Issue #420 closed

gazebo segfaults during startup

John Hsu
created an issue

While starting pr2 gazebo simulation, occasionally gzserver segfaults (1 out of 5 tries for me so far). The last call in gazebo before entering Ogre appears to be:

#14 0x00007ffff28e6189 in gazebo::rendering::Light::CreateVisual (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:285

The full back trace is found below:

$ roslaunch pr2_gazebo pr2_empty_world.launch 
... logging to /home/hsu/.ros/log/e561f3c4-5ebd-11e2-af47-90e2ba191409/roslaunch-lcp1-17867.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lcp1:33232/

SUMMARY
========

PARAMETERS
 * /base_controller/bl_caster_l_wheel_joint/d
 * /base_controller/bl_caster_l_wheel_joint/i
 * /base_controller/bl_caster_l_wheel_joint/i_clamp
 * /base_controller/bl_caster_l_wheel_joint/p
 * /base_controller/bl_caster_r_wheel_joint/d
 * /base_controller/bl_caster_r_wheel_joint/i
 * /base_controller/bl_caster_r_wheel_joint/i_clamp
 * /base_controller/bl_caster_r_wheel_joint/p
 * /base_controller/bl_caster_rotation_joint/position_controller/d
 * /base_controller/bl_caster_rotation_joint/position_controller/i
 * /base_controller/bl_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/bl_caster_rotation_joint/position_controller/p
 * /base_controller/bl_caster_rotation_joint/velocity_controller/d
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/bl_caster_rotation_joint/velocity_controller/p
 * /base_controller/br_caster_l_wheel_joint/d
 * /base_controller/br_caster_l_wheel_joint/i
 * /base_controller/br_caster_l_wheel_joint/i_clamp
 * /base_controller/br_caster_l_wheel_joint/p
 * /base_controller/br_caster_r_wheel_joint/d
 * /base_controller/br_caster_r_wheel_joint/i
 * /base_controller/br_caster_r_wheel_joint/i_clamp
 * /base_controller/br_caster_r_wheel_joint/p
 * /base_controller/br_caster_rotation_joint/position_controller/d
 * /base_controller/br_caster_rotation_joint/position_controller/i
 * /base_controller/br_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/br_caster_rotation_joint/position_controller/p
 * /base_controller/br_caster_rotation_joint/velocity_controller/d
 * /base_controller/br_caster_rotation_joint/velocity_controller/i
 * /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/br_caster_rotation_joint/velocity_controller/p
 * /base_controller/caster_names
 * /base_controller/caster_position_pid_gains/d
 * /base_controller/caster_position_pid_gains/i
 * /base_controller/caster_position_pid_gains/i_clamp
 * /base_controller/caster_position_pid_gains/p
 * /base_controller/caster_velocity_filter/name
 * /base_controller/caster_velocity_filter/params/a
 * /base_controller/caster_velocity_filter/params/b
 * /base_controller/caster_velocity_filter/type
 * /base_controller/caster_velocity_pid_gains/d
 * /base_controller/caster_velocity_pid_gains/i
 * /base_controller/caster_velocity_pid_gains/i_clamp
 * /base_controller/caster_velocity_pid_gains/p
 * /base_controller/fl_caster_l_wheel_joint/d
 * /base_controller/fl_caster_l_wheel_joint/i
 * /base_controller/fl_caster_l_wheel_joint/i_clamp
 * /base_controller/fl_caster_l_wheel_joint/p
 * /base_controller/fl_caster_r_wheel_joint/d
 * /base_controller/fl_caster_r_wheel_joint/i
 * /base_controller/fl_caster_r_wheel_joint/i_clamp
 * /base_controller/fl_caster_r_wheel_joint/p
 * /base_controller/fl_caster_rotation_joint/position_controller/d
 * /base_controller/fl_caster_rotation_joint/position_controller/i
 * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/fl_caster_rotation_joint/position_controller/p
 * /base_controller/fl_caster_rotation_joint/velocity_controller/d
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/fl_caster_rotation_joint/velocity_controller/p
 * /base_controller/fr_caster_l_wheel_joint/d
 * /base_controller/fr_caster_l_wheel_joint/i
 * /base_controller/fr_caster_l_wheel_joint/i_clamp
 * /base_controller/fr_caster_l_wheel_joint/p
 * /base_controller/fr_caster_r_wheel_joint/d
 * /base_controller/fr_caster_r_wheel_joint/i
 * /base_controller/fr_caster_r_wheel_joint/i_clamp
 * /base_controller/fr_caster_r_wheel_joint/p
 * /base_controller/fr_caster_rotation_joint/position_controller/d
 * /base_controller/fr_caster_rotation_joint/position_controller/i
 * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/fr_caster_rotation_joint/position_controller/p
 * /base_controller/fr_caster_rotation_joint/velocity_controller/d
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/fr_caster_rotation_joint/velocity_controller/p
 * /base_controller/max_rotational_acceleration
 * /base_controller/max_rotational_velocity
 * /base_controller/max_translational_acceleration/x
 * /base_controller/max_translational_acceleration/y
 * /base_controller/max_translational_velocity
 * /base_controller/publish_tf
 * /base_controller/state_publish_rate
 * /base_controller/timeout
 * /base_controller/type
 * /base_controller/wheel_pid_gains/d
 * /base_controller/wheel_pid_gains/i
 * /base_controller/wheel_pid_gains/i_clamp
 * /base_controller/wheel_pid_gains/p
 * /base_hokuyo_node/frame_id
 * /base_hokuyo_node/intensity
 * /base_hokuyo_node/max_ang
 * /base_hokuyo_node/min_ang
 * /base_hokuyo_node/port
 * /base_hokuyo_node/skip
 * /base_odometry/base_footprint_frame
 * /base_odometry/base_link_frame
 * /base_odometry/caster_calibration_multiplier
 * /base_odometry/caster_names
 * /base_odometry/cov_xrotation
 * /base_odometry/cov_xy
 * /base_odometry/cov_yrotation
 * /base_odometry/ils_max_iterations
 * /base_odometry/odom_frame
 * /base_odometry/odom_publish_rate
 * /base_odometry/odometer_publish_rate
 * /base_odometry/publish_tf
 * /base_odometry/rotation_stddev
 * /base_odometry/state_publish_rate
 * /base_odometry/type
 * /base_odometry/verbose
 * /base_odometry/wheel_radius_multiplier
 * /base_odometry/x_stddev
 * /base_odometry/y_stddev
 * /diag_agg/analyzers/joints/expected
 * /diag_agg/analyzers/joints/path
 * /diag_agg/analyzers/joints/startswith
 * /diag_agg/analyzers/joints/type
 * /head_traj_controller/gains/head_pan_joint/d
 * /head_traj_controller/gains/head_pan_joint/i
 * /head_traj_controller/gains/head_pan_joint/i_clamp
 * /head_traj_controller/gains/head_pan_joint/p
 * /head_traj_controller/gains/head_tilt_joint/d
 * /head_traj_controller/gains/head_tilt_joint/i
 * /head_traj_controller/gains/head_tilt_joint/i_clamp
 * /head_traj_controller/gains/head_tilt_joint/p
 * /head_traj_controller/joints
 * /head_traj_controller/type
 * /l_arm_controller/gains/l_elbow_flex_joint/d
 * /l_arm_controller/gains/l_elbow_flex_joint/i
 * /l_arm_controller/gains/l_elbow_flex_joint/i_clamp
 * /l_arm_controller/gains/l_elbow_flex_joint/p
 * /l_arm_controller/gains/l_forearm_roll_joint/d
 * /l_arm_controller/gains/l_forearm_roll_joint/i
 * /l_arm_controller/gains/l_forearm_roll_joint/i_clamp
 * /l_arm_controller/gains/l_forearm_roll_joint/p
 * /l_arm_controller/gains/l_shoulder_lift_joint/d
 * /l_arm_controller/gains/l_shoulder_lift_joint/i
 * /l_arm_controller/gains/l_shoulder_lift_joint/i_clamp
 * /l_arm_controller/gains/l_shoulder_lift_joint/p
 * /l_arm_controller/gains/l_shoulder_pan_joint/d
 * /l_arm_controller/gains/l_shoulder_pan_joint/i
 * /l_arm_controller/gains/l_shoulder_pan_joint/i_clamp
 * /l_arm_controller/gains/l_shoulder_pan_joint/p
 * /l_arm_controller/gains/l_upper_arm_roll_joint/d
 * /l_arm_controller/gains/l_upper_arm_roll_joint/i
 * /l_arm_controller/gains/l_upper_arm_roll_joint/i_clamp
 * /l_arm_controller/gains/l_upper_arm_roll_joint/p
 * /l_arm_controller/gains/l_wrist_flex_joint/d
 * /l_arm_controller/gains/l_wrist_flex_joint/i
 * /l_arm_controller/gains/l_wrist_flex_joint/i_clamp
 * /l_arm_controller/gains/l_wrist_flex_joint/p
 * /l_arm_controller/gains/l_wrist_roll_joint/d
 * /l_arm_controller/gains/l_wrist_roll_joint/i
 * /l_arm_controller/gains/l_wrist_roll_joint/i_clamp
 * /l_arm_controller/gains/l_wrist_roll_joint/p
 * /l_arm_controller/joint_trajectory_action_node/constraints/goal_time
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_elbow_flex_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_lift_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/joints
 * /l_arm_controller/joints
 * /l_arm_controller/type
 * /l_gripper_controller/gripper_action_node/stall_timeout
 * /l_gripper_controller/gripper_action_node/stall_velocity_threshold
 * /l_gripper_controller/joint
 * /l_gripper_controller/pid/p
 * /l_gripper_controller/type
 * /laser_tilt_controller/gains/d
 * /laser_tilt_controller/gains/i
 * /laser_tilt_controller/gains/i_clamp
 * /laser_tilt_controller/gains/p
 * /laser_tilt_controller/joint
 * /laser_tilt_controller/max_acceleration
 * /laser_tilt_controller/max_velocity
 * /laser_tilt_controller/type
 * /laser_tilt_controller/velocity_filter
 * /left_camera_info_relay/lazy
 * /left_image_raw_relay/lazy
 * /narrow_stereo/narrow_stereo_proc/approximate_sync
 * /narrow_stereo/narrow_stereo_proc/disparity_range
 * /narrow_stereo_textured/narrow_stereo_textured_proc/approximate_sync
 * /narrow_stereo_textured/narrow_stereo_textured_proc/disparity_range
 * /pr2_controller_manager/joint_state_publish_rate
 * /pr2_controller_manager/mechanism_statistics_publish_rate
 * /r_arm_controller/gains/r_elbow_flex_joint/d
 * /r_arm_controller/gains/r_elbow_flex_joint/i
 * /r_arm_controller/gains/r_elbow_flex_joint/i_clamp
 * /r_arm_controller/gains/r_elbow_flex_joint/p
 * /r_arm_controller/gains/r_forearm_roll_joint/d
 * /r_arm_controller/gains/r_forearm_roll_joint/i
 * /r_arm_controller/gains/r_forearm_roll_joint/i_clamp
 * /r_arm_controller/gains/r_forearm_roll_joint/p
 * /r_arm_controller/gains/r_shoulder_lift_joint/d
 * /r_arm_controller/gains/r_shoulder_lift_joint/i
 * /r_arm_controller/gains/r_shoulder_lift_joint/i_clamp
 * /r_arm_controller/gains/r_shoulder_lift_joint/p
 * /r_arm_controller/gains/r_shoulder_pan_joint/d
 * /r_arm_controller/gains/r_shoulder_pan_joint/i
 * /r_arm_controller/gains/r_shoulder_pan_joint/i_clamp
 * /r_arm_controller/gains/r_shoulder_pan_joint/p
 * /r_arm_controller/gains/r_upper_arm_roll_joint/d
 * /r_arm_controller/gains/r_upper_arm_roll_joint/i
 * /r_arm_controller/gains/r_upper_arm_roll_joint/i_clamp
 * /r_arm_controller/gains/r_upper_arm_roll_joint/p
 * /r_arm_controller/gains/r_wrist_flex_joint/d
 * /r_arm_controller/gains/r_wrist_flex_joint/i
 * /r_arm_controller/gains/r_wrist_flex_joint/i_clamp
 * /r_arm_controller/gains/r_wrist_flex_joint/p
 * /r_arm_controller/gains/r_wrist_roll_joint/d
 * /r_arm_controller/gains/r_wrist_roll_joint/i
 * /r_arm_controller/gains/r_wrist_roll_joint/i_clamp
 * /r_arm_controller/gains/r_wrist_roll_joint/p
 * /r_arm_controller/joint_trajectory_action_node/constraints/goal_time
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/joints
 * /r_arm_controller/joints
 * /r_arm_controller/type
 * /r_gripper_controller/gripper_action_node/stall_timeout
 * /r_gripper_controller/gripper_action_node/stall_velocity_threshold
 * /r_gripper_controller/joint
 * /r_gripper_controller/pid/p
 * /r_gripper_controller/type
 * /right_camera_info_relay/lazy
 * /right_image_raw_relay/lazy
 * /robot_description
 * /robot_description_semantic
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/publish_tf
 * /robot_pose_ekf/sensor_timeout
 * /robot_pose_ekf/vo_used
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /tf2_buffer_server/buffer_size
 * /tilt_hokuyo_node/frame_id
 * /tilt_hokuyo_node/intensity
 * /tilt_hokuyo_node/max_ang
 * /tilt_hokuyo_node/min_ang
 * /tilt_hokuyo_node/port
 * /tilt_hokuyo_node/skip
 * /torso_controller/gains/torso_lift_joint/d
 * /torso_controller/gains/torso_lift_joint/i
 * /torso_controller/gains/torso_lift_joint/i_clamp
 * /torso_controller/gains/torso_lift_joint/p
 * /torso_controller/joints
 * /torso_controller/position_joint_action_node/goal_threshold
 * /torso_controller/position_joint_action_node/joint
 * /torso_controller/type
 * /use_sim_time
 * /wide_stereo/wide_stereo_proc/approximate_sync
 * /wide_stereo/wide_stereo_proc/disparity_range

