[gazebo_gui-2] process has died

Issue #987 new
sam_lin_
created an issue

I use ubuntu 12.10 64 bits. I use ROS groovy. But I failed to start pr2_empty_world.launch. How to solve it?

This is my log: sam@sam:~$ roslaunch pr2_gazebo pr2_empty_world.launch ... logging to /home/sam/.ros/log/67396102-665b-11e3-b82b-20cf30a23845/roslaunch-sam-4342.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://sam:52110/

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)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[gazebo-1]: started with pid [4364] process[gazebo_gui-2]: started with pid [4369] process[spawn_pr2_model-3]: started with pid [4381] process[robot_state_publisher-4]: started with pid [4387] process[pr2_mechanism_diagnostics-5]: started with pid [4391] process[fake_joint_calibration-6]: started with pid [4392] process[wide_stereo/wide_stereo_proc-7]: started with pid [4412] process[narrow_stereo/narrow_stereo_proc-8]: started with pid [4415] process[narrow_stereo_textured/narrow_stereo_textured_proc-9]: started with pid [4420] process[left_image_raw_relay-10]: started with pid [4441] Gazebo multi-robot simulator, version 1.5.0 Copyright (C) 2013 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Gazebo multi-robot simulator, version 1.5.0 Copyright (C) 2013 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[right_image_raw_relay-11]: started with pid [4458] process[left_camera_info_relay-12]: started with pid [4473] process[right_camera_info_relay-13]: started with pid [4527] process[r_forearm_cam/image_proc-14]: started with pid [4542] process[l_forearm_cam/image_proc-15]: started with pid [4555] process[diag_agg-16]: started with pid [4568] process[pr2_dashboard_aggregator-17]: started with pid [4569] process[robot_pose_ekf-18]: started with pid [4583] process[base_hokuyo_node-19]: started with pid [4623] process[tilt_hokuyo_node-20]: started with pid [4668] process[tf2_buffer_server-21]: started with pid [4715] process[camera_synchronizer_node-22]: started with pid [4728] [ INFO] [1387293561.447329608]: Starting to spin camera_synchronizer at 100.000000 Hz... process[default_controllers_spawner-23]: started with pid [4819] process[r_gripper_controller/gripper_action_node-24]: started with pid [4820] process[l_gripper_controller/gripper_action_node-25]: started with pid [4824] loading model xml from ros parameter [INFO] [WallTime: 1387293561.936951] [0.000000] waiting for service /gazebo/spawn_urdf_model process[head_traj_controller/point_head_action-26]: started with pid [4889] process[torso_controller/position_joint_action_node-27]: started with pid [4891] [ERROR] [1387293563.341684193]: Skipping XML Document "/opt/ros/groovy/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.341675603]: Skipping XML Document "/opt/ros/groovy/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.341870321]: Skipping XML Document "/opt/ros/groovy/share/hector_pose_estimation/hector_pose_estimation_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.341871089]: Skipping XML Document "/opt/ros/groovy/share/hector_pose_estimation/hector_pose_estimation_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.346759419]: Skipping XML Document "/opt/ros/groovy/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.346900429]: Skipping XML Document "/opt/ros/groovy/share/hector_pose_estimation/hector_pose_estimation_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.371507119]: Skipping XML Document "/opt/ros/groovy/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.371682351]: Skipping XML Document "/opt/ros/groovy/share/hector_pose_estimation/hector_pose_estimation_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.375497011]: Skipping XML Document "/opt/ros/groovy/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1387293563.376052390]: Skipping XML Document "/opt/ros/groovy/share/hector_pose_estimation/hector_pose_estimation_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. Msg Waiting for master.Msg Waiting for master [ INFO] [1387293563.558612408]: 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: 192.168.0.101

