

STEP 2 BUILDING AIRCRAFT PLUGINS in /examples

mkdir gymfc_nf/twins/nf1/plugins && cd gymfc_nf/twins/nf1/plugins git clone https://github.com/wil3/gymfc-aircraft-plugins.git mkdir build cd build cmake ../gymfc-aircraft-plugins make

Steps to Reproduce

with --verbose python3 tests/test_axis.py --verbose examples/gymfc_nf/twins/nf1/model.sdf

(env) cuda@eim-alu-83252:~/workspace/gymfc$ python3 tests/test_axis.py --verbose  examples/gymfc_nf/twins/nf1/model.sdf
Sending motor control signals to port  9021
Gazebo Model Path = /usr/local/share/gazebo-10/models::/home/cuda/workspace/gymfc/gymfc/envs/assets/gazebo/models:/home/cuda/workspace/gymfc/examples/gymfc_nf/twins
Gazebo Plugin Path = /usr/local/lib/gazebo-10/plugins::/home/cuda/workspace/gymfc/gymfc/envs/assets/gazebo/plugins/build:/home/cuda/workspace/gymfc/examples/gymfc_nf/twins/nf1/plugins/build
Starting gzserver with process ID= 13694
Roll Left
-----------------------------------
Gazebo multi-robot simulator, version 10.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11404
[Msg] Publicized address: 172.18.83.252
[Wrn] [DARTPhysics.cc:96] Gravity vector is (0, 0, 0). Objects will float.
[Dbg] [DARTModel.cc:72] Initializing DART model attitude_control_training_rig
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'pivot' and joint 'base_joint'.
[Err] [DARTJoint.cc:195] DARTJoint: SetAnchor is not implemented.
[Dbg] [FlightControllerPlugin.cpp:225] Binding on port 9021
[Dbg] [FlightControllerPlugin.cpp:408] CoT link=battery
[Dbg] [FlightControllerPlugin.cpp:410] Got COT from plugin 0 0 0.058
[Dbg] [FlightControllerPlugin.cpp:413] Num motors 4
[Dbg] [FlightControllerPlugin.cpp:443] Inserting digital twin from SDF, examples/gymfc_nf/twins/nf1/model.sdf.
[Dbg] [DARTModel.cc:72] Initializing DART model nf1
[Dbg] [DARTModel.cc:128] Building DART BodyNode for link 'frame' with a free joint.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'battery' and joint 'battery_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_1' and joint 'motor_1_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_2' and joint 'motor_2_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_3' and joint 'motor_3_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_4' and joint 'motor_4_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_1' and joint 'prop_1_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_2' and joint 'prop_2_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_3' and joint 'prop_3_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_4' and joint 'prop_4_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'fc_stack' and joint 'fc_stack_joint'.
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=0 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=1 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=2 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=3 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_imu_plugin.cpp:55] Loading IMU sensor
[Dbg] [FlightControllerPlugin.cpp:527] Setting link to center battery
[Dbg] [FlightControllerPlugin.cpp:542] Aircraft model fixed to world
Timeout communicating with flight control plugin.

Simulation Stats
-----------------
steps                  0
packets_dropped        0
time_start_seconds     1594889248.8639956
time_lapse_hours       0.016416591140959

Killing Gazebo process with ID= 13694
Killing Gazebo process with ID= 13695
Timeout communicating with flight control plugin.

without --verbose python3 tests/test_axis.py examples/gymfc_nf/twins/nf1/model.sdf

(env) cuda@eim-alu-83252:~/workspace/gymfc$ python3 tests/test_axis.py examples/gymfc_nf/twins/nf1/model.sdf
Sending motor control signals to port  9917
Gazebo Model Path = /usr/local/share/gazebo-10/models::/home/cuda/workspace/gymfc/gymfc/envs/assets/gazebo/models:/home/cuda/workspace/gymfc/examples/gymfc_nf/twins
Gazebo Plugin Path = /usr/local/lib/gazebo-10/plugins::/home/cuda/workspace/gymfc/gymfc/envs/assets/gazebo/plugins/build:/home/cuda/workspace/gymfc/examples/gymfc_nf/twins/nf1/plugins/build
Starting gzserver with process ID= 13171
Roll Left
-----------------------------------
Timeout communicating with flight control plugin.