NODES
  /torso_controller/
    position_joint_action_node (single_joint_position_action/single_joint_position_action)
  /wide_stereo/
    wide_stereo_proc (stereo_image_proc/stereo_image_proc)
  /narrow_stereo/
    narrow_stereo_proc (stereo_image_proc/stereo_image_proc)
  /l_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /r_forearm_cam/
    image_proc (image_proc/image_proc)
  /l_forearm_cam/
    image_proc (image_proc/image_proc)
  /r_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /
    base_hokuyo_node (gazebo_plugins/hokuyo_node)
    camera_synchronizer_node (gazebo_plugins/camera_synchronizer)
    default_controllers_spawner (pr2_controller_manager/spawner)
    diag_agg (diagnostic_aggregator/aggregator_node)
    fake_joint_calibration (rostopic/rostopic)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    left_camera_info_relay (topic_tools/relay)
    left_image_raw_relay (topic_tools/relay)
    pr2_dashboard_aggregator (pr2_dashboard_aggregator/dashboard_aggregator.py)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    right_camera_info_relay (topic_tools/relay)
    right_image_raw_relay (topic_tools/relay)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_pr2_model (gazebo/spawn_model)
    tf2_buffer_server (tf2_ros/buffer_server)
    tilt_hokuyo_node (gazebo_plugins/hokuyo_node)
  /narrow_stereo_textured/
    narrow_stereo_textured_proc (stereo_image_proc/stereo_image_proc)
  /head_traj_controller/
    point_head_action (pr2_head_action/pr2_head_action)

auto-starting new master
process[master]: started with pid [17891]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e561f3c4-5ebd-11e2-af47-90e2ba191409
process[rosout-1]: started with pid [17904]
started core service [/rosout]
process[gazebo-2]: started with pid [17918]
process[gazebo_gui-3]: started with pid [17933]
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /home/hsu/ros_groovy/simulator_gazebo/gazebo/gazebo/bin/gzserver...process[spawn_pr2_model-4]: started with pid [17944]
Gazebo multi-robot simulator, version 1.3.0
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