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.0.101 X Error of failed request: BadDrawable (invalid Pixmap or Window parameter) Major opcode of failed request: 153 (DRI2) Minor opcode of failed request: 3 (DRI2CreateDrawable) Resource id in failed request: 0x6200002 Serial number of failed request: 28 Current serial number in output stream: 30 Warning [parser_urdf.cc:481] do nothing with canonicalBody [ WARN] [1387293567.364625657]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised [ WARN] [1387293567.364762406]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised [ WARN] [1387293567.364821771]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised [ WARN] [1387293567.364892940]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised [ WARN] [1387293567.365107702]: The input topic '/wide_stereo/left/image_raw' is not yet advertised [ WARN] [1387293567.365233137]: The input topic '/wide_stereo/left/camera_info' is not yet advertised [ WARN] [1387293567.365275181]: The input topic '/wide_stereo/right/image_raw' is not yet advertised [ WARN] [1387293567.365312337]: The input topic '/wide_stereo/right/camera_info' is not yet advertised [ WARN] [1387293567.369478370]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised [ WARN] [1387293567.369597938]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised [ WARN] [1387293567.369645151]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised [ WARN] [1387293567.369705145]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised Warning [parser_urdf.cc:226] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false]. Warning [parser_urdf.cc:226] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true]. Warning [parser.cc:499] XML Attribute[attach_steps] in element[grasp_check] not defined in SDF, ignoring. Warning [parser.cc:499] XML Attribute[detach_steps] in element[grasp_check] not defined in SDF, ignoring. Warning [parser.cc:499] XML Attribute[min_contact_count] in element[grasp_check] not defined in SDF, ignoring. Warning [parser.cc:499] XML Attribute[attach_steps] in element[grasp_check] not defined in SDF, ignoring. Warning [parser.cc:499] XML Attribute[detach_steps] in element[grasp_check] not defined in SDF, ignoring. Warning [parser.cc:499] XML Attribute[min_contact_count] in element[grasp_check] not defined in SDF, ignoring. Warning [parser.cc:314] parse from urdf. [ INFO] [1387293568.446891358]: bumper plugin missing <frameName>, defaults to world [ INFO] [1387293568.468291633]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101 [ INFO] [1387293568.468363710]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters. [ INFO] [1387293568.471254582]: bumper plugin missing <frameName>, defaults to world Error [SDF.cc:760] Missing element description for [CxPrime] [ INFO] [1387293568.707794643]: Camera plugin missing <CxPrime>, defaults to 0 [ INFO] [1387293568.707855195]: Camera plugin missing <Cx>, defaults to 0 [ INFO] [1387293568.707880478]: Camera plugin missing <Cy>, defaults to 0 [ INFO] [1387293568.707905062]: Camera plugin missing <focalLength>, defaults to 0 [ INFO] [1387293568.707931741]: Camera plugin missing <hackBaseline>, defaults to 0 [ WARN] [1387293568.707971272]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong. [ INFO] [1387293568.879201148]: Reconfigure request for the gazebo ros camera_: head_mount_kinect_ir. New rate: 2.00 Segmentation fault (core dumped) [gazebo_gui-2] process has died [pid 4369, exit code 139, cmd /opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gui name:=gazebo_gui log:=/home/sam/.ros/log/67396102-665b-11e3-b82b-20cf30a23845/gazebo_gui-2.log]. log file: /home/sam/.ros/log/67396102-665b-11e3-b82b-20cf30a23845/gazebo_gui-2.log Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [CxPrime] [ INFO] [1387293569.533652108]: Camera plugin missing <CxPrime>, defaults to 0 [ INFO] [1387293569.533776914]: Camera plugin missing <Cx>, defaults to 0 [ INFO] [1387293569.533852343]: Camera plugin missing <Cy>, defaults to 0 [ INFO] [1387293569.533923162]: Camera plugin missing <focalLength>, defaults to 0 [ INFO] [1387293569.533997683]: Camera plugin missing <hackBaseline>, defaults to 0 [ WARN] [1387293569.534094762]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong. [ INFO] [1387293569.774931673]: Reconfigure request for the gazebo ros camera_: head_mount_kinect_rgb. New rate: 2.00 Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [CxPrime] [ INFO] [1387293570.234378297]: Camera plugin missing <CxPrime>, defaults to 0 [ INFO] [1387293570.234451630]: Camera plugin missing <Cx>, defaults to 0 [ INFO] [1387293570.234472024]: Camera plugin missing <Cy>, defaults to 0 [ INFO] [1387293570.234491928]: Camera plugin missing <focalLength>, defaults