Simulation Stats
-----------------
steps                  0
packets_dropped        0
time_start_seconds     1594889048.2995117
time_lapse_hours       0.016415154271655612

Killing Gazebo process with ID= 13171
Killing Gazebo process with ID= 13172
Timeout communicating with flight control plugin.
  1. See error

Expected behavior It's expected to show keyboard input to simulate steps [enter] = Step, n= NExt Command, q = Quit

Additional context Have tried too linking plugins manually inside build folder, as @varunag18 commented

 ln -s ~/workspace/gymfc/examples/gymfc_nf/twins/nf1/plugins/build/libgazebo_imu_plugin.so libgazebo_imu_plugin.so
 ln -s ~/workspace/gymfc/examples/gymfc_nf/twins/nf1/plugins/build/libgazebo_imu_plugin.so libgazebo_motor_model.so

Output ln: failed to create symbolic link 'libgazebo_imu_plugin.so': File exists

So I check whats inside build folder Screenshot_2020-07-16_09-13-06

wil3 commented 4 years ago

Thanks for the detailed report. Do you observe the same behavior if you install GymFC without the -e flag?

xabierolaz commented 4 years ago

Same output without the -e flag

(env) cuda@eim-alu-83252:~/workspace/gymfc$ python3 tests/test_axis.py --verbose examples/gymfc_nf/twins/nf1/model.sdf
Sending motor control signals to port  9832
Gazebo Model Path = /usr/local/share/gazebo-10/models::/home/cuda/workspace/gymfc/env/lib/python3.6/site-packages/gymfc/envs/assets/gazebo/models:/home/cuda/workspace/gymfc/examples/gymfc_nf/twins
Gazebo Plugin Path = /usr/local/lib/gazebo-10/plugins::/home/cuda/workspace/gymfc/env/lib/python3.6/site-packages/gymfc/envs/assets/gazebo/plugins/build:/home/cuda/workspace/gymfc/examples/gymfc_nf/twins/nf1/plugins/build
Starting gzserver with process ID= 8289
Roll Left
-----------------------------------
Gazebo multi-robot simulator, version 10.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11662
[Msg] Publicized address: 172.18.83.252
[Wrn] [DARTPhysics.cc:96] Gravity vector is (0, 0, 0). Objects will float.
[Dbg] [DARTModel.cc:72] Initializing DART model attitude_control_training_rig
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'pivot' and joint 'base_joint'.
[Err] [DARTJoint.cc:195] DARTJoint: SetAnchor is not implemented.
[Dbg] [FlightControllerPlugin.cpp:225] Binding on port 9832
[Dbg] [FlightControllerPlugin.cpp:408] CoT link=battery
[Dbg] [FlightControllerPlugin.cpp:410] Got COT from plugin 0 0 0.058
[Dbg] [FlightControllerPlugin.cpp:413] Num motors 4
[Dbg] [FlightControllerPlugin.cpp:443] Inserting digital twin from SDF, examples/gymfc_nf/twins/nf1/model.sdf.
[Dbg] [DARTModel.cc:72] Initializing DART model nf1
[Dbg] [DARTModel.cc:128] Building DART BodyNode for link 'frame' with a free joint.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'battery' and joint 'battery_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_1' and joint 'motor_1_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_2' and joint 'motor_2_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_3' and joint 'motor_3_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_4' and joint 'motor_4_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_1' and joint 'prop_1_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_2' and joint 'prop_2_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_3' and joint 'prop_3_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_4' and joint 'prop_4_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'fc_stack' and joint 'fc_stack_joint'.
[Dbg] [FlightControllerPlugin.cpp:527] Setting link to center battery
[Dbg] [FlightControllerPlugin.cpp:542] Aircraft model fixed to world
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=0 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=1 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=2 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=3 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_imu_plugin.cpp:55] Loading IMU sensor
Timeout communicating with flight control plugin.