process[robot_state_publisher-5]: started with pid [17946]
done.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[pr2_mechanism_diagnostics-6]: started with pid [17973]
process[fake_joint_calibration-7]: started with pid [17997]
process[wide_stereo/wide_stereo_proc-8]: started with pid [18002]
process[narrow_stereo/narrow_stereo_proc-9]: started with pid [18018]
process[narrow_stereo_textured/narrow_stereo_textured_proc-10]: started with pid [18032]
process[left_image_raw_relay-11]: started with pid [18059]
process[right_image_raw_relay-12]: started with pid [18088]
process[left_camera_info_relay-13]: started with pid [18107]
process[right_camera_info_relay-14]: started with pid [18123]
process[r_forearm_cam/image_proc-15]: started with pid [18138]
process[l_forearm_cam/image_proc-16]: started with pid [18151]
process[diag_agg-17]: started with pid [18166]
process[pr2_dashboard_aggregator-18]: started with pid [18184]
process[robot_pose_ekf-19]: started with pid [18187]
process[base_hokuyo_node-20]: started with pid [18231]
process[tilt_hokuyo_node-21]: started with pid [18282]
process[tf2_buffer_server-22]: started with pid [18333]
[ WARN] [1358218055.495465545]: You've passed in true for auto_start for the C++ action server at [/tf2_buffer_server]. You should always pass in false to avoid race conditions.
process[camera_synchronizer_node-23]: started with pid [18364]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[ INFO] [1358218055.875028848]: Starting to spin camera_synchronizer at 100.000000 Hz...
process[default_controllers_spawner-24]: started with pid [18429]
process[r_gripper_controller/gripper_action_node-25]: started with pid [18432]
Msg Waiting for master.loading model xml from ros parameter
[INFO] [WallTime: 1358218056.326778] [0.000000] waiting for service /gazebo/spawn_urdf_model
process[l_gripper_controller/gripper_action_node-26]: started with pid [18479]
process[head_traj_controller/point_head_action-27]: started with pid [18510]
process[torso_controller/position_joint_action_node-28]: started with pid [18545]
.[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe530e700 (LWP 18808)]
Gazebo multi-robot simulator, version 1.3.0
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
.[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ WARN] [1358218058.458103963]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1358218058.458187062]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1358218058.458208196]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1358218058.458230489]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1358218058.466536708]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1358218058.466639676]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1358218058.466765393]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1358218058.466840958]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
[ WARN] [1358218058.707632918]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1358218058.707707818]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1358218058.707725703]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1358218058.707743318]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
.[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Warning [parser.cc:361] Converting a deprecated SDF source[/home/hsu/ros_groovy/simulator_gazebo/gazebo_worlds/worlds/empty.world].
Set SDF value
  Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
[New Thread 0x7fffdadee700 (LWP 19184)]
[New Thread 0x7fffda5ed700 (LWP 19185)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffd9dec700 (LWP 19187)]
[New Thread 0x7fffd95eb700 (LWP 19188)]
[New Thread 0x7fffd8dea700 (LWP 19189)]
[New Thread 0x7fffc3fff700 (LWP 19196)]
[New Thread 0x7fffc37fe700 (LWP 19197)]
[New Thread 0x7fffc2ffd700 (LWP 19198)]
Msg Waiting for master[ INFO] [1358218060.093792332]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.91
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.91
[New Thread 0x7fffb3fff700 (LWP 19204)]
[New Thread 0x7fffabfff700 (LWP 19205)]
[New Thread 0x7fffb37fe700 (LWP 19206)]
[New Thread 0x7fffb2ffd700 (LWP 19207)]
[New Thread 0x7fffb27fc700 (LWP 19208)]
[New Thread 0x7fffb1ffb700 (LWP 19209)]
[New Thread 0x7fffb17fa700 (LWP 19210)]
[New Thread 0x7fffb0ff9700 (LWP 19211)]
[New Thread 0x7fffab7fe700 (LWP 19242)]
[New Thread 0x7fffaaffd700 (LWP 19243)]
[New Thread 0x7fffaa7fc700 (LWP 19272)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218061.175849968]: joint trajectory plugin missing <updateRate>, defaults to 0.0 (as fast as possible)
[New Thread 0x7fffa9ffb700 (LWP 19276)]
Warning [parser.cc:377] SDF has no <sdf> element in file[data-string]
Warning [parser_urdf.cc:482] do nothing with canonicalBody
Dbg extension [<initial_joint_position>-1.0</initial_joint_position>] not converted.
Dbg extension [<initial_joint_position>-1.0</initial_joint_position>] not converted.
Dbg [base_footprint] has no parent joint
Warning [parser_urdf.cc:227] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:227] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1353] urdf2gazebo: link[head_mount_kinect_ir_optical_frame] has no inertia, parent joint [head_mount_kinect_ir_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[head_mount_kinect_ir_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[head_mount_kinect_rgb_optical_frame] has no inertia, parent joint [head_mount_kinect_rgb_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[head_mount_kinect_rgb_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[head_mount_prosilica_optical_frame] has no inertia, parent joint [head_mount_prosilica_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[head_mount_prosilica_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[narrow_stereo_l_stereo_camera_optical_frame] has no inertia, parent joint [narrow_stereo_l_stereo_camera_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[narrow_stereo_l_stereo_camera_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[narrow_stereo_r_stereo_camera_optical_frame] has no inertia, parent joint [narrow_stereo_r_stereo_camera_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[narrow_stereo_r_stereo_camera_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[narrow_stereo_optical_frame] has no inertia, parent joint [narrow_stereo_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[narrow_stereo_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[wide_stereo_l_stereo_camera_optical_frame] has no inertia, parent joint [wide_stereo_l_stereo_camera_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[wide_stereo_l_stereo_camera_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[wide_stereo_r_stereo_camera_optical_frame] has no inertia, parent joint [wide_stereo_r_stereo_camera_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[wide_stereo_r_stereo_camera_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[wide_stereo_optical_frame] has no inertia, parent joint [wide_stereo_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[wide_stereo_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[l_forearm_cam_optical_frame] has no inertia, parent joint [l_forearm_cam_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[l_forearm_cam_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[l_gripper_led_frame] has no inertia, parent joint [l_gripper_led_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[l_gripper_led_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[l_gripper_l_finger_tip_frame] has no inertia, parent joint [l_gripper_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[l_gripper_l_finger_tip_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[l_gripper_tool_frame] has no inertia, parent joint [l_gripper_tool_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[l_gripper_tool_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[r_forearm_cam_optical_frame] has no inertia, parent joint [r_forearm_cam_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[r_forearm_cam_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[r_gripper_led_frame] has no inertia, parent joint [r_gripper_led_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[r_gripper_led_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[r_gripper_l_finger_tip_frame] has no inertia, parent joint [r_gripper_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[r_gripper_l_finger_tip_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1353] urdf2gazebo: link[r_gripper_tool_frame] has no inertia, parent joint [r_gripper_tool_joint] ignored
.Warning [parser_urdf.cc:1358] urdf2gazebo: link[r_gripper_tool_frame] has no inertia, not modeled in gazebo
Warning [parser.cc:314] parse from urdf.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218062.531552771]: bumper plugin missing <frameName>, defaults to world
[New Thread 0x7fffa97fa700 (LWP 19288)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218062.604146191]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1358218062.604187667]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[New Thread 0x7fffa8bbb700 (LWP 19291)]
[ INFO] [1358218062.611139315]: bumper plugin missing <frameName>, defaults to world
[New Thread 0x7fff73fff700 (LWP 19294)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Error [SDF.cc:741] Missing element description for [CxPrime]
[ INFO] [1358218063.131347067]: Camera plugin missing <CxPrime>, defaults to 0
[ INFO] [1358218063.131388023]: Camera plugin missing <Cx>, defaults to 0
[ INFO] [1358218063.131419111]: Camera plugin missing <Cy>, defaults to 0
[ INFO] [1358218063.131446274]: Camera plugin missing <focalLength>, defaults to 0
[ INFO] [1358218063.131476518]: Camera plugin missing <hackBaseline>, defaults to 0
[ WARN] [1358218063.131557788]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1358218063.182495736]: Reconfigure request for the gazebo ros camera_: head_mount_kinect_ir. New rate: 2.00
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff71e8f700 (LWP 19312)]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [CxPrime]
[ INFO] [1358218063.251312218]: Camera plugin missing <CxPrime>, defaults to 0
[ INFO] [1358218063.251361112]: Camera plugin missing <Cx>, defaults to 0
[ INFO] [1358218063.251412370]: Camera plugin missing <Cy>, defaults to 0
[ INFO] [1358218063.251424233]: Camera plugin missing <focalLength>, defaults to 0
[ INFO] [1358218063.251435411]: Camera plugin missing <hackBaseline>, defaults to 0
[ WARN] [1358218063.251476594]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1358218063.293403474]: Reconfigure request for the gazebo ros camera_: head_mount_kinect_rgb. New rate: 2.00
[New Thread 0x7fff7168e700 (LWP 19330)]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Error [SDF.cc:741] Missing element description for [CxPrime]
[ INFO] [1358218063.391459320]: Camera plugin missing <CxPrime>, defaults to 0
[ INFO] [1358218063.391499583]: Camera plugin missing <Cx>, defaults to 0
[ INFO] [1358218063.391526029]: Camera plugin missing <Cy>, defaults to 0
[ INFO] [1358218063.391555385]: Camera plugin missing <focalLength>, defaults to 0
[ INFO] [1358218063.391585512]: Camera plugin missing <hackBaseline>, defaults to 0
[ INFO] [1358218063.439266112]: Reconfigure request for the gazebo ros camera_: prosilica_camera_1mb. New rate: 2.00
[New Thread 0x7fff63b57700 (LWP 19350)]
[ INFO] [1358218063.483741042]: trigger_mode trigger_mode streaming
Error [SDF.cc:741] Missing element description for [CxPrime]
[ INFO] [1358218063.504615830]: Camera plugin missing <CxPrime>, defaults to 0
[ INFO] [1358218063.504645978]: Camera plugin missing <Cx>, defaults to 0
[ INFO] [1358218063.504662107]: Camera plugin missing <Cy>, defaults to 0
[ INFO] [1358218063.504687611]: Camera plugin missing <focalLength>, defaults to 0
[ INFO] [1358218063.504706953]: Camera plugin missing <hackBaseline>, defaults to 0
[ INFO] [1358218063.504729839]: Camera plugin missing <distortionK1>, defaults to 0
[ INFO] [1358218063.504754013]: Camera plugin missing <distortionK2>, defaults to 0
[ INFO] [1358218063.504771555]: Camera plugin missing <distortionK3>, defaults to 0
[ INFO] [1358218063.504789838]: Camera plugin missing <distortionT1>, defaults to 0
[ INFO] [1358218063.504805581]: Camera plugin missing <distortionT2>, defaults to 0
[ INFO] [1358218063.548625446]: Reconfigure request for the gazebo ros camera_: prosilica_camera_1mb_sim_pcd. New rate: 2.00
[New Thread 0x7fff63356700 (LWP 19368)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218063.700303799]: Reconfigure request for the gazebo ros camera_: narrow_stereo/left. New rate: 2.00
[ WARN] [1358218063.737841611]: The <focal_length>[772.550000] you have provided for camera_ [narrow_stereo_l_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [0.785398].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [772.548518], please update your camera_ model description accordingly.
[New Thread 0x7fff62b55700 (LWP 19388)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[ INFO] [1358218063.791865695]: Reconfigure request for the gazebo ros camera_: narrow_stereo/right. New rate: 2.00
[ WARN] [1358218063.829705809]: The <focal_length>[772.550000] you have provided for camera_ [narrow_stereo_r_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [0.785398].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [772.548518], please update your camera_ model description accordingly.
[New Thread 0x7fff62354700 (LWP 19407)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[ INFO] [1358218063.880320368]: Reconfigure request for the gazebo ros camera_: wide_stereo/left. New rate: 2.00
[ INFO] [1358218063.926806259]: bayer simulation maybe computationally expensive.
[ WARN] [1358218063.926927628]: The <focal_length>[320.000000] you have provided for camera_ [wide_stereo_l_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [1.570796].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [320.000105], please update your camera_ model description accordingly.
[New Thread 0x7fff61b53700 (LWP 19426)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[ INFO] [1358218063.983754315]: Reconfigure request for the gazebo ros camera_: wide_stereo/right. New rate: 2.00
[ INFO] [1358218064.027117541]: bayer simulation maybe computationally expensive.
[ WARN] [1358218064.027223631]: The <focal_length>[320.000000] you have provided for camera_ [wide_stereo_r_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [1.570796].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [320.000105], please update your camera_ model description accordingly.
[New Thread 0x7fff61352700 (LWP 19446)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[ INFO] [1358218064.038984769]: Camera plugin missing <hackBaseline>, defaults to 0
[ INFO] [1358218064.087662568]: Reconfigure request for the gazebo ros camera_: prosilica. New rate: 2.00
[ WARN] [1358218064.130830841]: The <focal_length>[2955.000000] you have provided for camera_ [high_def_sensor] is inconsistent with specified image_width [2448] and HFOV [0.785398].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [2954.998083], please update your camera_ model description accordingly.
[New Thread 0x7fff60b51700 (LWP 19465)]
[ INFO] [1358218064.132782831]: trigger_mode trigger_mode streaming
[ INFO] [1358218064.186898477]: Reconfigure request for the gazebo ros camera_: l_forearm_cam. New rate: 2.00
[ WARN] [1358218064.225252817]: The <focal_length>[320.000000] you have provided for camera_ [l_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570796].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [320.000105], please update your camera_ model description accordingly.
[New Thread 0x7fff3ffff700 (LWP 19483)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[New Thread 0x7fff3f7fe700 (LWP 19489)]
[New Thread 0x7fff3effd700 (LWP 19492)]
[ INFO] [1358218064.262295843]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1358218064.262354593]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[New Thread 0x7fff3e7fc700 (LWP 19496)]
[ INFO] [1358218064.317650064]: Reconfigure request for the gazebo ros camera_: r_forearm_cam. New rate: 2.00
[ WARN] [1358218064.358677715]: The <focal_length>[320.000000] you have provided for camera_ [r_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570796].   Please double check to see that focal_length = width_ / (2.0 * tan( HFOV/2.0 )), the explected focal_lengtth value is [320.000105], please update your camera_ model description accordingly.
[New Thread 0x7fff3dffb700 (LWP 19512)]
Error [SDF.cc:741] Missing element description for [pointCloudTopicName]
Error [SDF.cc:741] Missing element description for [depthImageTopicName]
Error [SDF.cc:741] Missing element description for [depthImageCameraInfoTopicName]
Error [SDF.cc:741] Missing element description for [pointCloudCutoff]
[New Thread 0x7fff3d7fa700 (LWP 19518)]
[New Thread 0x7fff3cff9700 (LWP 19521)]
spawn status:  SpawnModel: successfully spawned model
[spawn_pr2_model-4] process has finished cleanly
log file: /home/hsu/.ros/log/e561f3c4-5ebd-11e2-af47-90e2ba191409/spawn_pr2_model-4*.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218065.239297955]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218065.239443166]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218065.239491208]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218065.239537894]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
Dbg plugin model name: pr2
[ INFO] [1358218065.239689475]: starting gazebo_ros_controller_manager plugin in ns: 
[New Thread 0x7fff1ed2a700 (LWP 19529)]
[ INFO] [1358218065.241393578]: Callback thread id=0x7fff7f8a2d40
[New Thread 0x7fff1e529700 (LWP 19531)]
[New Thread 0x7fff1dd28700 (LWP 19533)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Dbg plugin model name: pr2
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff1d0dc700 (LWP 19562)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218065.646124817]: imu plugin missing <serviceName>, defaults to /default_imu
[New Thread 0x7fff0bfff700 (LWP 19565)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff0b7fe700 (LWP 19568)]
[New Thread 0x7fff0affd700 (LWP 19571)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218065.734495339]: f3d plugin specifies <frameName> [r_gripper_l_finger_link], not used, default to world
[New Thread 0x7fff0a7fc700 (LWP 19574)]
[New Thread 0x7fff09ffb700 (LWP 19577)]
[New Thread 0x7fff097fa700 (LWP 19580)]
[ INFO] [1358218065.740975166]: f3d plugin specifies <frameName> [l_gripper_l_finger_link], not used, default to world
[New Thread 0x7fff08ff9700 (LWP 19583)]
[New Thread 0x7ffee7fff700 (LWP 19586)]
[ INFO] [1358218065.792723578, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1358218065.823331996, 0.035000000]: Starting to spin physics dynamic reconfigure node...
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218066.667259637, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.667409210, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.667482582, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.667549824, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.667617945, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.667680290, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.667777990, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.668510347, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.669305727, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.669886141, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.670006782, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.670094672, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.670185049, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.671007900, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218066.671146185, 0.036000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[New Thread 0x7ffee6fd6700 (LWP 19654)]
[ INFO] [1358218066.685652308, 0.040000000]: advertised as /narrow_stereo_textured/right/camera_info

[ INFO] [1358218066.686532033, 0.040000000]: advertised as /narrow_stereo_textured/left/camera_info

[New Thread 0x7ffee67d5700 (LWP 19836)]
[New Thread 0x7ffee5fd4700 (LWP 19838)]
[New Thread 0x7ffee57d3700 (LWP 19840)]
[New Thread 0x7ffee4fd2700 (LWP 19842)]
[New Thread 0x7ffecffff700 (LWP 19876)]
[New Thread 0x7ffecf7fe700 (LWP 19883)]
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_wrist_roll_link::l_wrist_roll_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1358218067.015505679, 0.148000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218067.015836898, 0.148000000]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1358218067.018030735, 0.148000000]: Trajectory:: interpolation type linear
[ INFO] [1358218067.018182971, 0.148000000]: LaserScannerTrajController: Periodic Command set. Duration=1.0000 sec
[New Thread 0x7ffeceffd700 (LWP 19924)]
[ INFO] [1358218067.026185945, 0.150000000]: Successfully spawned 
[New Thread 0x7ffece7fc700 (LWP 19946)]
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_forearm_roll_link::l_forearm_roll_link_visual. Object will appear white
[New Thread 0x7ffecdffb700 (LWP 19974)]
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_forearm_roll_link::r_forearm_roll_link_visual. Object will appear white
[New Thread 0x7ffecd7fa700 (LWP 19991)]
[New Thread 0x7ffeccff9700 (LWP 20088)]
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_upper_arm_roll_link::l_upper_arm_roll_link_visual. Object will appear white
[New Thread 0x7ffeb3fff700 (LWP 20199)]
[INFO] [WallTime: 1358218067.178750] [0.194000] Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[INFO] [WallTime: 1358218067.181985] [0.196000] Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_upper_arm_roll_link::r_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visualbase_bellow_link. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::bl_caster_rotation_link::bl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::br_caster_rotation_link::br_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fl_caster_rotation_link::fl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white
[ INFO] [1358218068.064895935, 0.540000000]: Initializing Imu sensor
[ INFO] [1358218068.276480530, 0.632000000]: Initializing Odom sensor
[ INFO] [1358218068.276514631, 0.632000000]: Odom sensor activated
[ INFO] [1358218068.276588381, 0.632000000]: Imu sensor activated
[ INFO] [1358218068.367335864, 0.653000000]: Kalman filter initialized with odom measurement
[ INFO] [1358218068.377655163, 0.657000000]: advertised as /narrow_stereo_textured/left/image_raw

[ INFO] [1358218068.389978662, 0.661000000]: advertised as /narrow_stereo_textured/right/image_raw

Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_wrist_roll_link::l_wrist_roll_link_visual. Object will appear white

Program received signal SIGSEGV, Segmentation fault.
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white
0x00007fffee6ab1e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
(gdb) Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_forearm_roll_link::l_forearm_roll_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_forearm_roll_link::r_forearm_roll_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_upper_arm_roll_link::l_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_upper_arm_roll_link::r_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visualbase_bellow_link. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::bl_caster_rotation_link::bl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::br_caster_rotation_link::br_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fl_caster_rotation_link::fl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:732] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white

(gdb) 
(gdb) 
(gdb) bt
#0  0x00007fffee6ab1e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#1  0x00007fffee8d73e5 in Ogre::TextureUnitState::ensurePrepared(unsigned long) const ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8d75d3 in Ogre::TextureUnitState::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee7b566c in Ogre::Pass::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007fffee8c999c in Ogre::Technique::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#5  0x00007fffee735ef4 in Ogre::Material::prepareImpl() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#6  0x00007fffee7fa5da in Ogre::Resource::load(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#7  0x00007fffee6c8b25 in Ogre::Entity::reevaluateVertexProcessing() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#8  0x00007fffee6cc4bd in Ogre::Entity::_initialise(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#9  0x00007fffee6cd121 in Ogre::Entity::Entity(std::string const&, Ogre::MeshPtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#10 0x00007fffee6cd67d in Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#11 0x00007fffee789ba1 in Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager*, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#12 0x00007fffee84018d in Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#13 0x00007fffee83cc18 in Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#14 0x00007ffff28e6189 in gazebo::rendering::Light::CreateVisual (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:285
#15 0x00007ffff28e351b in gazebo::rendering::Light::Load (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:102
#16 0x00007ffff28e5bfa in gazebo::rendering::Light::LoadFromMsg (this=0x3a948f0, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:229
#17 0x00007ffff2928847 in gazebo::rendering::Scene::ProcessLightMsg (this=0x2618d40, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:2068
#18 0x00007ffff2924398 in gazebo::rendering::Scene::PreRender (this=0x2618d40)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:1495
#19 0x00007ffff294a4e6 in boost::_mfi::mf0<void, gazebo::rendering::Scene>::operator() (this=0x228f398, p=0x2618d40)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#20 0x00007ffff29490fc in boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> >::operator()<boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list0> (this=0x228f3a8, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#21 0x00007ffff2947d67 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> > >::operator() (this=0x228f398) at /usr/include/boost/bind/bind_template.hpp:20
#22 0x00007ffff294615c in boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> > >, void>::invoke (function_obj_ptr=...)
    at /usr/include/boost/function/function_template.hpp:153
#23 0x00007ffff7406ce0 in boost::function0<void>::operator() (this=0x228f390)
    at /usr/include/boost/function/function_template.hpp:1013
#24 0x00007ffff740c561 in gazebo::event::EventT<void ()>::Signal() (this=0x7ffff7dd89e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:126
#25 0x00007ffff74084ae in gazebo::event::EventT<void ()>::operator()() (this=0x7ffff7dd89e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:119
#26 0x00007ffff6c44740 in gazebo::sensors::SensorManager::Update (this=0x7ffff7320600, _force=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/SensorManager.cc:87
#27 0x00007ffff6c39479 in gazebo::sensors::run_once (_force=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/Sensors.cc:88
#28 0x00000000004693c7 in gazebo::Server::Run (this=0x6ec020)
---Type <return> to continue, or q <return> to quit---
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/Server.cc:379
#29 0x0000000000464b87 in main (argc=9, argv=0x7fffffffdae8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/server_main.cc:34
(gdb) thread apply all be

Thread 66 (Thread 0x7ffeb3fff700 (LWP 20199)):
0^
(gdb) thread apply all bt

Thread 66 (Thread 0x7ffeb3fff700 (LWP 20199)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff0825ec14 in wait (m=..., this=0x7fff141a0c10) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointTrajectoryControllerState_<std::allocator<void> > >::publishingLoop (this=0x7fff141a09c0) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffeb3fff700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 65 (Thread 0x7ffeccff9700 (LWP 20088)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff0825ec14 in wait (m=..., this=0x7fff1405e2d0) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointTrajectoryControllerState_<std::allocator<void> > >::publishingLoop (this=0x7fff1405e080) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffeccff9700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 64 (Thread 0x7ffecd7fa700 (LWP 19991)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff085c3678 in wait (m=..., this=0x7fff14064fb8) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointControllerState_<std::allocator<void> > >::publishingLoop (
    this=0x7fff14064e50) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffecd7fa700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 63 (Thread 0x7ffecdffb700 (LWP 19974)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff085c3678 in wait (m=..., this=0x7fff14062818) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointControllerState_<std::allocator<void> > >::publishingLoop (
    this=0x7fff140626b0) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffecdffb700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 62 (Thread 0x7ffece7fc700 (LWP 19946)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff0825ec14 in wait (m=..., this=0x7fff140c11b0) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointTrajectoryControllerState_<std::allocator<void> > >::publishingLoop (this=0x7fff140c0f60) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffece7fc700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 61 (Thread 0x7ffeceffd700 (LWP 19924)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff0856a4db in wait (m=..., this=0x7fff14155ef0) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
---Type <return> to continue, or q <return> to quit---
#2  realtime_tools::RealtimePublisher<pr2_msgs::LaserScannerSignal_<std::allocator<void> > >::publishingLoop (
    this=0x7fff14155dd0) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffeceffd700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 60 (Thread 0x7ffecf7fe700 (LWP 19883)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6be78f in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::threadFunc() ()
   from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#3  0x00007ffff655ee9a in start_thread (arg=0x7ffecf7fe700) at pthread_create.c:308
#4  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#5  0x0000000000000000 in ?? ()

Thread 59 (Thread 0x7ffecffff700 (LWP 19876)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff0825ec14 in wait (m=..., this=0x7fff14014550) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointTrajectoryControllerState_<std::allocator<void> > >::publishingLoop (this=0x7fff14014300) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffecffff700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 58 (Thread 0x7ffee4fd2700 (LWP 19842)):





#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff08586a51 in boost::condition_variable::wait (this=0x7fff14011028, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  0x00007fff08596721 in realtime_tools::RealtimePublisher<tf::tfMessage_<std::allocator<void> > >::publishingLoop (
    this=0x7fff14010f20) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffee4fd2700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 57 (Thread 0x7ffee57d3700 (LWP 19840)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff08586a51 in boost::condition_variable::wait (this=0x7fff1400f958, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  0x00007fff0859184b in realtime_tools::RealtimePublisher<nav_msgs::Odometry_<std::allocator<void> > >::publishingLoop (
    this=0x7fff1400f510) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffee57d3700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 56 (Thread 0x7ffee5fd4700 (LWP 19838)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff08586a51 in boost::condition_variable::wait (this=0x7fff1400ea10, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  0x00007fff085911e3 in realtime_tools::RealtimePublisher<pr2_mechanism_controllers::Odometer_<std::allocator<void> > >::publishingLoop (this=0x7fff1400e910)
---Type <return> to continue, or q <return> to quit---
    at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffee5fd4700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 55 (Thread 0x7ffee67d5700 (LWP 19836)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff08586a51 in boost::condition_variable::wait (this=0x7fff1400d868, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  0x00007fff08595e1b in realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseOdometryState_<std::allocator<void> > >::publishingLoop (this=0x7fff1400d6d0)
    at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffee67d5700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 54 (Thread 0x7ffee6fd6700 (LWP 19654)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff085ab55b in wait (m=..., this=0x7fff14008dc8) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState_<std::allocator<void> > >::publishingLoop (
    this=0x7fff14008bd0) at /opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7ffee6fd6700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 53 (Thread 0x7ffee7fff700 (LWP 19586)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1d0e8882 in gazebo::GazeboRosP3D::P3DQueueThread (this=0x7fff1829dc00)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_p3d.cpp:353
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7ffee7fff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 52 (Thread 0x7fff08ff9700 (LWP 19583)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so

#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1c288d12 in gazebo::GazeboRosF3D::QueueThread (this=0x7fff182ab0e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_f3d.cpp:193
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff08ff9700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

---Type <return> to continue, or q <return> to quit---
Thread 51 (Thread 0x7fff097fa700 (LWP 19580)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1d0e8882 in gazebo::GazeboRosP3D::P3DQueueThread (this=0x7fff7f895950)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_p3d.cpp:353
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff097fa700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 50 (Thread 0x7fff09ffb700 (LWP 19577)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1d0e8882 in gazebo::GazeboRosP3D::P3DQueueThread (this=0x7fff7f8a0020)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_p3d.cpp:353
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff09ffb700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 49 (Thread 0x7fff0a7fc700 (LWP 19574)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1c288d12 in gazebo::GazeboRosF3D::QueueThread (this=0x7fff181a85e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_f3d.cpp:193
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff0a7fc700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 48 (Thread 0x7fff0affd700 (LWP 19571)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1d0e8882 in gazebo::GazeboRosP3D::P3DQueueThread (this=0x7fff182cbcb0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_p3d.cpp:353
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff0affd700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 47 (Thread 0x7fff0b7fe700 (LWP 19568)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
---Type <return> to continue, or q <return> to quit---
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so

#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1c4a91aa in gazebo::GazeboRosProjector::QueueThread (this=0x7fff1819c0a0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_projector.cpp:153
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff0b7fe700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 46 (Thread 0x7fff0bfff700 (LWP 19565)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so

#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1c6ca2d2 in gazebo::GazeboRosIMU::IMUQueueThread (this=0x7fff182a2ab0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_imu.cpp:312
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff0bfff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 45 (Thread 0x7fff1d0dc700 (LWP 19562)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff1d0e8882 in gazebo::GazeboRosP3D::P3DQueueThread (this=0x7fff18219eb0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_p3d.cpp:353
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff1d0dc700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 44 (Thread 0x7fff1dd28700 (LWP 19533)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff4813d2cf in wait (m=..., this=0x7fff7fa54b30) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<pr2_mechanism_msgs::MechanismStatistics_<std::allocator<void> > >::publishingLoop (
    this=0x7fff7fa549d0)
    at /tmp/buildd/ros-groovy-pr2-mechanism-1.7.2/debian/ros-groovy-pr2-mechanism/opt/ros/groovy/stacks/pr2_mechanism/realtime_tools/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7fff1dd28700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 43 (Thread 0x7fff1e529700 (LWP 19531)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fff48139f90 in wait (m=..., this=0x7fff7fa54970) at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  realtime_tools::RealtimePublisher<sensor_msgs::JointState_<std::allocator<void> > >::publishingLoop (this=0x7fff7fa547f8)
    at /tmp/buildd/ros-groovy-pr2-mechanism-1.7.2/debian/ros-groovy-pr2-mechanism/opt/ros/groovy/stacks/pr2_mechanism/realtime_to---Type <return> to continue, or q <return> to quit---
ols/include/realtime_tools/realtime_publisher.h:182
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7fff1e529700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 42 (Thread 0x7fff1ed2a700 (LWP 19529)):
#0  0x00007ffff4f7283d in nanosleep () at ../sysdeps/unix/syscall-template.S:82
#1  0x00007ffff4fa0774 in usleep (useconds=<optimized out>) at ../sysdeps/unix/sysv/linux/usleep.c:33
#2  0x00007fff60138eaa in gazebo::GazeboRosControllerManager::ControllerManagerROSThread (this=0x7fff7fa07ec0)
    at /home/hsu/ros_groovy/pr2_simulator/pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp:431
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7fff1ed2a700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 41 (Thread 0x7fff3cff9700 (LWP 19521)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffb05e73a2 in gazebo::GazeboRosBumper::ContactQueueThread (this=0x42a0c30)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_bumper.cpp:326
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3cff9700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 40 (Thread 0x7fff3d7fa700 (LWP 19518)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffb05e73a2 in gazebo::GazeboRosBumper::ContactQueueThread (this=0x45b7e50)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_bumper.cpp:326
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3d7fa700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 39 (Thread 0x7fff3dffb700 (LWP 19512)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x45cbcd8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3dffb700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()
---Type <return> to continue, or q <return> to quit---

Thread 38 (Thread 0x7fff3e7fc700 (LWP 19496)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffa8deb852 in gazebo::GazeboRosLaser::LaserQueueThread (this=0x4280f00)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_laser.cpp:323
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3e7fc700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 37 (Thread 0x7fff3effd700 (LWP 19492)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffb05e73a2 in gazebo::GazeboRosBumper::ContactQueueThread (this=0x41e6c20)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_bumper.cpp:326
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3effd700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 36 (Thread 0x7fff3f7fe700 (LWP 19489)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffb05e73a2 in gazebo::GazeboRosBumper::ContactQueueThread (this=0x4277b30)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_bumper.cpp:326
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3f7fe700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 35 (Thread 0x7fff3ffff700 (LWP 19483)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3ad1298)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff3ffff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 34 (Thread 0x7fff60b51700 (LWP 19465)):
---Type <return> to continue, or q <return> to quit---
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x42042a8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff60b51700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 33 (Thread 0x7fff61352700 (LWP 19446)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3a4b828)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff61352700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 32 (Thread 0x7fff61b53700 (LWP 19426)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3aafdb8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff61b53700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 31 (Thread 0x7fff62354700 (LWP 19407)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x1da6638)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff62354700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 30 (Thread 0x7fff62b55700 (LWP 19388)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time---Type <return> to continue, or q <return> to quit---
_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3b285c8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff62b55700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 29 (Thread 0x7fff63356700 (LWP 19368)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x1da8ff8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff63356700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 28 (Thread 0x7fff63b57700 (LWP 19350)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3a92d08)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff63b57700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 27 (Thread 0x7fff7168e700 (LWP 19330)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3a7d108)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff7168e700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 26 (Thread 0x7fff71e8f700 (LWP 19312)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
---Type <return> to continue, or q <return> to quit---
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fff72f2c85b in gazebo::GazeboRosCameraUtils::CameraQueueThread (this=0x3a39808)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera_utils.cpp:558
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff71e8f700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 25 (Thread 0x7fff73fff700 (LWP 19294)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffb05e73a2 in gazebo::GazeboRosBumper::ContactQueueThread (this=0x1006fd0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_bumper.cpp:326
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fff73fff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 24 (Thread 0x7fffa8bbb700 (LWP 19291)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffa8deb852 in gazebo::GazeboRosLaser::LaserQueueThread (this=0x288fc60)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_laser.cpp:323
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffa8bbb700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 23 (Thread 0x7fffa97fa700 (LWP 19288)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffb05e73a2 in gazebo::GazeboRosBumper::ContactQueueThread (this=0x26e3ce0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_bumper.cpp:326
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffa97fa700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 22 (Thread 0x7fffa9ffb700 (LWP 19276)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so

#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffc004edd2 in gazebo::GazeboRosJointTrajectory::QueueThread (this=0x7fff7c007220)
---Type <return> to continue, or q <return> to quit---
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp:343
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffa9ffb700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 21 (Thread 0x7fffaa7fc700 (LWP 19272)):
#0  0x00007ffff7755255 in gazebo::math::Quaternion::operator* (this=0x7fffaa7fb040, _q=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/math/Quaternion.hh:225
#1  0x00007ffff603ec7f in gazebo::math::Quaternion::RotateVectorReverse (this=0x7fff7f84a300, _vec=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/math/Quaternion.cc:418
#2  0x00007ffff703796a in gazebo::physics::Link::GetRelativeForce (this=0x7fff7f84a200)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/Link.cc:577
#3  0x00007ffff703770d in gazebo::physics::Link::GetRelativeLinearAccel (this=0x7fff7f84a200)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/Link.cc:553
#4  0x00007ffff70427b0 in gazebo::physics::LinkState::LinkState (this=0x7fffaa7fb510, _link=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/LinkState.cc:42
#5  0x00007ffff7059daf in gazebo::physics::ModelState::ModelState (this=0x7fffaa7fb7e0, _model=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/ModelState.cc:44
#6  0x00007ffff709831a in gazebo::physics::WorldState::WorldState (this=0x7fffaa7fb960, _world=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/WorldState.cc:44
#7  0x00007ffff7079ca9 in gazebo::physics::World::Update (this=0x192d0e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/World.cc:508
#8  0x00007ffff707954b in gazebo::physics::World::Step (this=0x192d0e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/World.cc:427
#9  0x00007ffff7078ce3 in gazebo::physics::World::RunLoop (this=0x192d0e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/physics/World.cc:335
#10 0x00007ffff7095548 in boost::_mfi::mf0<void, gazebo::physics::World>::operator() (this=0xa33088, p=0x192d0e0)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#11 0x00007ffff7094830 in boost::_bi::list1<boost::_bi::value<gazebo::physics::World*> >::operator()<boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list0> (this=0xa33098, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#12 0x00007ffff7093bef in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list1<boost::_bi::value<gazebo::physics::World*> > >::operator() (this=0xa33088) at /usr/include/boost/bind/bind_template.hpp:20
#13 0x00007ffff7096984 in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::physics::World>, boost::_bi::list1<boost::_bi::value<gazebo::physics::World*> > > >::run (this=0xa32f00)
    at /usr/include/boost/thread/detail/thread.hpp:61
#14 0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#15 0x00007ffff655ee9a in start_thread (arg=0x7fffaa7fc700) at pthread_create.c:308
#16 0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#17 0x0000000000000000 in ?? ()

Thread 20 (Thread 0x7fffaaffd700 (LWP 19243)):
#0  __pthread_mutex_lock (mutex=0x5) at pthread_mutex_lock.c:47
#1  0x00007fffee66cff0 in boost::unique_lock<boost::recursive_mutex>::lock() ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8100ed in Ogre::ResourceManager::getByName(std::string const&, std::string const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee6ab2be in ?? () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007fffeecb6e62 in Ogre::RTShader::ShaderGenerator::createShaderBasedTechnique(std::string const&, std::string const&, std::string const&) () from /usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.7.4
#5  0x00007ffff29163b8 in gazebo::rendering::RTShaderSystem::GenerateShaders (this=0x7ffff2c1ac60, vis=0x9c67200)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/RTShaderSystem.cc:240
#6  0x00007ffff2916207 in gazebo::rendering::RTShaderSystem::UpdateShaders (this=0x7ffff2c1ac60)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/RTShaderSystem.cc:209
---Type <return> to continue, or q <return> to quit---
#7  0x00007ffff28f7560 in gazebo::rendering::Projector::ProjectorFrameListener::SetEnabled (this=0xcaeb858, _enabled=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Projector.cc:284
#8  0x00007ffff28f89bd in gazebo::rendering::Projector::OnMsg (this=0xcaeb820, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Projector.cc:553
#9  0x00007ffff28ff71b in boost::_mfi::mf1<void, gazebo::rendering::Projector, boost::shared_ptr<gazebo::msgs::Projector const> const&>::operator() (this=0xcaec6a8, p=0xcaeb820, a1=...) at /usr/include/boost/bind/mem_fn_template.hpp:165
#10 0x00007ffff28ff27c in boost::_bi::list2<boost::_bi::value<gazebo::rendering::Projector*>, boost::arg<1> >::operator()<boost::_mfi::mf1<void, gazebo::rendering::Projector, boost::shared_ptr<gazebo::msgs::Projector const> const&>, boost::_bi::list1<boost::shared_ptr<gazebo::msgs::Projector const> const&> > (this=0xcaec6b8, f=..., a=...) at /usr/include/boost/bind/bind.hpp:313
#11 0x00007ffff28fedf0 in boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::rendering::Projector, boost::shared_ptr<gazebo::msgs::Projector const> const&>, boost::_bi::list2<boost::_bi::value<gazebo::rendering::Projector*>, boost::arg<1> > >::operator()<boost::shared_ptr<gazebo::msgs::Projector const> > (this=0xcaec6a8, a1=...) at /usr/include/boost/bind/bind_template.hpp:47
#12 0x00007ffff28fe646 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::rendering::Projector, boost::shared_ptr<gazebo::msgs::Projector const> const&>, boost::_bi::list2<boost::_bi::value<gazebo::rendering::Projector*>, boost::arg<1> > >, void, boost::shared_ptr<gazebo::msgs::Projector const> const&>::invoke (
    function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
#13 0x00007ffff28ffbf9 in boost::function1<void, boost::shared_ptr<gazebo::msgs::Projector const> const&>::operator() (
    this=0xcaec6a0, a0=...) at /usr/include/boost/function/function_template.hpp:1013
#14 0x00007ffff28ffa56 in gazebo::transport::CallbackHelperT<gazebo::msgs::Projector>::HandleData (this=0xcaec690, _newdata=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/transport/CallbackHelper.hh:126
#15 0x00007ffff742899f in gazebo::transport::Node::ProcessIncoming (this=0xcaf1090)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/transport/Node.cc:167
#16 0x00007ffff7439527 in gazebo::transport::TopicManager::ProcessNodes (this=0x6b2e20, _onlyOut=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/transport/TopicManager.cc:137
#17 0x00007ffff74199e9 in gazebo::transport::ConnectionManager::RunUpdate (this=0x6b2ec0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/transport/ConnectionManager.cc:218
#18 0x00007ffff7419b70 in gazebo::transport::ConnectionManager::Run (this=0x6b2ec0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/transport/ConnectionManager.cc:247
#19 0x00007ffff7424e7c in boost::_mfi::mf0<void, gazebo::transport::ConnectionManager>::operator() (this=0x205aca8, p=0x6b2ec0)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#20 0x00007ffff74243c0 in boost::_bi::list1<boost::_bi::value<gazebo::transport::ConnectionManager*> >::operator()<boost::_mfi::mf0<void, gazebo::transport::ConnectionManager>, boost::_bi::list0> (this=0x205acb8, f=..., a=...)
    at /usr/include/boost/bind/bind.hpp:253
#21 0x00007ffff7423be1 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::transport::ConnectionManager>, boost::_bi::list1<boost::_bi::value<gazebo::transport::ConnectionManager*> > >::operator() (this=0x205aca8)
    at /usr/include/boost/bind/bind_template.hpp:20
#22 0x00007ffff7445392 in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::transport::ConnectionManager>, boost::_bi::list1<boost::_bi::value<gazebo::transport::ConnectionManager*> > > >::run (this=0x205ab20)
    at /usr/include/boost/thread/detail/thread.hpp:61
#23 0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#24 0x00007ffff655ee9a in start_thread (arg=0x7fffaaffd700) at pthread_create.c:308
#25 0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#26 0x0000000000000000 in ?? ()

Thread 19 (Thread 0x7fffab7fe700 (LWP 19242)):
#0  0x00007ffff656652d in nanosleep () at ../sysdeps/unix/syscall-template.S:82
#1  0x00007fffe40691c0 in ros::ros_wallsleep(unsigned int, unsigned int) () from /opt/ros/groovy/lib/librostime.so
#2  0x00007fffe406a5b1 in ros::Duration::sleep() const () from /opt/ros/groovy/lib/librostime.so
#3  0x00007fffe4068d8a in ros::Rate::sleep() () from /opt/ros/groovy/lib/librostime.so
#4  0x00007fffdb9f44ad in gazebo::GazeboRosApiPlugin::spin (this=<optimized out>)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/src/gazebo_ros_api_plugin.cpp:1517
#5  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#6  0x00007ffff655ee9a in start_thread (arg=0x7fffab7fe700) at pthread_create.c:308
#7  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
---Type <return> to continue, or q <return> to quit---
#8  0x0000000000000000 in ?? ()

Thread 18 (Thread 0x7fffb0ff9700 (LWP 19211)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb0ff9700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 17 (Thread 0x7fffb17fa700 (LWP 19210)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb17fa700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 16 (Thread 0x7fffb1ffb700 (LWP 19209)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb1ffb700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 15 (Thread 0x7fffb27fc700 (LWP 19208)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb27fc700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 14 (Thread 0x7fffb2ffd700 (LWP 19207)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb2ffd700) at pthread_create.c:308
---Type <return> to continue, or q <return> to quit---
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 13 (Thread 0x7fffb37fe700 (LWP 19206)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb37fe700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 12 (Thread 0x7fffabfff700 (LWP 19205)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffabfff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 11 (Thread 0x7fffb3fff700 (LWP 19204)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffee9003b3 in void boost::condition_variable_any::wait<boost::unique_lock<boost::recursive_mutex> >(boost::unique_lock<boost::recursive_mutex>&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8fe13f in Ogre::DefaultWorkQueue::waitForNextRequest() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee8ff47c in Ogre::DefaultWorkQueue::_threadMain() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffb3fff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 10 (Thread 0x7fffc2ffd700 (LWP 19198)):
#0  0x00007ffff656652d in nanosleep () at ../sysdeps/unix/syscall-template.S:82
#1  0x00007fffe40691c0 in ros::ros_wallsleep(unsigned int, unsigned int) () from /opt/ros/groovy/lib/librostime.so
#2  0x00007fffe406a5b1 in ros::Duration::sleep() const () from /opt/ros/groovy/lib/librostime.so
#3  0x00007fffe4068d8a in ros::Rate::sleep() () from /opt/ros/groovy/lib/librostime.so
#4  0x00007fffdba0c312 in gazebo::GazeboRosApiPlugin::PhysicsReconfigureNode (this=<optimized out>)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/src/gazebo_ros_api_plugin.cpp:1819
#5  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#6  0x00007ffff655ee9a in start_thread (arg=0x7fffc2ffd700) at pthread_create.c:308
#7  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#8  0x0000000000000000 in ?? ()

Thread 9 (Thread 0x7fffc37fe700 (LWP 19197)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
---Type <return> to continue, or q <return> to quit---
#3  0x00007fffdb9f52ab in gazebo::GazeboRosApiPlugin::gazeboQueueThread (this=0xfe6310)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/src/gazebo_ros_api_plugin.cpp:162
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffc37fe700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 8 (Thread 0x7fffc3fff700 (LWP 19196)):
#0  pthread_cond_timedwait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_timedwait.S:215
#1  0x00007fffdb6df9ab in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb6dd359 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffdb7113ee in ros::internalCallbackQueueThreadFunc() () from /opt/ros/groovy/lib/libroscpp.so
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffc3fff700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 7 (Thread 0x7fffd8dea700 (LWP 19189)):
#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007fffdb70c5a2 in ros::ROSOutAppender::logThread() () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#3  0x00007ffff655ee9a in start_thread (arg=0x7fffd8dea700) at pthread_create.c:308
#4  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#5  0x0000000000000000 in ?? ()

Thread 6 (Thread 0x7fffd95eb700 (LWP 19188)):
#0  0x00007ffff4fa0023 in select () at ../sysdeps/unix/syscall-template.S:82
#1  0x00007fffdb00e2b6 in XmlRpc::XmlRpcDispatch::work(double) () from /opt/ros/groovy/lib/libxmlrpcpp.so
#2  0x00007fffdb6b5bc7 in ros::XMLRPCManager::serverThreadFunc() () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#4  0x00007ffff655ee9a in start_thread (arg=0x7fffd95eb700) at pthread_create.c:308
#5  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#6  0x0000000000000000 in ?? ()

Thread 5 (Thread 0x7fffd9dec700 (LWP 19187)):
#0  0x00007ffff4f9b303 in __GI___poll (fds=<optimized out>, nfds=<optimized out>, timeout=<optimized out>)
    at ../sysdeps/unix/sysv/linux/poll.c:87
#1  0x00007fffdb6c1706 in ros::poll_sockets(pollfd*, unsigned long, int) () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007fffdb73291a in ros::PollSet::update(int) () from /opt/ros/groovy/lib/libroscpp.so
#3  0x00007fffdb6cfe44 in ros::PollManager::threadFunc() () from /opt/ros/groovy/lib/libroscpp.so
#4  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#5  0x00007ffff655ee9a in start_thread (arg=0x7fffd9dec700) at pthread_create.c:308
#6  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#7  0x0000000000000000 in ?? ()

Thread 4 (Thread 0x7fffda5ed700 (LWP 19185)):
#0  0x00007ffff656652d in nanosleep () at ../sysdeps/unix/syscall-template.S:82

#1  0x00007ffff7b7ab0f in gazebo::common::Time::MSleep (_ms=10)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Time.cc:141
#2  0x0000000000482199 in gazebo::Master::Run (this=0x18d8e90)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/Master.cc:320
#3  0x000000000048ec84 in boost::_mfi::mf0<void, gazebo::Master>::operator() (this=0x18ee518, p=0x18d8e90)
---Type <return> to continue, or q <return> to quit---
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#4  0x000000000048ebf4 in boost::_bi::list1<boost::_bi::value<gazebo::Master*> >::operator()<boost::_mfi::mf0<void, gazebo::Master>, boost::_bi::list0> (this=0x18ee528, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#5  0x000000000048eba3 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::Master>, boost::_bi::list1<boost::_bi::value<gazebo::Master*> > >::operator() (this=0x18ee518) at /usr/include/boost/bind/bind_template.hpp:20
#6  0x000000000048eb68 in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::Master>, boost::_bi::list1<boost::_bi::value<gazebo::Master*> > > >::run (this=0x18ee390) at /usr/include/boost/thread/detail/thread.hpp:61
#7  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#8  0x00007ffff655ee9a in start_thread (arg=0x7fffda5ed700) at pthread_create.c:308
#9  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#10 0x0000000000000000 in ?? ()

Thread 3 (Thread 0x7fffdadee700 (LWP 19184)):
#0  0x00007ffff4fa7353 in epoll_wait () at ../sysdeps/unix/syscall-template.S:82
#1  0x00007ffff7426915 in boost::asio::detail::epoll_reactor::run (this=0x18d96e0, block=true, ops=...)
    at /usr/include/boost/asio/detail/impl/epoll_reactor.ipp:240
#2  0x00007ffff74270c4 in boost::asio::detail::task_io_service::do_one (this=0x2a09780, lock=..., 
    this_idle_thread=0x7fffdadedbf0) at /usr/include/boost/asio/detail/impl/task_io_service.ipp:264
#3  0x00007ffff7426e64 in boost::asio::detail::task_io_service::run (this=0x2a09780, ec=...)
    at /usr/include/boost/asio/detail/impl/task_io_service.ipp:130
#4  0x00007ffff7427227 in boost::asio::io_service::run (this=0x18d9340) at /usr/include/boost/asio/impl/io_service.ipp:57
#5  0x00007ffff7427de6 in boost::_mfi::mf0<unsigned long, boost::asio::io_service>::operator() (this=0x18d9528, p=0x18d9340)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#6  0x00007ffff7427d57 in boost::_bi::list1<boost::_bi::value<boost::asio::io_service*> >::operator()<unsigned long, boost::_mfi::mf0<unsigned long, boost::asio::io_service>, boost::_bi::list0> (this=0x18d9538, f=..., a=...)
    at /usr/include/boost/bind/bind.hpp:243
#7  0x00007ffff7427d05 in boost::_bi::bind_t<unsigned long, boost::_mfi::mf0<unsigned long, boost::asio::io_service>, boost::_bi::list1<boost::_bi::value<boost::asio::io_service*> > >::operator() (this=0x18d9528)
    at /usr/include/boost/bind/bind_template.hpp:20
#8  0x00007ffff7427cca in boost::detail::thread_data<boost::_bi::bind_t<unsigned long, boost::_mfi::mf0<unsigned long, boost::asio::io_service>, boost::_bi::list1<boost::_bi::value<boost::asio::io_service*> > > >::run (this=0x18d93a0)
    at /usr/include/boost/thread/detail/thread.hpp:61
#9  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#10 0x00007ffff655ee9a in start_thread (arg=0x7fffdadee700) at pthread_create.c:308
#11 0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#12 0x0000000000000000 in ?? ()

Thread 2 (Thread 0x7fffe530e700 (LWP 18808)):

#0  pthread_cond_wait@@GLIBC_2.3.2 () at ../nptl/sysdeps/unix/sysv/linux/x86_64/pthread_cond_wait.S:162
#1  0x00007ffff7b36848 in boost::condition_variable::wait (this=0x7ffff7dd8f10, m=...)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:53
#2  0x00007ffff7b593ae in gazebo::common::ModelDatabase::UpdateModelCache (this=0x7ffff7dd8ea0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/ModelDatabase.cc:203
#3  0x00007ffff7b65852 in boost::_mfi::mf0<void, gazebo::common::ModelDatabase>::operator() (this=0x6c8a48, p=0x7ffff7dd8ea0)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#4  0x00007ffff7b65058 in boost::_bi::list1<boost::_bi::value<gazebo::common::ModelDatabase*> >::operator()<boost::_mfi::mf0<void, gazebo::common::ModelDatabase>, boost::_bi::list0> (this=0x6c8a58, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#5  0x00007ffff7b64d15 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::common::ModelDatabase>, boost::_bi::list1<boost::_bi::value<gazebo::common::ModelDatabase*> > >::operator() (this=0x6c8a48) at /usr/include/boost/bind/bind_template.hpp:20
#6  0x00007ffff7b6418e in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::common::ModelDatabase>, boost::_bi::list1<boost::_bi::value<gazebo::common::ModelDatabase*> > > >::run (this=0x6c88c0)
    at /usr/include/boost/thread/detail/thread.hpp:61
#7  0x00007ffff5bfdce9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#8  0x00007ffff655ee9a in start_thread (arg=0x7fffe530e700) at pthread_create.c:308
---Type <return> to continue, or q <return> to quit---
#9  0x00007ffff4fa6cbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#10 0x0000000000000000 in ?? ()

Thread 1 (Thread 0x7ffff7f9d840 (LWP 17947)):
#0  0x00007fffee6ab1e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#1  0x00007fffee8d73e5 in Ogre::TextureUnitState::ensurePrepared(unsigned long) const ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8d75d3 in Ogre::TextureUnitState::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee7b566c in Ogre::Pass::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4

#4  0x00007fffee8c999c in Ogre::Technique::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#5  0x00007fffee735ef4 in Ogre::Material::prepareImpl() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#6  0x00007fffee7fa5da in Ogre::Resource::load(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#7  0x00007fffee6c8b25 in Ogre::Entity::reevaluateVertexProcessing() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#8  0x00007fffee6cc4bd in Ogre::Entity::_initialise(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#9  0x00007fffee6cd121 in Ogre::Entity::Entity(std::string const&, Ogre::MeshPtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#10 0x00007fffee6cd67d in Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#11 0x00007fffee789ba1 in Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager*, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#12 0x00007fffee84018d in Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#13 0x00007fffee83cc18 in Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#14 0x00007ffff28e6189 in gazebo::rendering::Light::CreateVisual (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:285
#15 0x00007ffff28e351b in gazebo::rendering::Light::Load (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:102
#16 0x00007ffff28e5bfa in gazebo::rendering::Light::LoadFromMsg (this=0x3a948f0, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:229
#17 0x00007ffff2928847 in gazebo::rendering::Scene::ProcessLightMsg (this=0x2618d40, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:2068
#18 0x00007ffff2924398 in gazebo::rendering::Scene::PreRender (this=0x2618d40)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:1495
#19 0x00007ffff294a4e6 in boost::_mfi::mf0<void, gazebo::rendering::Scene>::operator() (this=0x228f398, p=0x2618d40)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#20 0x00007ffff29490fc in boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> >::operator()<boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list0> (this=0x228f3a8, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#21 0x00007ffff2947d67 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> > >::operator() (this=0x228f398) at /usr/include/boost/bind/bind_template.hpp:20
#22 0x00007ffff294615c in boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> > >, void>::invoke (function_obj_ptr=...)
    at /usr/include/boost/function/function_template.hpp:153
#23 0x00007ffff7406ce0 in boost::function0<void>::operator() (this=0x228f390)
    at /usr/include/boost/function/function_template.hpp:1013
#24 0x00007ffff740c561 in gazebo::event::EventT<void ()>::Signal() (this=0x7ffff7dd89e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:126
#25 0x00007ffff74084ae in gazebo::event::EventT<void ()>::operator()() (this=0x7ffff7dd89e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:119
#26 0x00007ffff6c44740 in gazebo::sensors::SensorManager::Update (this=0x7ffff7320600, _force=false)
---Type <return> to continue, or q <return> to quit---
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/SensorManager.cc:87
#27 0x00007ffff6c39479 in gazebo::sensors::run_once (_force=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/Sensors.cc:88
#28 0x00000000004693c7 in gazebo::Server::Run (this=0x6ec020)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/Server.cc:379
#29 0x0000000000464b87 in main (argc=9, argv=0x7fffffffdae8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/server_main.cc:34
(gdb) bt
#0  0x00007fffee6ab1e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#1  0x00007fffee8d73e5 in Ogre::TextureUnitState::ensurePrepared(unsigned long) const ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffee8d75d3 in Ogre::TextureUnitState::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffee7b566c in Ogre::Pass::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007fffee8c999c in Ogre::Technique::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#5  0x00007fffee735ef4 in Ogre::Material::prepareImpl() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#6  0x00007fffee7fa5da in Ogre::Resource::load(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#7  0x00007fffee6c8b25 in Ogre::Entity::reevaluateVertexProcessing() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#8  0x00007fffee6cc4bd in Ogre::Entity::_initialise(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#9  0x00007fffee6cd121 in Ogre::Entity::Entity(std::string const&, Ogre::MeshPtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#10 0x00007fffee6cd67d in Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#11 0x00007fffee789ba1 in Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager*, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#12 0x00007fffee84018d in Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#13 0x00007fffee83cc18 in Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#14 0x00007ffff28e6189 in gazebo::rendering::Light::CreateVisual (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:285
#15 0x00007ffff28e351b in gazebo::rendering::Light::Load (this=0x3a948f0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:102
#16 0x00007ffff28e5bfa in gazebo::rendering::Light::LoadFromMsg (this=0x3a948f0, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Light.cc:229
#17 0x00007ffff2928847 in gazebo::rendering::Scene::ProcessLightMsg (this=0x2618d40, _msg=...)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:2068
#18 0x00007ffff2924398 in gazebo::rendering::Scene::PreRender (this=0x2618d40)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/rendering/Scene.cc:1495
#19 0x00007ffff294a4e6 in boost::_mfi::mf0<void, gazebo::rendering::Scene>::operator() (this=0x228f398, p=0x2618d40)
    at /usr/include/boost/bind/mem_fn_template.hpp:49
#20 0x00007ffff29490fc in boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> >::operator()<boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list0> (this=0x228f3a8, f=..., a=...) at /usr/include/boost/bind/bind.hpp:253
#21 0x00007ffff2947d67 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> > >::operator() (this=0x228f398) at /usr/include/boost/bind/bind_template.hpp:20
#22 0x00007ffff294615c in boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::rendering::Scene>, boost::_bi::list1<boost::_bi::value<gazebo::rendering::Scene*> > >, void>::invoke (function_obj_ptr=...)
    at /usr/include/boost/function/function_template.hpp:153
#23 0x00007ffff7406ce0 in boost::function0<void>::operator() (this=0x228f390)
    at /usr/include/boost/function/function_template.hpp:1013
#24 0x00007ffff740c561 in gazebo::event::EventT<void ()>::Signal() (this=0x7ffff7dd89e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:126
#25 0x00007ffff74084ae in gazebo::event::EventT<void ()>::operator()() (this=0x7ffff7dd89e0)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/common/Event.hh:119
#26 0x00007ffff6c44740 in gazebo::sensors::SensorManager::Update (this=0x7ffff7320600, _force=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/SensorManager.cc:87
#27 0x00007ffff6c39479 in gazebo::sensors::run_once (_force=false)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/sensors/Sensors.cc:88
#28 0x00000000004693c7 in gazebo::Server::Run (this=0x6ec020)
---Type <return> to continue, or q <return> to quit---
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/Server.cc:379
#29 0x0000000000464b87 in main (argc=9, argv=0x7fffffffdae8)
    at /home/hsu/ros_groovy/simulator_gazebo/gazebo/build/gazebo-hg/gazebo/server_main.cc:34
(gdb) 

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