error launching airport_terminal.launch.xml

aaron@ws:~/scratch/demo_ws$ ros2 launch demos airport_terminal.launch.xml 
[INFO] [launch]: All log files can be found below /home/aaron/.ros/log/2020-03-11-23-50-27-894510-ws-18688
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'joy' not found, searching: ['/home/aaron/scratch/demo_ws/install/demos', '/home/aaron/scratch/demo_ws/install/visualizer', '/home/aaron/scratch/demo_ws/install/rviz2_plugin', '/home/aaron/scratch/demo_ws/install/rmf_workcell_msgs', '/home/aaron/scratch/demo_ws/install/rmf_schedule_visualizer', '/home/aaron/scratch/demo_ws/install/rmf_fleet_adapter', '/home/aaron/scratch/demo_ws/install/rmf_traffic_ros2', '/home/aaron/scratch/demo_ws/install/rmf_traffic', '/home/aaron/scratch/demo_ws/install/rmf_utils', '/home/aaron/scratch/demo_ws/install/fleet_state_visualizer', '/home/aaron/scratch/demo_ws/install/rmf_traffic_msgs', '/home/aaron/scratch/demo_ws/install/rmf_rviz_plugin', '/home/aaron/scratch/demo_ws/install/rmf_demo_tasks', '/home/aaron/scratch/demo_ws/install/rmf_task_msgs', '/home/aaron/scratch/demo_ws/install/rmf_schedule_visualizer_msgs', '/home/aaron/scratch/demo_ws/install/rmf_lift_msgs', '/home/aaron/scratch/demo_ws/install/rmf_gazebo_plugins', '/home/aaron/scratch/demo_ws/install/rmf_fleet_msgs', '/home/aaron/scratch/demo_ws/install/rmf_door_msgs', '/home/aaron/scratch/demo_ws/install/rmf_dispenser_msgs', '/home/aaron/scratch/demo_ws/install/rmf_demo_maps', '/home/aaron/scratch/demo_ws/install/rmf_demo_assets', '/home/aaron/scratch/demo_ws/install/building_map_tools', '/home/aaron/scratch/demo_ws/install/building_map_msgs', '/opt/ros/eloquent']"
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:293> exception=RuntimeError('Signal event received before subprocess transport available.',)>
Traceback (most recent call last):
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 295, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 315, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/execute_process.py", line 383, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [rmf_traffic_schedule-1]: process started with pid [18706]
[INFO] [building_map_server-2]: process started with pid [18707]
[INFO] [rviz2-3]: process started with pid [18708]
[INFO] [fleet_state_visualizer-4]: process started with pid [18709]
[INFO] [rviz2-5]: process started with pid [18710]
[INFO] [door_supervisor-6]: process started with pid [18717]
[INFO] [gzserver-7]: process started with pid [18718]
[INFO] [gzclient-8]: process started with pid [18726]
[INFO] [magni_fleet_adapter-9]: process started with pid [18730]
[INFO] [magni_state_aggregator-10]: process started with pid [18737]
[INFO] [mir100_fleet_adapter-11]: process started with pid [18738]
[INFO] [mir100_state_aggregator-12]: process started with pid [18739]
[INFO] [spawn_entity.py-13]: process started with pid [18754]
[INFO] [caddy_fleet_adapter-14]: process started with pid [18756]
[INFO] [caddy_state_aggregator-15]: process started with pid [18768]
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:293> exception=RuntimeError('Signal event received before subprocess transport available.',)>
Traceback (most recent call last):
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 295, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 315, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/execute_process.py", line 383, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [spawn_entity.py-13]: sending signal 'SIGINT' to process[spawn_entity.py-13]
[INFO] [mir100_state_aggregator-12]: sending signal 'SIGINT' to process[mir100_state_aggregator-12]
[INFO] [mir100_fleet_adapter-11]: sending signal 'SIGINT' to process[mir100_fleet_adapter-11]
[INFO] [magni_state_aggregator-10]: sending signal 'SIGINT' to process[magni_state_aggregator-10]
[INFO] [magni_fleet_adapter-9]: sending signal 'SIGINT' to process[magni_fleet_adapter-9]
[INFO] [mir100_state_aggregator-12]: process has finished cleanly [pid 18739]
[INFO] [gzclient-8]: sending signal 'SIGINT' to process[gzclient-8]
[INFO] [magni_state_aggregator-10]: process has finished cleanly [pid 18737]
[INFO] [gzserver-7]: sending signal 'SIGINT' to process[gzserver-7]
[ERROR] [gzclient-8]: process has died [pid 18726, exit code -2, cmd 'gzclient --verbose /home/aaron/scratch/demo_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/airport_terminal/airport_terminal.world'].