Simulation Stats
-----------------
steps                  0
packets_dropped        0
time_start_seconds     1594904574.3402214
time_lapse_hours       0.016414890951580472

Killing Gazebo process with ID= 8289
Killing Gazebo process with ID= 8290
Timeout communicating with flight control plugin.

What would be the exact steps from having gymfc installed and build_plugin.sh built to actually running the test_axis.py script? I know they are in /examples, but I try to reproduce them and think I must be doing something wrong

wil3 commented 4 years ago

Your motor and IMU models are loaded it says it right in your output,

[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=0 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=1 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=2 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=3 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_imu_plugin.cpp:55] Loading IMU sensor

Are you running this in a VM? I'll have to see if I can reproduce your steps.

xabierolaz commented 4 years ago

I'm running it on a native Ubuntu, but I could try it on a VM

Exact steps I followed, in case it helps or want to reproduce the steps I followed:

1.installed gymfc both in normal and development mode (below in development) pip3 install -e .

2.went to gymfc/envs/assets/gazebo/plugins and run the plugin ./build_plugin.sh

3.went to the model path and created plugins and build inside plugins directories /home/cuda/projects/gymfc/examples/gymfc_nf/twins/nf1/plugins/build

mkdir plugins && cd plugins
mkdir build

4.went to projects root folder and git cloned aircraft plugins git clone https://github.com/wil3/gymfc-aircraft-plugins.git

5.went inside this cloned git and 

mkdir build && cd build
cmake ../
make

6.finally, inside /home/cuda/projects/gymfc/examples/gymfc_nf/twins/nf1/ I run

 ln -s ~/projects/gymfc-aircraft-plugins/build/libgazebo_motor_model.so libgazebo_motor_model.so

 ln -s ~/projects/gymfc-aircraft-plugins/build/libgazebo_imu_plugin.so libgazebo_imu_plugin.so
xabierolaz commented 4 years ago

okay @wil3, I can confirm it's working on a VM but not on a native ubuntu system. Have reproduced exact steps above and the VM gets to the end of the test_axis.py script while the native one stays at Aircraft fixed to the world and eventually timeouts. Both VM and native are running same ubuntu 18.04.04 LS

This could be a problem in the future, as Tensorflow requires GPU support and VM are not allowed to fully access the GPU, right?

wil3 commented 4 years ago

I suspect if you have it working in a clean VM there is a problem with your native install. All of your plugins are showing they are loaded and working. Its possible your network settings for some reason on your machine are preventing communication with Gazebo. Can you post the verbose output of the VM run here?