to 0 [ INFO] [1387293570.234523357]: Camera plugin missing <hackBaseline>, defaults to 0 [ INFO] [1387293570.458389189]: Reconfigure request for the gazebo ros camera_: prosilica_camera_1mb. New rate: 2.00 [ INFO] [1387293570.843064359]: trigger_mode trigger_mode streaming Error [SDF.cc:760] Missing element description for [CxPrime] [ INFO] [1387293570.845748430]: Camera plugin missing <CxPrime>, defaults to 0 [ INFO] [1387293570.845846347]: Camera plugin missing <Cx>, defaults to 0 [ INFO] [1387293570.845920519]: Camera plugin missing <Cy>, defaults to 0 [ INFO] [1387293570.846005516]: Camera plugin missing <focalLength>, defaults to 0 [ INFO] [1387293570.846079687]: Camera plugin missing <hackBaseline>, defaults to 0 [ INFO] [1387293570.846169992]: Camera plugin missing <distortionK1>, defaults to 0 [ INFO] [1387293570.846250239]: Camera plugin missing <distortionK2>, defaults to 0 [ INFO] [1387293570.846338030]: Camera plugin missing <distortionK3>, defaults to 0 [ INFO] [1387293570.846431827]: Camera plugin missing <distortionT1>, defaults to 0 [ INFO] [1387293570.846518430]: Camera plugin missing <distortionT2>, defaults to 0 [ INFO] [1387293571.095604087]: Reconfigure request for the gazebo ros camera_: prosilica_camera_1mb_sim_pcd. New rate: 2.00 Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] [ INFO] [1387293571.670164861]: Reconfigure request for the gazebo ros camera_: narrow_stereo/left. New rate: 2.00 [ WARN] [1387293571.992927764]: 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. Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] [ INFO] [1387293572.177853094]: Reconfigure request for the gazebo ros camera_: narrow_stereo/right. New rate: 2.00 [ WARN] [1387293572.530103683]: 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. Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] [ INFO] [1387293572.725594463]: Reconfigure request for the gazebo ros camera_: wide_stereo/left. New rate: 2.00 [ INFO] [1387293573.103435182]: bayer simulation maybe computationally expensive. [ WARN] [1387293573.103715665]: 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. Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] [ INFO] [1387293573.373540898]: Reconfigure request for the gazebo ros camera_: wide_stereo/right. New rate: 2.00 [ INFO] [1387293573.750939309]: bayer simulation maybe computationally expensive. [ WARN] [1387293573.751046305]: 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. Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] [ INFO] [1387293573.754502470]: Camera plugin missing <hackBaseline>, defaults to 0 [ INFO] [1387293573.985828675]: Reconfigure request for the gazebo ros camera_: prosilica. New rate: 2.00 [ WARN] [1387293574.382712245]: 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. [ INFO] [1387293574.385869981]: trigger_mode trigger_mode streaming [ INFO] [1387293574.656581357]: Reconfigure request for the gazebo ros camera_: l_forearm_cam. New rate: 2.00 [ WARN] [1387293575.046792502]: 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. Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] [ INFO] [1387293575.078660381]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101 [ INFO] [1387293575.078909365]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters. [ INFO] [1387293575.332911150]: Reconfigure request for the gazebo ros camera_: r_forearm_cam. New rate: 2.00 [ WARN] [1387293575.652326207]: 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. Error [SDF.cc:760] Missing element description for [pointCloudTopicName] Error [SDF.cc:760] Missing element description for [depthImageTopicName] Error [SDF.cc:760] Missing element description for [depthImageCameraInfoTopicName] Error [SDF.cc:760] Missing element description for [pointCloudCutoff] spawn status: SpawnModel: successfully spawned model Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin [ INFO] [1387293576.217278010]: starting gazebo_ros_controller_manager plugin in ns: / [ INFO] [1387293576.217451845]: Callback thread id=0x7fa43cfe5640 [spawn_pr2_model-3] process has finished cleanly log file: /home/sam/.ros/log/67396102-665b-11e3-b82b-20cf30a23845/spawn_pr2_model-3.log Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin [ INFO] [1387293577.327640088]: imu plugin missing <serviceName>, defaults to /default_imu [ INFO] [1387293577.353082988]: f3d plugin specifies <frameName> [r_gripper_l_finger_link], not used, default to world [ INFO] [1387293577.364383376]: f3d plugin specifies <frameName> [l_gripper_l_finger_link], not used, default to world [ INFO] [1387293577.417909111, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1387293577.450054258, 0.041000000]: advertised as /narrow_stereo_textured/right/camera_info

[ INFO] [1387293577.450994811, 0.041000000]: advertised as /narrow_stereo_textured/left/camera_info

[ INFO] [1387293577.466861496, 0.054000000]: Starting to spin physics dynamic reconfigure node... Warning [Publisher.cc:130] Queue limit reached for topic /gazebo/default/pose/info, deleting message (only this warning is printed to the console, see the ~/.gazebo/gzserver.log and ~/.gazebo/gzclient.log files for future warnings). Warning [Visual.cc:748] 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:748] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white Warning [Visual.cc:748] 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:748] 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:748] 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:748] 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:748] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visualbase_bellow_link. Object will appear white Warning [Visual.cc:748] 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:748] 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:748] 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:748] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white [ INFO] [1387293578.385801534, 0.755000000]: Initializing Imu sensor [ INFO] [1387293578.527825812, 0.847000000]: Imu sensor activated [ INFO] [1387293578.607639938, 0.903000000]: pluginlib WARNING: In file /tmp/buildd/ros-groovy-filters-1.6.0/debian/ros-groovy-filters/opt/ros/groovy/stacks/filters/src/transfer_function.cpp 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. Base = base_class_type, Derived = derived_class_type [ INFO] [1387293578.608154808, 0.903000000]: pluginlib WARNING: In file /tmp/buildd/ros-groovy-filters-1.6.0/debian/ros-groovy-filters/opt/ros/groovy/stacks/filters/src/transfer_function.cpp 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. Base = base_class_type, Derived = derived_class_type [ INFO] [1387293578.610024461, 0.904000000]: Trajectory:: interpolation type linear [ INFO] [1387293578.610171128, 0.904000000]: LaserScannerTrajController: Periodic Command set. Duration=1.0000 sec [ INFO] [1387293578.616130336, 0.908000000]: Successfully spawned [INFO] [WallTime: 1387293578.795634] [1.027000] 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: 1387293578.800246] [1.030000] 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 [Publisher.cc:130] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message (only this warning is printed to the console, see the ~/.gazebo/gzserver.log and ~/.gazebo/gzclient.log files for future warnings). Warning [Publisher.cc:130] Queue limit reached for topic /gazebo/default/diagnostics, deleting message (only this warning is printed to the console, see the ~/.gazebo/gzserver.log and ~/.gazebo/gzclient.log files for future warnings). [ INFO] [1387293578.912440573, 1.075000000]: Initializing Odom sensor [ INFO] [1387293578.912498401, 1.075000000]: Odom sensor activated [ INFO] [1387293579.036374904, 1.138000000]: Kalman filter initialized with odom measurement [ INFO] [1387293579.288582818, 1.290000000]: advertised as /narrow_stereo_textured/left/image_raw

[ INFO] [1387293579.320881757, 1.317000000]: advertised as /narrow_stereo_textured/right/image_raw