[INFO] [door_supervisor-6]: sending signal 'SIGINT' to process[door_supervisor-6]
[INFO] [mir100_fleet_adapter-11]: process has finished cleanly [pid 18738]
[INFO] [rviz2-5]: sending signal 'SIGINT' to process[rviz2-5]
[INFO] [magni_fleet_adapter-9]: process has finished cleanly [pid 18730]
[INFO] [fleet_state_visualizer-4]: sending signal 'SIGINT' to process[fleet_state_visualizer-4]
[INFO] [rviz2-3]: sending signal 'SIGINT' to process[rviz2-3]
[INFO] [door_supervisor-6]: process has finished cleanly [pid 18717]
[INFO] [building_map_server-2]: sending signal 'SIGINT' to process[building_map_server-2]
[INFO] [rmf_traffic_schedule-1]: sending signal 'SIGINT' to process[rmf_traffic_schedule-1]
[ERROR] [spawn_entity.py-13]: process has died [pid 18754, exit code 1, cmd '/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py -entity caddy -file /home/aaron/scratch/demo_ws/install/rmf_demo_assets/share/rmf_demo_assets/models/Caddy/model.sdf -x 64.08 -y -23.53 -Y 1.57 --ros-args --params-file /tmp/launch_params__1tvlpqe'].
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Launching fleet adapter for [magni]
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [linear_velocity] set to: 0.400000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [angular_velocity] set to: 2.200000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [linear_acceleration] set to: 3.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [angular_acceleration] set to: 5.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [profile_radius] set to: 0.300000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [reversible] set to: 1
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [delay_threshold] set to: 15.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [retry_wait] set to: 10.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [planning_timeout] set to: 5.000000
[magni_fleet_adapter-9] Adding waypoint [10] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [16] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [17] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [18] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [19] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [26] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [32] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [34] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [36] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [42] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [43] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [44] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [47] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [48] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [49] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [51] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [53] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [54] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [56] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [59] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [60] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [62] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [64] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [65] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [70] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [73] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [78] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [87] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [92] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [96] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [98] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [100] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [101] as a parking spot
[magni_fleet_adapter-9] Named waypoints:
[magni_fleet_adapter-9]  -- [west_koi_pond]
[magni_fleet_adapter-9]  -- [n15_1]
[magni_fleet_adapter-9]  -- [n06]
[magni_fleet_adapter-9]  -- [junction_n02]
[magni_fleet_adapter-9]  -- [n05]
[magni_fleet_adapter-9]  -- [junction_n05]
[magni_fleet_adapter-9]  -- [caddy]
[magni_fleet_adapter-9]  -- [junction_s13]
[magni_fleet_adapter-9]  -- [junction_n26]
[magni_fleet_adapter-9]  -- [east_koi_pond]
[magni_fleet_adapter-9]  -- [n13]
[magni_fleet_adapter-9]  -- [n03]
[magni_fleet_adapter-9]  -- [junction_n01]
[magni_fleet_adapter-9]  -- [junction_s15]
[magni_fleet_adapter-9]  -- [junction_n10]
[magni_fleet_adapter-9]  -- [n25]
[magni_fleet_adapter-9]  -- [charger_magni_0]
[magni_fleet_adapter-9]  -- [junction_s10]
[magni_fleet_adapter-9]  -- [junction_n20]
[magni_fleet_adapter-9]  -- [n32]
[magni_fleet_adapter-9]  -- [junction_s16]
[magni_fleet_adapter-9]  -- [junction_s07]
[magni_fleet_adapter-9]  -- [junction_n12]
[magni_fleet_adapter-9]  -- [n22]
[magni_fleet_adapter-9]  -- [s20]
[magni_fleet_adapter-9]  -- [n33]
[magni_fleet_adapter-9]  -- [charger_magni_3]
[magni_fleet_adapter-9]  -- [charger_magni_2]
[magni_fleet_adapter-9]  -- [n24_0]
[magni_fleet_adapter-9]  -- [n28]
[magni_fleet_adapter-9]  -- [n12]
[magni_fleet_adapter-9]  -- [junction_n18]
[magni_fleet_adapter-9]  -- [charger_magni_1]
[magni_fleet_adapter-9]  -- [junction_n28]
[magni_fleet_adapter-9]  -- [n31_1]
[magni_fleet_adapter-9]  -- [n01]
[magni_fleet_adapter-9]  -- [n14_0]
