Created
January 26, 2018 15:10
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roslaunch anymal_sim sim.launch
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| ... logging to /home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/roslaunch-w541-21490.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. | |
| ]2;/opt/ros/kinetic/share/anymal_sim/launch/sim.launch | |
| [1mstarted roslaunch server http://w541:44735/[0m | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /anymal_free_gait_action_loader_adapter/collection: basic_beth | |
| * /anymal_highlevel_controller/clients/reset_state_estimator/persistent: False | |
| * /anymal_highlevel_controller/clients/reset_state_estimator/service: /state_estimator/... | |
| * /anymal_highlevel_controller/controller/simulation: True | |
| * /anymal_highlevel_controller/controller_manager/controller_pairs: [{'controller_pai... | |
| * /anymal_highlevel_controller/controller_manager/failproof_controller: Freeze | |
| * /anymal_highlevel_controller/description_name: quadruped_descrip... | |
| * /anymal_highlevel_controller/logger/config_file: /home/mfallon/.ro... | |
| * /anymal_highlevel_controller/logger/sampling_window: 180 | |
| * /anymal_highlevel_controller/logger/type: ros | |
| * /anymal_highlevel_controller/notification/notifiers/default/latch: False | |
| * /anymal_highlevel_controller/notification/notifiers/default/output_devices: ['operator_screen'] | |
| * /anymal_highlevel_controller/notification/notifiers/default/queue_size: 100 | |
| * /anymal_highlevel_controller/notification/notifiers/default/topic: /notification | |
| * /anymal_highlevel_controller/publishers/command_seactuators/latch: False | |
| * /anymal_highlevel_controller/publishers/command_seactuators/queue_size: 10 | |
| * /anymal_highlevel_controller/publishers/command_seactuators/topic: /anymal_highlevel... | |
| * /anymal_highlevel_controller/servers/clear_emergency_stop/persistent: False | |
| * /anymal_highlevel_controller/servers/clear_emergency_stop/service: clear_emergency_stop | |
| * /anymal_highlevel_controller/servers/emergency_stop/persistent: False | |
| * /anymal_highlevel_controller/servers/emergency_stop/service: emergency_stop | |
| * /anymal_highlevel_controller/servers/get_active_controller/persistent: False | |
| * /anymal_highlevel_controller/servers/get_active_controller/service: get_active_contro... | |
| * /anymal_highlevel_controller/servers/get_available_controllers/persistent: False | |
| * /anymal_highlevel_controller/servers/get_available_controllers/service: get_available_con... | |
| * /anymal_highlevel_controller/servers/switch_controller/persistent: False | |
| * /anymal_highlevel_controller/servers/switch_controller/service: switch_controller | |
| * /anymal_highlevel_controller/subscribers/actuator_readings/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/actuator_readings/topic: /sensors/actuator... | |
| * /anymal_highlevel_controller/subscribers/actuator_states/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/actuator_states/topic: /sensors/actuator... | |
| * /anymal_highlevel_controller/subscribers/command_pose/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/command_pose/topic: /commands/pose | |
| * /anymal_highlevel_controller/subscribers/command_velocity/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/command_velocity/topic: /commands/twist | |
| * /anymal_highlevel_controller/subscribers/hard_emcy_stop/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/hard_emcy_stop/topic: /hard_emcy_stop | |
| * /anymal_highlevel_controller/subscribers/joy/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/joy/topic: /commands/joy | |
| * /anymal_highlevel_controller/subscribers/quadruped_state/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/quadruped_state/topic: /state_estimator/... | |
| * /anymal_highlevel_controller/subscribers/soft_emcy_stop/queue_size: 10 | |
| * /anymal_highlevel_controller/subscribers/soft_emcy_stop/topic: /soft_emcy_stop | |
| * /anymal_highlevel_controller/time_step: 0.0025 | |
| * /blue_quadruped_description: <?xml version="1.... | |
| * /controlmanager/service/calibrate_feet: /state_estimator/... | |
| * /controlmanager/service/clear_emergency_stop: /anymal_highlevel... | |
| * /controlmanager/service/emergency_stop: /anymal_highlevel... | |
| * /controlmanager/service/get_available_controllers: /anymal_highlevel... | |
| * /controlmanager/service/state_estimator_reset: /state_estimator/... | |
| * /controlmanager/service/state_estimator_reset_here: /state_estimator/... | |
| * /controlmanager/service/switch_controller: /anymal_highlevel... | |
| * /controlmanager/service/switch_lowlevel_controller: /anymal_lowlevel_... | |
| * /controlmanager/simulation: True | |
| * /controlmanager/topic/active_controller: /anymal_highlevel... | |
| * /controlmanager/topic/emergency_state: /anymal_highlevel... | |
| * /dodgeball/radius: 0.1 | |
| * /dodgeball/target_link: base | |
| * /dodgeball/target_robot: anymal | |
| * /dodgeball_description: <?xml version="1.... | |
| * /free_gait/action_server: /anymal_ctrl_free... | |
| * /free_gait/adapter_plugin/base: free_gait::Adapte... | |
| * /free_gait/adapter_plugin/preview: free_gait::Adapte... | |
| * /free_gait/adapter_ros_interface_plugin: free_gait::Adapte... | |
| * /free_gait/pause_execution_service: /anymal_ctrl_free... | |
| * /free_gait/preview_tf_prefix: preview | |
| * /free_gait/preview_topic: /free_gait/previe... | |
| * /free_gait/robot_description: /quadruped_descri... | |
| * /free_gait/robot_state: /state_estimator/... | |
| * /free_gait/stop_execution_service: /anymal_ctrl_free... | |
| * /gazebo/contact_forces/linear_velocity_threshold: 0.6 | |
| * /gazebo/frame/base/name: base | |
| * /gazebo/frame/feetcenter/name: feetcenter | |
| * /gazebo/frame/footprint/name: footprint | |
| * /gazebo/frame/odometry/name: odom | |
| * /gazebo/frame/odometry/offset/x: 0.0 | |
| * /gazebo/frame/odometry/offset/y: 0.0 | |
| * /gazebo/frame/odometry/offset/z: 0.0 | |
| * /gazebo/frame/world/name: map | |
| * /gazebo/frame/world_gravity_aligned/name: map_ga | |
| * /gazebo/joint_states/default_positions: [-0.1, 0.7, -1.0,... | |
| * /gazebo/joint_states/gains/jointPositionDGain: 2.0 | |
| * /gazebo/joint_states/gains/jointPositionPGain: 100.0 | |
| * /gazebo/joint_states/gains/jointPositionVelocityTorqueDGain: 0.0 | |
| * /gazebo/joint_states/gains/jointPositionVelocityTorqueIGain: 0.0 | |
| * /gazebo/joint_states/gains/jointPositionVelocityTorquePGain: 30.0 | |
| * /gazebo/joint_states/names: ['LF_HAA', 'LF_HF... | |
| * /gazebo/publishers/actuator_readings/latch: False | |
| * /gazebo/publishers/actuator_readings/queue_size: 10 | |
| * /gazebo/publishers/actuator_readings/topic: /sensors/actuator... | |
| * /gazebo/publishers/actuator_readings_extended_throttled/decimation: 40 | |
| * /gazebo/publishers/actuator_readings_extended_throttled/latch: False | |
| * /gazebo/publishers/actuator_readings_extended_throttled/queue_size: 10 | |
| * /gazebo/publishers/actuator_readings_extended_throttled/topic: /sensors/actuator... | |
| * /gazebo/publishers/contact_force_lf_foot/latch: False | |
| * /gazebo/publishers/contact_force_lf_foot/queue_size: 10 | |
| * /gazebo/publishers/contact_force_lf_foot/topic: /sensors/contact_... | |
| * /gazebo/publishers/contact_force_lh_foot/latch: False | |
| * /gazebo/publishers/contact_force_lh_foot/queue_size: 10 | |
| * /gazebo/publishers/contact_force_lh_foot/topic: /sensors/contact_... | |
| * /gazebo/publishers/contact_force_rf_foot/latch: False | |
| * /gazebo/publishers/contact_force_rf_foot/queue_size: 10 | |
| * /gazebo/publishers/contact_force_rf_foot/topic: /sensors/contact_... | |
| * /gazebo/publishers/contact_force_rh_foot/latch: False | |
| * /gazebo/publishers/contact_force_rh_foot/queue_size: 10 | |
| * /gazebo/publishers/contact_force_rh_foot/topic: /sensors/contact_... | |
| * /gazebo/publishers/global_localization_state/latch: True | |
| * /gazebo/publishers/global_localization_state/queue_size: 1 | |
| * /gazebo/publishers/global_localization_state/topic: /state_estimator/... | |
| * /gazebo/publishers/joint_states/latch: False | |
| * /gazebo/publishers/joint_states/queue_size: 10 | |
| * /gazebo/publishers/joint_states/topic: /sensors/joint_st... | |
| * /gazebo/publishers/pose_in_map/latch: False | |
| * /gazebo/publishers/pose_in_map/queue_size: 1 | |
| * /gazebo/publishers/pose_in_map/topic: /state_estimator/... | |
| * /gazebo/publishers/pose_in_map_ga/latch: False | |
| * /gazebo/publishers/pose_in_map_ga/queue_size: 1 | |
| * /gazebo/publishers/pose_in_map_ga/topic: /state_estimator/... | |
| * /gazebo/publishers/pose_in_odom/latch: False | |
| * /gazebo/publishers/pose_in_odom/queue_size: 1 | |
| * /gazebo/publishers/pose_in_odom/topic: /state_estimator/... | |
| * /gazebo/publishers/quadruped_state/latch: False | |
| * /gazebo/publishers/quadruped_state/max_frequency_rate: 0.1 | |
| * /gazebo/publishers/quadruped_state/min_frequency_rate: 0.1 | |
| * /gazebo/publishers/quadruped_state/queue_size: 10 | |
| * /gazebo/publishers/quadruped_state/topic: /state_estimator/... | |
| * /gazebo/publishers/quadruped_state_throttle/decimation: 40 | |
| * /gazebo/publishers/quadruped_state_throttle/latch: False | |
| * /gazebo/publishers/quadruped_state_throttle/queue_size: 10 | |
| * /gazebo/publishers/quadruped_state_throttle/topic: /state_estimator/... | |
| * /gazebo/publishers/twist/latch: False | |
| * /gazebo/publishers/twist/queue_size: 1 | |
| * /gazebo/publishers/twist/topic: /state_estimator/... | |
| * /gazebo/servers/set_robot_pose/service: set_robot_pose | |
| * /gazebo/simulate_estimator: True | |
| * /gazebo/subscribers/actuator_commands/queue_size: 10 | |
| * /gazebo/subscribers/actuator_commands/topic: /anymal_highlevel... | |
| * /ghost/ghost_tf_publisher/base_frame_id: base | |
| * /ghost/ghost_tf_publisher/base_frame_id_prefix: /ghost | |
| * /ghost/ghost_tf_publisher/ignore_state: True | |
| * /ghost/ghost_tf_publisher/publish_frequency: 30 | |
| * /ghost/ghost_tf_publisher/publish_map_transforms: False | |
| * /ghost/ghost_tf_publisher/publishers/joint_state/latch: False | |
| * /ghost/ghost_tf_publisher/publishers/joint_state/queue_size: 10 | |
| * /ghost/ghost_tf_publisher/publishers/joint_state/topic: /ghost/joint_states | |
| * /ghost/ghost_tf_publisher/publishers/pose/latch: False | |
| * /ghost/ghost_tf_publisher/publishers/pose/queue_size: 10 | |
| * /ghost/ghost_tf_publisher/publishers/pose/topic: /ghost/pose | |
| * /ghost/ghost_tf_publisher/subscribers/quadruped_state/queue_size: 10 | |
| * /ghost/ghost_tf_publisher/subscribers/quadruped_state/topic: /ghost/quadruped_... | |
| * /ghost/quadruped_robot_state_publisher/publish_frequency: 30 | |
| * /ghost/quadruped_robot_state_publisher/tf_prefix: /ghost | |
| * /ghost/quadruped_robot_state_publisher/use_tf_static: True | |
| * /ghost_measured/ghost_measured_tf_publisher/base_frame_id: base | |
| * /ghost_measured/ghost_measured_tf_publisher/base_frame_id_prefix: /ghost_measured | |
| * /ghost_measured/ghost_measured_tf_publisher/ignore_state: True | |
| * /ghost_measured/ghost_measured_tf_publisher/publish_frequency: 30 | |
| * /ghost_measured/ghost_measured_tf_publisher/publish_map_transforms: False | |
| * /ghost_measured/ghost_measured_tf_publisher/publishers/joint_state/latch: False | |
| * /ghost_measured/ghost_measured_tf_publisher/publishers/joint_state/queue_size: 10 | |
| * /ghost_measured/ghost_measured_tf_publisher/publishers/joint_state/topic: /ghost_measured/j... | |
| * /ghost_measured/ghost_measured_tf_publisher/publishers/pose/latch: False | |
| * /ghost_measured/ghost_measured_tf_publisher/publishers/pose/queue_size: 10 | |
| * /ghost_measured/ghost_measured_tf_publisher/publishers/pose/topic: /ghost_measured/pose | |
| * /ghost_measured/ghost_measured_tf_publisher/subscribers/quadruped_state/queue_size: 10 | |
| * /ghost_measured/ghost_measured_tf_publisher/subscribers/quadruped_state/topic: /ghost_measured/q... | |
| * /ghost_measured/quadruped_robot_state_publisher/publish_frequency: 30 | |
| * /ghost_measured/quadruped_robot_state_publisher/tf_prefix: /ghost_measured | |
| * /ghost_measured/quadruped_robot_state_publisher/use_tf_static: True | |
| * /green_quadruped_description: <?xml version="1.... | |
| * /interaction_marker/description: Interaction Marker | |
| * /interaction_marker/global_frame_id: odom | |
| * /interaction_marker/initial_reset_timeout: 5.0 | |
| * /interaction_marker/marker_frame_id: base | |
| * /interaction_marker/mesh_resource: package://anymal_... | |
| * /interaction_marker/name: interaction_marker | |
| * /interaction_marker/plugin_setup_file: /opt/ros/kinetic/... | |
| * /joy_manager/joysticks: [{'topic': '/anyj... | |
| * /joy_manager/modules: ['JoyAnymalHighle... | |
| * /joy_manager/notification/notifiers/default/latch: False | |
| * /joy_manager/notification/notifiers/default/output_devices: ['onboard_screen'... | |
| * /joy_manager/notification/notifiers/default/queue_size: 100 | |
| * /joy_manager/notification/notifiers/default/topic: /notification | |
| * /joy_manager/outputs: [{'topic': '/comm... | |
| * /joy_manager/pose_output/frame_id: base | |
| * /joy_manager/pose_output/poseMax/orientation/w: 0.845 | |
| * /joy_manager/pose_output/poseMax/orientation/x: 0.191 | |
| * /joy_manager/pose_output/poseMax/orientation/y: 0.462 | |
| * /joy_manager/pose_output/poseMax/orientation/z: 0.191 | |
| * /joy_manager/pose_output/poseMax/position/x: 1.0 | |
| * /joy_manager/pose_output/poseMax/position/y: 1.0 | |
| * /joy_manager/pose_output/poseMax/position/z: 1.0 | |
| * /joy_manager/pose_output/poseMin/orientation/w: 0.733 | |
| * /joy_manager/pose_output/poseMin/orientation/x: -0.462 | |
| * /joy_manager/pose_output/poseMin/orientation/y: -0.191 | |
| * /joy_manager/pose_output/poseMin/orientation/z: -0.462 | |
| * /joy_manager/pose_output/poseMin/position/x: -1.0 | |
| * /joy_manager/pose_output/poseMin/position/y: -1.0 | |
| * /joy_manager/pose_output/poseMin/position/z: -1.0 | |
| * /joy_manager/pose_output/subscribers/pose_max/queue_size: 10 | |
| * /joy_manager/pose_output/subscribers/pose_max/topic: /commands/pose_max | |
| * /joy_manager/pose_output/subscribers/pose_min/queue_size: 10 | |
| * /joy_manager/pose_output/subscribers/pose_min/topic: /commands/pose_min | |
| * /joy_manager/publishers/hard_emergency/latch: False | |
| * /joy_manager/publishers/hard_emergency/queue_size: 10 | |
| * /joy_manager/publishers/hard_emergency/topic: /hard_emcy_stop | |
| * /joy_manager/publishers/soft_emergency/latch: False | |
| * /joy_manager/publishers/soft_emergency/queue_size: 10 | |
| * /joy_manager/publishers/soft_emergency/topic: /soft_emcy_stop | |
| * /joy_manager/standalone: True | |
| * /joy_manager/time_step: 0.1 | |
| * /joy_manager/timeout: 10.0 | |
| * /joy_manager/timer: 5.0 | |
| * /joy_manager/twist_output/frame_id: base | |
| * /joy_manager/twist_output/subscribers/twist_max/queue_size: 10 | |
| * /joy_manager/twist_output/subscribers/twist_max/topic: /commands/twist_max | |
| * /joy_manager/twist_output/subscribers/twist_min/queue_size: 10 | |
| * /joy_manager/twist_output/subscribers/twist_min/topic: /commands/twist_min | |
| * /joy_manager/twist_output/twistMax/angular/x: 1.0 | |
| * /joy_manager/twist_output/twistMax/angular/y: 1.0 | |
| * /joy_manager/twist_output/twistMax/angular/z: 1.0 | |
| * /joy_manager/twist_output/twistMax/linear/x: 1.0 | |
| * /joy_manager/twist_output/twistMax/linear/y: 1.0 | |
| * /joy_manager/twist_output/twistMax/linear/z: 1.0 | |
| * /joy_manager/twist_output/twistMin/angular/x: -1.0 | |
| * /joy_manager/twist_output/twistMin/angular/y: -1.0 | |
| * /joy_manager/twist_output/twistMin/angular/z: -1.0 | |
| * /joy_manager/twist_output/twistMin/linear/x: -1.0 | |
| * /joy_manager/twist_output/twistMin/linear/y: -1.0 | |
| * /joy_manager/twist_output/twistMin/linear/z: -1.0 | |
| * /quadruped_description: <?xml version="1.... | |
| * /quadruped_tf_publisher/quadruped_robot_state_publisher/publish_frequency: 100 | |
| * /quadruped_tf_publisher/quadruped_robot_state_publisher/tf_prefix: | |
| * /quadruped_tf_publisher/quadruped_robot_state_publisher/use_tf_static: True | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/base_frame_id: base | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/base_frame_id_prefix: | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/ignore_state: False | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publish_frequency: 100 | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publish_map_transforms: False | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publishers/joint_state/latch: False | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publishers/joint_state/queue_size: 10 | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publishers/joint_state/topic: joint_state | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publishers/pose/latch: False | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publishers/pose/queue_size: 10 | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/publishers/pose/topic: pose | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/subscribers/quadruped_state/queue_size: 10 | |
| * /quadruped_tf_publisher/quadruped_tf_publisher/subscribers/quadruped_state/topic: /state_estimator/... | |
| * /red_quadruped_description: <?xml version="1.... | |
| * /rosdistro: kinetic | |
| * /rosversion: 1.12.12 | |
| * /rviz_world_loader/world_file: /opt/ros/kinetic/... | |
| * /simulation: True | |
| * /throttle/contact_force_lf_foot/lazy: True | |
| * /throttle/contact_force_lh_foot/lazy: True | |
| * /throttle/contact_force_rf_foot/lazy: True | |
| * /throttle/contact_force_rh_foot/lazy: True | |
| * /throttle/imu/lazy: True | |
| * /throttle/pose_in_map/lazy: True | |
| * /throttle/pose_in_map_ga/lazy: True | |
| * /throttle/pose_in_odom/lazy: True | |
| * /throttle/twist/lazy: True | |
| * /use_sim_time: True | |
| * /user_interface/rqt_parameters/handler_namespace: /anymal_highlevel... | |
| * /user_interface/rqt_signal_logger/logger_namespace: /anymal_highlevel... | |
| NODES | |
| /throttle/ | |
| contact_force_lf_foot (topic_tools/throttle) | |
| contact_force_lh_foot (topic_tools/throttle) | |
| contact_force_rf_foot (topic_tools/throttle) | |
| contact_force_rh_foot (topic_tools/throttle) | |
| imu (topic_tools/throttle) | |
| pose_in_map (topic_tools/throttle) | |
| pose_in_map_ga (topic_tools/throttle) | |
| pose_in_odom (topic_tools/throttle) | |
| twist (topic_tools/throttle) | |
| /ghost/ | |
| ghost_tf_publisher (quadruped_tf_publisher/quadruped_tf_publisher_node) | |
| quadruped_robot_state_publisher (robot_state_publisher/robot_state_publisher) | |
| /ghost_measured/ | |
| ghost_measured_tf_publisher (quadruped_tf_publisher/quadruped_tf_publisher_node) | |
| quadruped_robot_state_publisher (robot_state_publisher/robot_state_publisher) | |
| / | |
| anymal_free_gait_action_loader_adapter (anymal_free_gait_action_loader_adapter/action_loader_adapter.py) | |
| anymal_highlevel_controller (anymal_highlevel_controller/anymal_highlevel_controller_node) | |
| dodgeball (dodgeball_gazebo/dodgeball_node) | |
| free_gait_action_loader (free_gait_action_loader/action_loader.py) | |
| gazebo (gazebo_ros/gzserver) | |
| interaction_marker (interaction_marker/interaction_marker_node) | |
| joy_manager (joy_manager/joy_manager_node) | |
| rqt_anymal (anymal_sim/rqt.sh) | |
| rviz (rviz/rviz) | |
| rviz_world_loader (rviz_world_loader/rviz_world_loader.py) | |
| spawn_anymal (gazebo_ros/spawn_model) | |
| spawn_dodgeball (gazebo_ros/spawn_model) | |
| /quadruped_tf_publisher/ | |
| quadruped_robot_state_publisher (robot_state_publisher/robot_state_publisher) | |
| quadruped_tf_publisher (quadruped_tf_publisher/quadruped_tf_publisher_node) | |
| [1mROS_MASTER_URI=http://localhost:11311[0m | |
| ]2;/opt/ros/kinetic/share/anymal_sim/launch/sim.launch http://localhost:11311 | |
| [1mprocess[gazebo-1]: started with pid [21525][0m | |
| [1mprocess[spawn_anymal-2]: started with pid [21530][0m | |
| [1mprocess[free_gait_action_loader-3]: started with pid [21531][0m | |
| [1mprocess[anymal_free_gait_action_loader_adapter-4]: started with pid [21532][0m | |
| [1mprocess[spawn_dodgeball-5]: started with pid [21533][0m | |
| [1mprocess[dodgeball-6]: started with pid [21534][0m | |
| [1mprocess[rviz-7]: started with pid [21537][0m | |
| [1mprocess[interaction_marker-8]: started with pid [21538][0m | |
| [1mprocess[rviz_world_loader-9]: started with pid [21540][0m | |
| [1mprocess[rqt_anymal-10]: started with pid [21551][0m | |
| [1mprocess[joy_manager-11]: started with pid [21558][0m | |
| [1mprocess[throttle/pose_in_odom-12]: started with pid [21570][0m | |
| [1mprocess[throttle/pose_in_map-13]: started with pid [21580][0m | |
| [1mprocess[throttle/pose_in_map_ga-14]: started with pid [21596][0m | |
| [1mprocess[throttle/twist-15]: started with pid [21623][0m | |
| [1mprocess[throttle/contact_force_lf_foot-16]: started with pid [21653][0m | |
| [1mprocess[throttle/contact_force_rf_foot-17]: started with pid [21670][0m | |
| [1mprocess[throttle/contact_force_lh_foot-18]: started with pid [21702][0m | |
| [1mprocess[throttle/contact_force_rh_foot-19]: started with pid [21709][0m | |
| [1mprocess[throttle/imu-20]: started with pid [21716][0m | |
| [1mprocess[anymal_highlevel_controller-21]: started with pid [21720][0m | |
| [1mprocess[quadruped_tf_publisher/quadruped_tf_publisher-22]: started with pid [21725][0m | |
| [1mprocess[quadruped_tf_publisher/quadruped_robot_state_publisher-23]: started with pid [21729][0m | |
| [1mprocess[ghost/ghost_tf_publisher-24]: started with pid [21768][0m | |
| [1mprocess[ghost/quadruped_robot_state_publisher-25]: started with pid [21774][0m | |
| [1mprocess[ghost_measured/ghost_measured_tf_publisher-26]: started with pid [21776][0m | |
| [1mprocess[ghost_measured/quadruped_robot_state_publisher-27]: started with pid [21[0m[ INFO] [0mWorker [/quadruped_tf_publisher/quadruped_tf_publisher_broadcast] started[0m | |
| [0m[ INFO] [0mWorker [/ghost/ghost_tf_publisher_broadcast] started[0m | |
| [0m[ INFO] [0mWorker [/ghost_measured/ghost_measured_tf_publisher_broadcast] started[0m | |
| [0m[ INFO] [1516979392.865559950]: [0m[AnymalHighLevelController] Is in simulation: yes[0m[0m | |
| [0m[ INFO] [1516979392.927153715]: [0m[AnymalHighLevelController::init] Logger type: ros[0m[0m | |
| [0m[ INFO] [0m[SignalLogger::initLogger] Initialized![0m | |
| [0m[ INFO] [1516979392.964734443]: [0m[AnymalHighLevelController::init] Initialize logger with sampling window: 180.00s, , script: /home/mfallon/.ros/signal_logger.yaml .[0m[0m | |
| [0m[ INFO] [1516979393.194357440]: [0m[RocomaRos] Got controller plugin Freeze with controller name freeze successfully from the parameter server. | |
| (is_ros: false, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers!)[0m[0m | |
| [0m[ INFO] [1516979393.194465522]: [0m[RocomaRos] Got controller plugin freeze with controller name freeze successfully from the parameter server. | |
| (is_ros: false, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers![0m[0m | |
| [0m[ INFO] [1516979393.194535282]: [0m[RocomaRos] Got controller plugin StaticWalkControllerRos with controller name static_walk_ros successfully from the parameter server. | |
| (is_ros: true, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers!)[0m[0m | |
| [0m[ INFO] [1516979393.194649940]: [0m[RocomaRos] Got controller plugin freeze with controller name freeze successfully from the parameter server. | |
| (is_ros: false, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers![0m[0m | |
| [0m[ INFO] [1516979393.194752026]: [0m[RocomaRos] Got controller plugin TrotControllerRos with controller name trot_ros successfully from the parameter server. | |
| (is_ros: true, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers!)[0m[0m | |
| [0m[ INFO] [1516979393.194851885]: [0m[RocomaRos] Got controller plugin freeze with controller name freeze successfully from the parameter server. | |
| (is_ros: false, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers![0m[0m | |
| [0m[ INFO] [1516979393.194952167]: [0m[RocomaRos] Got controller plugin FreeGaitImpedanceRos with controller name free_gait_impedance_ros successfully from the parameter server. | |
| (is_ros: true, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers!)[0m[0m | |
| [0m[ INFO] [1516979393.195051788]: [0m[RocomaRos] Got controller plugin freeze with controller name freeze successfully from the parameter server. | |
| (is_ros: false, complete parameter_path: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers![0m[0m | |
| [0m[ INFO] [1516979393.224447271]: [0m[Rocoma][freeze] Successfully added failproof controller![0m[0m | |
| [0m[ INFO] [1516979393.224558983]: [0m[RocomaRos] Succesfully setup failproof controller: Freeze![0m[0m | |
| [0m[ INFO] [1516979393.273625219]: [0m[Rocoma][freeze / freeze] Successfully added controller pair.[0m[0m | |
| [0m[ INFO] [1516979393.273746278]: [0m[RocomaRos] Successfully added controller pair ( freeze / freeze ) to controller manager![0m[0m | |
| [0m[ INFO] [1516979393.318183309]: [0mLoaded file: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers/StaticWalkSim.xml[0m[0m | |
| [0m[ INFO] [1516979393.318880123]: [0m[Rocoma][freeze] An emergency controller with the name already exists. Using same instance.[0m[0m | |
| [0m[ INFO] [1516979393.318926035]: [0m[Rocoma][static_walk_ros / freeze] Successfully added controller pair.[0m[0m | |
| [0m[ INFO] [1516979393.319010983]: [0m[RocomaRos] Successfully added controller pair ( static_walk_ros / freeze ) to controller manager![0m[0m | |
| [0m[ INFO] [1516979393.368353861]: [0m[Rocoma][freeze] An emergency controller with the name already exists. Using same instance.[0m[0m | |
| [0m[ INFO] [1516979393.368440509]: [0m[Rocoma][trot_ros / freeze] Successfully added controller pair.[0m[0m | |
| [0m[ INFO] [1516979393.368496008]: [0m[RocomaRos] Successfully added controller pair ( trot_ros / freeze ) to controller manager![0m[0m | |
| [0m[ INFO] [1516979393.410444256]: [0m[LocoFreeGaitTask]: Reading parameter file 'FreeGaitSim'.[0m[0m | |
| Setting parameter file: /opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers/FreeGaitSim.xml | |
| [0m[ INFO] [1516979393.410759298]: [0mLoaded parameter file '/opt/ros/kinetic/share/anymal_sim/config/locomotion_controllers/FreeGaitSim.xml'.[0m[0m | |
| [0m[ INFO] [1516979393.411423469]: [0m[Rocoma][freeze] An emergency controller with the name already exists. Using same instance.[0m[0m | |
| [0m[ INFO] [1516979393.411471354]: [0m[Rocoma][free_gait_impedance_ros / freeze] Successfully added controller pair.[0m[0m | |
| [0m[ INFO] [1516979393.411518955]: [0m[RocomaRos] Successfully added controller pair ( free_gait_impedance_ros / freeze ) to controller manager![0m[0m | |
| [0;33m[ WARN] [0;33mFailed to set thread priority for worker [updateInSim]: Operation not permitted[0m | |
| [0m[ INFO] [0mWorker [updateInSim] started[0m | |
| /opt/ros/kinetic/lib/anymal_sim/rqt.sh: line 3: 21554 Segmentation fault (core dumped) rqt --force-discover --perspective-file $1 | |
| [31m[rqt_anymal-10] process has died [pid 21551, exit code 139, cmd /opt/ros/kinetic/lib/anymal_sim/rqt.sh /opt/ros/kinetic/share/anymal_sim/config/rqt/rqt.perspective __name:=rqt_anymal __log:=/home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/rqt_anymal-10.log]. | |
| log file: /home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/rqt_anymal-10*.log[0m | |
| SpawnModel script started | |
| [INFO] [1516979393.057087, 0.000000]: Loading model XML from ros parameter | |
| [INFO] [1516979393.060888, 0.000000]: Waiting for service /gazebo/spawn_urdf_model | |
| [INFO] [1516979394.569668, 0.000000]: Calling service /gazebo/spawn_urdf_model | |
| [INFO] [1516979394.834463, 0.163000]: Spawn status: SpawnModel: Successfully spawned entity | |
| [0m[ INFO] [1516979392.674332723]: [JoyAnymalHighlevelController] init()[0m | |
| [0;33m[ WARN] [0;33mFailed to set thread priority for worker [updateWorker]: Operation not permitted[0m | |
| [0m[ INFO] [0mWorker [updateWorker] started[0m | |
| [0m[ INFO] [0mWorker [updateInSim] terminated.[0m | |
| [0m[ INFO] [0mWorker [/quadruped_tf_publisher/quadruped_tf_publisher_broadcast] terminated.[0m | |
| [0m[ INFO] [0mWorker [/ghost/ghost_tf_publisher_broadcast] terminated.[0m | |
| [0m[ INFO] [0mWorker [/ghost_measured/ghost_measured_tf_publisher_broadcast] terminated.[0m | |
| [0m[ INFO] [0mWorker [updateWorker] terminated.[0m | |
| [0m[ INFO] [1516979392.003536807]: rviz version 1.12.15[0m | |
| [0m[ INFO] [1516979392.003621949]: compiled against Qt version 5.5.1[0m | |
| [0m[ INFO] [1516979392.003634849]: compiled against OGRE version 1.9.0 (Ghadamon)[0m | |
| [0m[ INFO] [1516979394.336013953]: Stereo is NOT SUPPORTED[0m | |
| [0m[ INFO] [1516979394.336084142]: OpenGl version: 4.5 (GLSL 4.5).[0m | |
| [0m[ INFO] [1516979392.731864691]: Finished loading Gazebo ROS API Plugin.[0m | |
| [0m[ INFO] [1516979392.767030171]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...[0m | |
| [0m[ INFO] [1516979394.559057748, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.[0m | |
| [0m[ INFO] [1516979394.843797852, 0.163000000]: Physics dynamic reconfigure ready.[0m | |
| [0m[ INFO] [1516979394.868827535, 0.163000000]: [0m[AnymalGazeboPlugin::Load] Starting gazebo_ros_control plugin in namespace: '/gazebo'.[0m[0m | |
| [0m[ INFO] [1516979394.868853102, 0.163000000]: [0m[AnymalGazeboPlugin::getUrdfRobotDescription] Loading urdf description.[0m[0m | |
| [0m[ INFO] [1516979394.869272886, 0.163000000]: [0m[AnymalGazeboPlugin::getUrdfRobotDescription] Waiting for model URDF in parameter /quadruped_description on the ROS parameter server.[0m[0m | |
| [0m[ INFO] [1516979395.370049375, 0.163000000]: [0m[AnymalGazeboPlugin::getUrdfRobotDescription] Received urdf from parameter server.[0m[0m | |
| [0m[ INFO] [1516979395.655084052, 0.163000000]: [0m[AnymalGazeboPlugin::initContactManager] Initializing contact manager.[0m[0m | |
| [0m[ INFO] [1516979395.680817088, 0.163000000]: [0m[AnymalGazeboPlugin::Reset] Resetting gazebo model.[0m[0m | |
| [0m[ INFO] [1516979395.681155124, 0.163000000]: [0m[AnymalGazeboPlugin::Init] Initializing gazebo model.[0m[0m | |
| [INFO] [1516979394.216285, 0.000000]: Ready to load actions from service call. | |
| [INFO] [1516979394.419414, 0.000000]: Ready to load actions from service call. | |
| 782][0m | |
| [1m[rviz_world_loader-9] process has finished cleanly | |
| log file: /home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/rviz_world_loader-9*.log[0m | |
| [1m[spawn_anymal-2] process has finished cleanly | |
| log file: /home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/spawn_anymal-2*.log[0m | |
| [1m[spawn_dodgeball-5] process has finished cleanly | |
| log file: /home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/spawn_dodgeball-5*.log[0m | |
| [ghost_measured/quadruped_robot_state_publisher-27] killing on exit | |
| [ghost_measured/ghost_measured_tf_publisher-26] killing on exit | |
| [ghost/quadruped_robot_state_publisher-25] killing on exit | |
| [ghost/ghost_tf_publisher-24] killing on exit | |
| [quadruped_tf_publisher/quadruped_tf_publisher-22] killing on exit | |
| [anymal_highlevel_controller-21] killing on exit | |
| [throttle/imu-20] killing on exit | |
| [throttle/contact_force_lh_foot-18] killing on exit | |
| [quadruped_tf_publisher/quadruped_robot_state_publisher-23] killing on exit | |
| [throttle/contact_force_rh_foot-19] killing on exit | |
| [throttle/contact_force_rf_foot-17] killing on exit | |
| [throttle/contact_force_lf_foot-16] killing on exit | |
| [throttle/twist-15] killing on exit | |
| [throttle/pose_in_map_ga-14] killing on exit | |
| [throttle/pose_in_map-13] killing on exit | |
| [throttle/pose_in_odom-12] killing on exit | |
| [joy_manager-11] killing on exit | |
| [interaction_marker-8] killing on exit | |
| [rviz-7] killing on exit | |
| [dodgeball-6] killing on exit | |
| [anymal_free_gait_action_loader_adapter-4] killing on exit | |
| [free_gait_action_loader-3] killing on exit | |
| [gazebo-1] killing on exit | |
| shutting down processing monitor... | |
| ... shutting down processing monitor complete | |
| [1mdone[0m |
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