xabierolaz commented 4 years ago

verbose output of the VM run

ython3 tests/test_axis.py --verbose examples/gymfc_nf/twins/nf1/model.sdf

Sending motor control signals to port  9271
Gazebo Model Path = /usr/local/share/gazebo-10/models::/home/xabi/projects/gymfc/gymfc/envs/assets/gazebo/models:/home/xabi/projects/gymfc/examples/gymfc_nf/twins
Gazebo Plugin Path = /usr/local/lib/gazebo-10/plugins::/home/xabi/projects/gymfc/gymfc/envs/assets/gazebo/plugins/build:/home/xabi/projects/gymfc/examples/gymfc_nf/twins/nf1/plugins/build
Starting gzserver with process ID= 2807
Roll Left
-----------------------------------
Gazebo multi-robot simulator, version 10.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11613
[Msg] Publicized address: 10.0.2.15
[Wrn] [DARTPhysics.cc:96] Gravity vector is (0, 0, 0). Objects will float.
[Dbg] [DARTModel.cc:72] Initializing DART model attitude_control_training_rig
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'pivot' and joint 'base_joint'.
[Err] [DARTJoint.cc:195] DARTJoint: SetAnchor is not implemented.
[Dbg] [FlightControllerPlugin.cpp:225] Binding on port 9271
[Dbg] [FlightControllerPlugin.cpp:408] CoT link=battery
[Dbg] [FlightControllerPlugin.cpp:410] Got COT from plugin 0 0 0.058
[Dbg] [FlightControllerPlugin.cpp:413] Num motors 4
[Dbg] [FlightControllerPlugin.cpp:443] Inserting digital twin from SDF, examples/gymfc_nf/twins/nf1/model.sdf.
[Dbg] [DARTModel.cc:72] Initializing DART model nf1
[Dbg] [DARTModel.cc:128] Building DART BodyNode for link 'frame' with a free joint.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'battery' and joint 'battery_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_1' and joint 'motor_1_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_2' and joint 'motor_2_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_3' and joint 'motor_3_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'motor_4' and joint 'motor_4_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_1' and joint 'prop_1_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_2' and joint 'prop_2_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_3' and joint 'prop_3_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'prop_4' and joint 'prop_4_joint'.
[Dbg] [DARTModel.cc:166] Building DART BodyNode for link 'fc_stack' and joint 'fc_stack_joint'.
[Dbg] [FlightControllerPlugin.cpp:527] Setting link to center battery
[Dbg] [FlightControllerPlugin.cpp:542] Aircraft model fixed to world
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=0 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=1 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=2 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_motor_model.cpp:204] Loading Motor number=3 Subscribed to /aircraft/command/motor
[Dbg] [gazebo_imu_plugin.cpp:55] Loading IMU sensor
[Dbg] [gazebo_motor_model.cpp:263]  Motor 0 force=0 vel=0
[Dbg] [gazebo_motor_model.cpp:263]  Motor 1 force=0 vel=0
[Dbg] [gazebo_motor_model.cpp:263]  Motor 2 force=0 vel=0
[Dbg] [gazebo_motor_model.cpp:263]  Motor 3 force=0 vel=0
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:482] DARTLink::SetAngularVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [DARTLink.cc:411] DARTLink::SetLinearVel() doesn't make sense if the parent joint is not free joint (6-dof).
[Dbg] [gazebo_motor_model.cpp:263]  Motor 0 force=0 vel=0
[Dbg] [gazebo_motor_model.cpp:263]  Motor 1 force=0 vel=0
[Dbg] [gazebo_motor_model.cpp:263]  Motor 2 force=0 vel=0
[Dbg] [gazebo_motor_model.cpp:263]  Motor 3 force=0 vel=0
Roll=0.0000 Pitch=0.0000 Yaw=0.0000
X=0.0000 Y=0.0000 Z=0.0000
X=1.0000 Y=0.0000 Z=0.0000 W=0.0000
M1=0.0000 M2=0.0000 M3=0.0000 M4=0.0000
[enter] = Step, n = Next Command, q = Quit[Dbg] [gazebo_motor_model.cpp:263]  Motor 0 force=9.91648e-10 vel=0.0325232
[Dbg] [gazebo_motor_model.cpp:263]  Motor 1 force=0.000130942 vel=11.8183
[Dbg] [gazebo_motor_model.cpp:263]  Motor 2 force=4.03853e-06 vel=2.07551
[Dbg] [gazebo_motor_model.cpp:263]  Motor 3 force=3.78908e-06 vel=-2.0104
Roll=-0.0000 Pitch=0.0001 Yaw=-1.8641
X=0.0000 Y=0.0000 Z=0.0000
X=1.0000 Y=-0.0000 Z=0.0000 W=-0.0000
M1=0.3106 M2=112.8560 M3=19.8197 M4=19.1979
[enter] = Step, n = Next Command, q = Quit
wil3 commented 4 years ago

Any updates on this? I suspect it will take opening up wireshark and making sure messages are being passed to the Gazebo flight controller plugin.

xabierolaz commented 4 years ago

I will update this on Friday as cannot access the virtual machine atm.

UPDATE: Im closing the thread as it seems to do with being the machine mounted via remote access, if any further things come up Ill re-open it