[magni_fleet_adapter-9]  -- [junction_n32]
[magni_fleet_adapter-9]  -- [n14_1]
[magni_fleet_adapter-9]  -- [n24_1]
[magni_fleet_adapter-9]  -- [n15_0]
[magni_fleet_adapter-9]  -- [junction_s24]
[magni_fleet_adapter-9]  -- [s24]
[magni_fleet_adapter-9]  -- [s10]
[magni_fleet_adapter-9]  -- [junction_s11]
[magni_fleet_adapter-9]  -- [s11]
[magni_fleet_adapter-9]  -- [n31_0]
[magni_fleet_adapter-9]  -- [s15_1]
[magni_fleet_adapter-9]  -- [s15_0]
[magni_fleet_adapter-9]  -- [n29]
[magni_fleet_adapter-9]  -- [s23]
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000
[magni_fleet_adapter-9] Starting [magni]
[INFO] [rviz2-3]: process has finished cleanly [pid 18708]
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Launching fleet adapter for [mir100]
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [linear_velocity] set to: 0.700000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [angular_velocity] set to: 2.200000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [linear_acceleration] set to: 3.000000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [angular_acceleration] set to: 5.000000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [profile_radius] set to: 0.600000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [reversible] set to: 1
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [delay_threshold] set to: 15.000000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [retry_wait] set to: 10.000000
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [planning_timeout] set to: 5.000000
[mir100_fleet_adapter-11] Adding waypoint [2] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [3] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [4] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [6] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [13] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [19] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [22] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [27] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [29] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [31] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [33] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [36] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [39] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [40] as a parking spot
[mir100_fleet_adapter-11] Adding waypoint [41] as a parking spot
[mir100_fleet_adapter-11] Named waypoints:
[mir100_fleet_adapter-11]  -- [n14]
[mir100_fleet_adapter-11]  -- [west_koi_pond]
[mir100_fleet_adapter-11]  -- [n23]
[mir100_fleet_adapter-11]  -- [junction_south_east]
[mir100_fleet_adapter-11]  -- [s10]
[mir100_fleet_adapter-11]  -- [n15]
[mir100_fleet_adapter-11]  -- [junction_central_east]
[mir100_fleet_adapter-11]  -- [s11]
[mir100_fleet_adapter-11]  -- [charger_mir100_2]
[mir100_fleet_adapter-11]  -- [S08]
[mir100_fleet_adapter-11]  -- [charger_mir100_1]
[mir100_fleet_adapter-11]  -- [junction_south_west]
[mir100_fleet_adapter-11]  -- [n24]
[mir100_fleet_adapter-11]  -- [junction_north_west]
[mir100_fleet_adapter-11]  -- [charger_mir100_0]
[mir100_fleet_adapter-11]  -- [n13]
[mir100_fleet_adapter-11]  -- [junction_north_east]
[mir100_fleet_adapter-11]  -- [junction_central_west]
[mir100_fleet_adapter-11]  -- [n12]
[mir100_fleet_adapter-11]  -- [n20]
[mir100_fleet_adapter-11]  -- [n25]
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000
[mir100_fleet_adapter-11] Starting [mir100]
[gzserver-7] Gazebo multi-robot simulator, version 9.12.0
[gzserver-7] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-7] Released under the Apache 2 License.
[gzserver-7] http://gazebosim.org
[gzserver-7] 
[gzclient-8] Gazebo multi-robot simulator, version 9.12.0
[gzclient-8] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-8] Released under the Apache 2 License.
[gzclient-8] http://gazebosim.org
[gzclient-8] 
[spawn_entity.py-13] Traceback (most recent call last):
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py", line 351, in <module>
[spawn_entity.py-13]     main()
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py", line 344, in main
[spawn_entity.py-13]     spawn_entity_node = SpawnEntityNode(args_without_ros)
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/gazebo_ros/spawn_entity.py", line 51, in __init__
[spawn_entity.py-13]     super().__init__('spawn_entity')
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/node.py", line 179, in __init__
[spawn_entity.py-13]     ParameterEvent, 'parameter_events', qos_profile_parameter_events)
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/node.py", line 1094, in create_publisher
[spawn_entity.py-13]     check_for_type_support(msg_type)
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
[spawn_entity.py-13]     msg_type.__class__.__import_type_support__()
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rcl_interfaces/msg/_parameter_event.py", line 26, in __import_type_support__
[spawn_entity.py-13]     from rosidl_generator_py import import_type_support
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rosidl_generator_py/__init__.py", line 23, in <module>
[spawn_entity.py-13]     from .generate_py_impl import generate_py
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rosidl_generator_py/generate_py_impl.py", line 19, in <module>
[spawn_entity.py-13]     from rosidl_cmake import convert_camel_case_to_lower_case_underscore
[spawn_entity.py-13]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rosidl_cmake/__init__.py", line 16, in <module>
[spawn_entity.py-13]     import json
[spawn_entity.py-13]   File "/usr/lib/python3.6/json/__init__.py", line 106, in <module>
[spawn_entity.py-13]     from .decoder import JSONDecoder, JSONDecodeError
[spawn_entity.py-13]   File "/usr/lib/python3.6/json/decoder.py", line 5, in <module>
[spawn_entity.py-13]     from json import scanner
[spawn_entity.py-13]   File "/usr/lib/python3.6/json/scanner.py", line 5, in <module>
[spawn_entity.py-13]     from _json import make_scanner as c_make_scanner
[spawn_entity.py-13] KeyboardInterrupt
[mir100_state_aggregator-12] [INFO] [rclcpp]: signal_handler(signal_value=2)
[magni_state_aggregator-10] [INFO] [rclcpp]: signal_handler(signal_value=2)
[mir100_fleet_adapter-11] [INFO] [rclcpp]: signal_handler(signal_value=2)
[mir100_fleet_adapter-11] [INFO] [mir100_fleet_adapter]: Closing Fleet Adapter
[magni_fleet_adapter-9] [INFO] [rclcpp]: signal_handler(signal_value=2)
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Closing Fleet Adapter
[building_map_server-2] Traceback (most recent call last):
[building_map_server-2]   File "/home/aaron/scratch/demo_ws/install/building_map_tools/lib/building_map_tools/building_map_server", line 11, in <module>
[building_map_server-2]     load_entry_point('building-map-tools==0.0.0', 'console_scripts', 'building_map_server')()
[building_map_server-2]   File "/home/aaron/scratch/demo_ws/install/building_map_tools/lib/python3.6/site-packages/building_map_server/building_map_server.py", line 138, in main
[building_map_server-2]     n = BuildingMapServer(map_path)
[building_map_server-2]   File "/home/aaron/scratch/demo_ws/install/building_map_tools/lib/python3.6/site-packages/building_map_server/building_map_server.py", line 34, in __init__
[building_map_server-2]     self.get_logger().info('loading map path: {}'.format(map_path))
[building_map_server-2]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/impl/rcutils_logger.py", line 334, in info
[building_map_server-2]     return self.log(message, LoggingSeverity.INFO, **kwargs)
[building_map_server-2]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/impl/rcutils_logger.py", line 286, in log
[building_map_server-2]     caller_id = CallerId()
[building_map_server-2]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/impl/rcutils_logger.py", line 58, in __new__
[building_map_server-2]     frame = _find_caller(inspect.currentframe())
[building_map_server-2]   File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/impl/rcutils_logger.py", line 46, in _find_caller
[building_map_server-2]     file_path = os.path.realpath(inspect.getframeinfo(frame).filename)
[building_map_server-2]   File "/usr/lib/python3.6/inspect.py", line 1452, in getframeinfo
[building_map_server-2]     lines, lnum = findsource(frame)
[building_map_server-2]   File "/usr/lib/python3.6/inspect.py", line 780, in findsource
[building_map_server-2]     module = getmodule(object, file)
[building_map_server-2]   File "/usr/lib/python3.6/inspect.py", line 739, in getmodule
[building_map_server-2]     f = getabsfile(module)
[building_map_server-2]   File "/usr/lib/python3.6/inspect.py", line 708, in getabsfile
[building_map_server-2]     _filename = getsourcefile(object) or getfile(object)
[building_map_server-2]   File "/usr/lib/python3.6/inspect.py", line 693, in getsourcefile
[building_map_server-2]     if os.path.exists(filename):
[building_map_server-2]   File "/usr/lib/python3.6/genericpath.py", line 19, in exists
[building_map_server-2]     os.stat(path)
[building_map_server-2] KeyboardInterrupt
[INFO] [fleet_state_visualizer-4]: process has finished cleanly [pid 18709]
[ERROR] [building_map_server-2]: process has died [pid 18707, exit code 1, cmd '/home/aaron/scratch/demo_ws/install/building_map_tools/lib/building_map_tools/building_map_server /home/aaron/scratch/demo_ws/install/rmf_demo_maps/share/rmf_demo_maps/airport_terminal/airport_terminal.building.yaml --ros-args'].
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: Beginning traffic schedule node
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: [1] Registered query
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: [2] Registered query
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: [3] Registered query
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: [2] Unregistered query
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: [1] Unregistered query
[rmf_traffic_schedule-1] [INFO] [rclcpp]: signal_handler(signal_value=2)
[rmf_traffic_schedule-1] [INFO] [rmf_traffic_schedule_node]: Closing down traffic schedule node
[INFO] [rmf_traffic_schedule-1]: process has finished cleanly [pid 18706]
[rviz2-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-5]   what():  Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-eloquent-rcl-0.8.4/src/rcl/guard_condition.c:69
[gzserver-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[gzserver-7]   what():  could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-eloquent-rcl-0.8.4/src/rcl/node.c:497