[INFO] [launch]: All log files can be found below /root/.ros/log/2024-11-05-14-33-34-804839-ws-28380 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ruby $(which ign) gazebo-1]: process started with pid [28384] [INFO] [create-2]: process started with pid [28386] [INFO] [parameter_bridge-3]: process started with pid [28389] [INFO] [image_bridge-4]: process started with pid [28391] [INFO] [robot_state_publisher-5]: process started with pid [28393] [robot_state_publisher-5] [INFO] [1730817215.016272457] [robot_state_publisher]: got segment base_link [robot_state_publisher-5] [INFO] [1730817215.016344813] [robot_state_publisher]: got segment chassis [robot_state_publisher-5] [INFO] [1730817215.016349399] [robot_state_publisher]: got segment depth_camera [robot_state_publisher-5] [INFO] [1730817215.016351907] [robot_state_publisher]: got segment front_left_wheel [robot_state_publisher-5] [INFO] [1730817215.016353963] [robot_state_publisher]: got segment front_right_wheel [robot_state_publisher-5] [INFO] [1730817215.016355828] [robot_state_publisher]: got segment lidar [robot_state_publisher-5] [INFO] [1730817215.016357742] [robot_state_publisher]: got segment rear_left_wheel [robot_state_publisher-5] [INFO] [1730817215.016359640] [robot_state_publisher]: got segment rear_right_wheel [robot_state_publisher-5] [INFO] [1730817215.016361494] [robot_state_publisher]: got segment sonar [robot_state_publisher-5] [INFO] [1730817215.016363295] [robot_state_publisher]: got segment spacer_1 [robot_state_publisher-5] [INFO] [1730817215.016365068] [robot_state_publisher]: got segment spacer_2 [robot_state_publisher-5] [INFO] [1730817215.016366799] [robot_state_publisher]: got segment spacer_3 [robot_state_publisher-5] [INFO] [1730817215.016368564] [robot_state_publisher]: got segment spacer_4 [create-2] [INFO] [1730817215.016618148] [ros_gz_sim]: Requesting list of world names. [parameter_bridge-3] [INFO] [1730817215.028889858] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/camera_info (gz.msgs.CameraInfo) -> /camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.031377893] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.032314710] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (gz.msgs.Twist) -> /cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.033027016] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /cmd_vel (gz.msgs.Twist)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.033570608] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/joint_states (gz.msgs.Model) -> /joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.033856837] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/odom (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.036154749] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/odom (nav_msgs/msg/Odometry) -> /odom (gz.msgs.Odometry)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.036469239] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/tf (gz.msgs.Pose_V) -> /tf (tf2_msgs/msg/TFMessage)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.037678446] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/scan (gz.msgs.LaserScan) -> /scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.037976592] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/sonar (gz.msgs.LaserScan) -> /sonar (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-3] [INFO] [1730817215.038180288] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/depth_camera/points (gz.msgs.PointCloudPacked) -> /depth_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0) [ruby $(which ign) gazebo-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [create-2] [INFO] [1730817215.585829503] [ros_gz_sim]: Waiting messages on topic [/robot_description]. [create-2] [INFO] [1730817215.684213802] [ros_gz_sim]: Requested creation of entity. [create-2] [INFO] [1730817215.684301555] [ros_gz_sim]: OK creation of entity. [INFO] [create-2]: process has finished cleanly [pid 28386] [INFO] [async_slam_toolbox_node-6]: process started with pid [28518] [INFO] [static_transform_publisher-7]: process started with pid [28520] [INFO] [static_transform_publisher-8]: process started with pid [28522] [INFO] [static_transform_publisher-9]: process started with pid [28524] [INFO] [static_transform_publisher-10]: process started with pid [28526] [INFO] [spawner-11]: process started with pid [28528] [static_transform_publisher-10] [INFO] [1730817215.822217809] [static_transform_publisher_br7yV7AD4e8owpXv]: Spinning until stopped - publishing transform [static_transform_publisher-10] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-10] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-10] from 'depth_camera' to 'turbopi/base_link/depth_camera' [static_transform_publisher-7] [INFO] [1730817215.825856500] [static_transform_publisher_T51cuSHOBCW7Zop0]: Spinning until stopped - publishing transform [static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-7] from 'sonar' to 'turbopi/base_link/sonar_sensor' [static_transform_publisher-8] [INFO] [1730817215.826237717] [static_transform_publisher_KKWZ0p1mvbr54p8h]: Spinning until stopped - publishing transform [static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-8] from 'lidar' to 'turbopi/base_link/lidar_sensor' [static_transform_publisher-9] [INFO] [1730817215.826378870] [static_transform_publisher_bBIH1q9OXR49NYOB]: Spinning until stopped - publishing transform [static_transform_publisher-9] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-9] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-9] from 'turbopi/base_link' to 'base_link' [async_slam_toolbox_node-6] [INFO] [1730817215.838625905] [slam_toolbox]: Node using stack size 40000000 [async_slam_toolbox_node-6] [INFO] [1730817215.868619487] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver [async_slam_toolbox_node-6] [INFO] [1730817215.868884230] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner. [ruby $(which ign) gazebo-1] [INFO] [1730817217.247933721] [gz_ros_control]: connected to service!! robot_state_publisher asking for robot_description [ruby $(which ign) gazebo-1] [INFO] [1730817217.248243208] [gz_ros_control]: Received URDF from param server [ruby $(which ign) gazebo-1] [INFO] [1730817217.252949539] [gz_ros_control]: The position_proportional_gain has been set to: 0.1 [ruby $(which ign) gazebo-1] [INFO] [1730817217.252995883] [gz_ros_control]: Loading joint: front_left_wheel_joint [ruby $(which ign) gazebo-1] [INFO] [1730817217.253003925] [gz_ros_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253010115] [gz_ros_control]: position [ruby $(which ign) gazebo-1] [INFO] [1730817217.253018195] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253022811] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253025376] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253027929] [gz_ros_control]: Command: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253030508] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253039182] [gz_ros_control]: Loading joint: front_right_wheel_joint [ruby $(which ign) gazebo-1] [INFO] [1730817217.253041750] [gz_ros_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253043949] [gz_ros_control]: position [ruby $(which ign) gazebo-1] [INFO] [1730817217.253046164] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253048672] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253050644] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253053201] [gz_ros_control]: Command: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253055278] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253060201] [gz_ros_control]: Loading joint: rear_left_wheel_joint [ruby $(which ign) gazebo-1] [INFO] [1730817217.253062608] [gz_ros_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253064586] [gz_ros_control]: position [ruby $(which ign) gazebo-1] [INFO] [1730817217.253074419] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253078319] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253081560] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253085692] [gz_ros_control]: Command: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253089277] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253096890] [gz_ros_control]: Loading joint: rear_right_wheel_joint [ruby $(which ign) gazebo-1] [INFO] [1730817217.253100799] [gz_ros_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253103956] [gz_ros_control]: position [ruby $(which ign) gazebo-1] [INFO] [1730817217.253107896] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253111989] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253115234] [gz_ros_control]: found initial value: 0.000000 [ruby $(which ign) gazebo-1] [INFO] [1730817217.253119393] [gz_ros_control]: Command: [ruby $(which ign) gazebo-1] [INFO] [1730817217.253122907] [gz_ros_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1730817217.253189673] [resource_manager]: Initialize hardware 'ros2_control' [ruby $(which ign) gazebo-1] [WARN] [1730817217.253199384] [gz_ros_control]: On init... [ruby $(which ign) gazebo-1] [INFO] [1730817217.253225322] [resource_manager]: Successful initialization of hardware 'ros2_control' [ruby $(which ign) gazebo-1] [INFO] [1730817217.253250966] [resource_manager]: 'configure' hardware 'ros2_control' [ruby $(which ign) gazebo-1] [INFO] [1730817217.253253695] [gz_ros_control]: System Successfully configured! [ruby $(which ign) gazebo-1] [INFO] [1730817217.253259412] [resource_manager]: Successful 'configure' of hardware 'ros2_control' [ruby $(which ign) gazebo-1] [INFO] [1730817217.253263687] [resource_manager]: 'activate' hardware 'ros2_control' [ruby $(which ign) gazebo-1] [INFO] [1730817217.253266075] [resource_manager]: Successful 'activate' of hardware 'ros2_control' [ruby $(which ign) gazebo-1] [INFO] [1730817217.253270147] [gz_ros_control]: Loading controller_manager [ruby $(which ign) gazebo-1] [INFO] [1730817217.267633043] [controller_manager]: Subscribing to '/controller_manager/robot_description' topic for robot description. [ruby $(which ign) gazebo-1] [WARN] [1730817217.305915635] [gz_ros_control]: Desired controller update period (0.1 s) is slower than the gazebo simulation period (0 s). [ruby $(which ign) gazebo-1] [INFO] [1730817217.399624588] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-11] [INFO] [1730817217.410871475] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ruby $(which ign) gazebo-1] [INFO] [1730817217.411652174] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ruby $(which ign) gazebo-1] [INFO] [1730817217.411758627] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ruby $(which ign) gazebo-1] [GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set [async_slam_toolbox_node-6] Registering sensor: [Custom Described Lidar] [spawner-11] [INFO] [1730817223.152352783] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster