Last active
September 18, 2022 04:34
-
-
Save pvandervelde/15b09ed46f8566188c19c8a0a5fc6be7 to your computer and use it in GitHub Desktop.
ROS2 control with Ignition - Failure to load hardware plugin
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| ~/ros_ws/cratebot ➜ ros2 launch -d cratebot_ignition ignition.launch.py rviz:=false | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription' | |
| [INFO] [launch]: All log files can be found below /home/petrik/.ros/log/2022-09-18-15-54-09-652196-ub-ros-humble-124660 | |
| [INFO] [launch]: Default logging verbosity is set to DEBUG | |
| [DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f66be2da260>' | |
| [DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f66be2da260>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f66bedd5210>' | |
| Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.526 seconds | |
| [INFO] [ign gazebo-1]: process started with pid [124662] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [robot_state_publisher-2]: process started with pid [124665] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [parameter_bridge-3]: process started with pid [124667] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [parameter_bridge-4]: process started with pid [124669] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [parameter_bridge-5]: process started with pid [124671] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [parameter_bridge-6]: process started with pid [124674] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [create-7]: process started with pid [124679] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e9cf0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e9600>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e9030>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1eb640>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e2bc0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e0e80>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e0e80>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd5f37c0>' | |
| [robot_state_publisher-2] Link base_link had 1 children | |
| [robot_state_publisher-2] Link chassis_link had 4 children | |
| [robot_state_publisher-2] Link link_steering_left_front had 1 children | |
| [robot_state_publisher-2] Link link_wheel_left_front had 0 children | |
| [robot_state_publisher-2] Link link_steering_left_rear had 1 children | |
| [robot_state_publisher-2] Link link_wheel_left_rear had 0 children | |
| [robot_state_publisher-2] Link link_steering_right_front had 1 children | |
| [robot_state_publisher-2] Link link_wheel_right_front had 0 children | |
| [robot_state_publisher-2] Link link_steering_right_rear had 1 children | |
| [robot_state_publisher-2] Link link_wheel_right_rear had 0 children | |
| [robot_state_publisher-2] [INFO] [1663473250.291513130] [robot_state_publisher]: got segment base_footprint | |
| [robot_state_publisher-2] [INFO] [1663473250.291675132] [robot_state_publisher]: got segment base_link | |
| [robot_state_publisher-2] [INFO] [1663473250.291695232] [robot_state_publisher]: got segment chassis_link | |
| [robot_state_publisher-2] [INFO] [1663473250.291706332] [robot_state_publisher]: got segment link_steering_left_front | |
| [robot_state_publisher-2] [INFO] [1663473250.291716333] [robot_state_publisher]: got segment link_steering_left_rear | |
| [robot_state_publisher-2] [INFO] [1663473250.291725833] [robot_state_publisher]: got segment link_steering_right_front | |
| [robot_state_publisher-2] [INFO] [1663473250.291735033] [robot_state_publisher]: got segment link_steering_right_rear | |
| [robot_state_publisher-2] [INFO] [1663473250.291744233] [robot_state_publisher]: got segment link_wheel_left_front | |
| [robot_state_publisher-2] [INFO] [1663473250.291753233] [robot_state_publisher]: got segment link_wheel_left_rear | |
| [robot_state_publisher-2] [INFO] [1663473250.291762533] [robot_state_publisher]: got segment link_wheel_right_front | |
| [robot_state_publisher-2] [INFO] [1663473250.291771333] [robot_state_publisher]: got segment link_wheel_right_rear | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be1e8910>' | |
| [create-7] [INFO] [1663473250.449316700] [ros_ign_gazebo]: Requesting list of world names. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [Dbg] [ign.cc:161] Subscribing to [/gazebo/starting_world]. | |
| [ign gazebo-1] [Dbg] [ign.cc:163] Waiting for a world to be set from the GUI... | |
| [ign gazebo-1] [Msg] Received world [empty_world.sdf] from the GUI. | |
| [ign gazebo-1] [Dbg] [ign.cc:167] Unsubscribing from [/gazebo/starting_world]. | |
| [ign gazebo-1] [Msg] Ignition Gazebo Server v6.12.0 | |
| [ign gazebo-1] [Msg] Loading SDF world file[/home/petrik/ros_ws/cratebot/install/cratebot_ignition/share/cratebot_ignition/worlds/empty_world.sdf]. | |
| [ign gazebo-1] [Msg] Serving entity system service on [/entity/system/add] | |
| [ign gazebo-1] [Dbg] [Physics.cc:803] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so] | |
| [ign gazebo-1] [Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::Physics] for entity [1] | |
| [ign gazebo-1] [Msg] Create service on [/world/default/create] | |
| [ign gazebo-1] [Msg] Remove service on [/world/default/remove] | |
| [ign gazebo-1] [Msg] Pose service on [/world/default/set_pose] | |
| [ign gazebo-1] [Msg] Pose service on [/world/default/set_pose_vector] | |
| [ign gazebo-1] [Msg] Light configuration service on [/world/default/light_config] | |
| [ign gazebo-1] [Msg] Physics service on [/world/default/set_physics] | |
| [ign gazebo-1] [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates] | |
| [ign gazebo-1] [Msg] Enable collision service on [/world/default/enable_collision] | |
| [ign gazebo-1] [Msg] Disable collision service on [/world/default/disable_collision] | |
| [ign gazebo-1] [Msg] Material service on [/world/default/visual_config] | |
| [ign gazebo-1] [Msg] Material service on [/world/default/wheel_slip] | |
| [ign gazebo-1] [Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1] | |
| [ign gazebo-1] [Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1] | |
| [ign gazebo-1] [Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::Contact] for entity [1] | |
| [ign gazebo-1] [Msg] Loaded level [3] | |
| [ign gazebo-1] [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control] | |
| [ign gazebo-1] [Msg] Serving GUI information on [/world/default/gui/info] | |
| [ign gazebo-1] [Msg] World [default] initialized with [1ms] physics profile. | |
| [ign gazebo-1] [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf] | |
| [ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds] | |
| [ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add]. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be1e8910>' | |
| [create-7] [INFO] [1663473251.096927194] [ros_ign_gazebo]: Waiting messages on topic [/robot_description]. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be1e8910>' | |
| [create-7] [INFO] [1663473251.111604486] [ros_ign_gazebo]: Requested creation of entity. | |
| [create-7] [INFO] [1663473251.111701188] [ros_ign_gazebo]: OK creation of entity. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [INFO] [create-7]: process has finished cleanly [pid 124679] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66be1e9f60>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66be1e9090>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight" | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight" | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1eb550>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1eb550>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1eb550>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1eb550>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].[Msg] Ignition Gazebo GUI v6.12.0 | |
| [ign gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]... | |
| [ign gazebo-1] [Dbg] [Application.cc:92] Initializing application. | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window | |
| [ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get] | |
| [ign gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient. | |
| [ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths. | |
| [ign gazebo-1] [GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]... | |
| [ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]... | |
| [ign gazebo-1] [GUI] [Msg] Loading config [/home/petrik/.ignition/gazebo/6/gui.config] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl] | |
| [ign gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Interactive view control] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager] | |
| [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities] | |
| [ign gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent] | |
| [ign gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes] | |
| [ign gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com] | |
| [ign gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia] | |
| [ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions] | |
| [ign gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints] | |
| [ign gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl] | |
| [ign gazebo-1] [GUI] [Msg] Using world control service [/world/default/control] | |
| [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] | |
| [ign gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats] | |
| [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [ERROR] [1663473252.362382694] [ignition_ros_control]: robot_state_publisher service not available, waiting again... | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight" | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [ERROR] [1663473252.862767159] [ignition_ros_control]: robot_state_publisher service not available, waiting again... | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Ogre2RenderTarget.cc:575] Anti-aliasing level of '8' is not supported; valid FSAA levels are: [ 0 4 ]. Setting to 0 | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Lights] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl] | |
| [ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene. | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot] | |
| [ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree] | |
| [ign gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window | |
| [ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:296] Loading window config | |
| [ign gazebo-1] [GUI] [Msg] Using server control service [/server_control] | |
| [ign gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config | |
| [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] | |
| [ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:560] Create scene [scene] | |
| [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] | |
| [ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)] | |
| [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [ERROR] [1663473253.367583683] [ignition_ros_control]: robot_state_publisher service not available, waiting again... | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473253.820535826] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473253.833188092] [ignition_ros_control]: Received URDF from param server | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473253.868140751] [ignition_ros_control]: Loading joint: joint_chassis_to_steering_left_front | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be272830>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473253.869489668] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.869519469] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.869603270] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.869644370] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.869666671] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.869675271] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.869759772] [ignition_ros_control]: Loading joint: joint_steering_to_wheel_left_front | |
| [ign gazebo-1] [INFO] [1663473253.869773072] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.869780372] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.869787772] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.869796372] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.869803572] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.869809872] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.869850673] [ignition_ros_control]: Loading joint: joint_chassis_to_steering_right_front | |
| [ign gazebo-1] [INFO] [1663473253.869862073] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.869868873] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.869875873] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.869882473] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.869924474] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.869933474] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.869948674] [ignition_ros_control]: Loading joint: joint_steering_to_wheel_right_front | |
| [ign gazebo-1] [INFO] [1663473253.869958574] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.869965174] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.869972075] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.869978775] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.869985575] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.869991675] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870006475] [ignition_ros_control]: Loading joint: joint_chassis_to_steering_left_rear | |
| [ign gazebo-1] [INFO] [1663473253.870016175] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.870022875] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.870029875] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870036475] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.870042975] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.870049076] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.870062276] [ignition_ros_control]: Loading joint: joint_steering_to_wheel_left_rear | |
| [ign gazebo-1] [INFO] [1663473253.870071576] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.870078076] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.870085176] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870094876] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.870102276] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.870108476] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870120377] [ignition_ros_control]: Loading joint: joint_chassis_to_steering_right_rear | |
| [ign gazebo-1] [INFO] [1663473253.870129277] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.870135777] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.870142577] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870149077] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.870155577] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.870161677] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.870173077] [ignition_ros_control]: Loading joint: joint_steering_to_wheel_right_rear | |
| [ign gazebo-1] [INFO] [1663473253.870209578] [ignition_ros_control]: State: | |
| [ign gazebo-1] [INFO] [1663473253.870219778] [ignition_ros_control]: position | |
| [ign gazebo-1] [INFO] [1663473253.870227478] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870234278] [ignition_ros_control]: effort | |
| [ign gazebo-1] [INFO] [1663473253.870241078] [ignition_ros_control]: Command: | |
| [ign gazebo-1] [INFO] [1663473253.870247278] [ignition_ros_control]: velocity | |
| [ign gazebo-1] [INFO] [1663473253.870932187] [resource_manager]: Initialize hardware 'CratebotJointControl' | |
| [ign gazebo-1] [WARN] [1663473253.870945887] [ignition_ros_control]: On init... | |
| [ign gazebo-1] [INFO] [1663473253.871183590] [resource_manager]: Successful initialization of hardware 'CratebotJointControl' | |
| [ign gazebo-1] [INFO] [1663473253.871260791] [resource_manager]: 'configure' hardware 'CratebotJointControl' | |
| [ign gazebo-1] [INFO] [1663473253.871267392] [ignition_ros_control]: System Successfully configured! | |
| [ign gazebo-1] [INFO] [1663473253.871278592] [resource_manager]: Successful 'configure' of hardware 'CratebotJointControl' | |
| [ign gazebo-1] [INFO] [1663473253.871285992] [resource_manager]: 'activate' hardware 'CratebotJointControl' | |
| [ign gazebo-1] [INFO] [1663473253.871289792] [resource_manager]: Successful 'activate' of hardware 'CratebotJointControl' | |
| [ign gazebo-1] [INFO] [1663473253.871300892] [ignition_ros_control]: Loading controller_manager | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be203580>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized. | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.TimerEvent' | |
| [DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x7f66be203580>' | |
| [DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x7f66be203580>' ✓ '<launch.event_handler.EventHandler object at 0x7f66be1e8310>' | |
| Executing <Task finished name='Task-67' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.269 seconds | |
| [INFO] [ros2_control_node-8]: process started with pid [126311] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [ros2-9]: process started with pid [126313] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66bd602b00>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [ros2_control_node-8] [INFO] [1663473260.628145491] [resource_manager]: Loading hardware 'CratebotJointControl' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [ros2_control_node-8] terminate called after throwing an instance of 'pluginlib::LibraryLoadException' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea380>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601150>' | |
| [ros2_control_node-8] what(): According to the loaded plugin descriptions the class ign_ros2_control/IgnitionSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system | |
| [ERROR] [ros2_control_node-8]: process has died [pid 126311, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_4xx4k86d --params-file /home/petrik/ros_ws/cratebot/install/cratebot_description/share/cratebot_description/config/cratebot.yaml']. | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1eb640>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1eb640>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd601180>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1eb640>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd601f00>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be2db610>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be2db610>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473261.873054141] [controller_manager]: Loading controller 'joint_state_broadcaster' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be2da110>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be2da110>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473261.937433087] [controller_manager]: Configuring controller 'joint_state_broadcaster' | |
| [ign gazebo-1] [INFO] [1663473261.937653990] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be2db610>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be2db610>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd6017e0>' | |
| [ros2-9] Sucessfully loaded controller joint_state_broadcaster into state active | |
| [INFO] [ros2-9]: process has finished cleanly [pid 126313] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be2da110>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be2da110>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd6001c0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be2da110>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd600820>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be2da110>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd6012d0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be2da110>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd6025c0>' | |
| [INFO] [ros2-10]: process started with pid [126699] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [INFO] [ros2-11]: process started with pid [126705] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e8820>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f66be1e3730>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.379698833] [controller_manager]: Loading controller 'position_trajectory_controller' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e8820>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e8820>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.425026428] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea5c0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea5c0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.448351935] [controller_manager]: Configuring controller 'position_trajectory_controller' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea5c0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1ea5c0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.448472536] [position_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. | |
| [ign gazebo-1] [INFO] [1663473263.448520637] [position_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. | |
| [ign gazebo-1] [INFO] [1663473263.448570037] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. | |
| [ign gazebo-1] [INFO] [1663473263.448580138] [position_trajectory_controller]: Using 'splines' interpolation method. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e3730>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e3730>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.450084157] [position_trajectory_controller]: Controller state will be published at 50.00 Hz. | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e3b80>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e3b80>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.451500676] [position_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be1ea5c0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be1ea5c0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be1e2200>' | |
| [ros2-11] Sucessfully loaded controller position_trajectory_controller into state active | |
| [INFO] [ros2-11]: process has finished cleanly [pid 126705] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66be1e0ac0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66be1e0100>' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473263.904944033] [controller_manager]: Loading controller 'velocity_controller' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473264.039855105] [controller_manager]: Configuring controller 'velocity_controller' | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66be3befb0>' | |
| [ign gazebo-1] [INFO] [1663473264.041143522] [velocity_controller]: configure successful | |
| [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be1e8820>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f66be1e8820>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f66bd601780>' | |
| [ros2-10] Sucessfully loaded controller velocity_controller into state active | |
| [INFO] [ros2-10]: process has finished cleanly [pid 126699] | |
| [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1e82b0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd600fa0>' | |
| [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f66be1e82b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f66bd601510>' |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| <?xml version="1.0" ?> | |
| <!-- =================================================================================== --> | |
| <!-- | This document was autogenerated by xacro from src/cratebot_description/urdf/base.xacro | --> | |
| <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> | |
| <!-- =================================================================================== --> | |
| <robot name="cratebot"> | |
| <!-- INCLUDES --> | |
| <material name="black"> | |
| <color rgba="0.01 0.01 0.01 1.000"/> | |
| </material> | |
| <material name="silver"> | |
| <color rgba="0.700 0.700 0.700 1.000"/> | |
| </material> | |
| <material name="gray"> | |
| <color rgba="0.250 0.250 0.250 1.000"/> | |
| </material> | |
| <material name="blue"> | |
| <color rgba="0.000 0.000 0.700 1.000"/> | |
| </material> | |
| <gazebo reference="link_wheel_left_front"> | |
| <mu1>0.9</mu1> | |
| <mu2>0.9</mu2> | |
| <kp>500000.0</kp> | |
| <kd>10.0</kd> | |
| <minDepth>0.001</minDepth> | |
| <maxVel>0.1</maxVel> | |
| <fdir1>1 0 0</fdir1> | |
| <selfCollide>true</selfCollide> | |
| </gazebo> | |
| <gazebo reference="link_wheel_right_front"> | |
| <mu1>0.9</mu1> | |
| <mu2>0.9</mu2> | |
| <kp>500000.0</kp> | |
| <kd>10.0</kd> | |
| <minDepth>0.001</minDepth> | |
| <maxVel>0.1</maxVel> | |
| <fdir1>1 0 0</fdir1> | |
| <selfCollide>true</selfCollide> | |
| </gazebo> | |
| <gazebo reference="link_wheel_left_rear"> | |
| <mu1>0.9</mu1> | |
| <mu2>0.9</mu2> | |
| <kp>500000.0</kp> | |
| <kd>10.0</kd> | |
| <minDepth>0.001</minDepth> | |
| <maxVel>0.1</maxVel> | |
| <fdir1>1 0 0</fdir1> | |
| <selfCollide>true</selfCollide> | |
| </gazebo> | |
| <gazebo reference="link_wheel_right_rear"> | |
| <mu1>0.9</mu1> | |
| <mu2>0.9</mu2> | |
| <kp>500000.0</kp> | |
| <kd>10.0</kd> | |
| <minDepth>0.001</minDepth> | |
| <maxVel>0.1</maxVel> | |
| <fdir1>1 0 0</fdir1> | |
| <selfCollide>true</selfCollide> | |
| </gazebo> | |
| <gazebo> | |
| <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin"> | |
| <parameters>/home/petrik/ros_ws/cratebot/install/cratebot_description/share/cratebot_description/config/cratebot.yaml</parameters> | |
| </plugin> | |
| </gazebo> | |
| <!-- MODEL --> | |
| <!-- | |
| An empty base footprint that describes the origin of the robot on the ground | |
| --> | |
| <link name="base_footprint"> | |
| </link> | |
| <!-- | |
| An empty base link that describes the origin of the robot at the c.o.g of the chassis | |
| --> | |
| <!-- | |
| Define the connection between base_link and base_footprint. Relative to base_link the joint | |
| is exactly on the ground plane, because ROS considers the joint frame to be the same | |
| as the child frame. | |
| --> | |
| <joint name="joint_base_to_footprint" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0 0 0.07"/> | |
| <parent link="base_footprint"/> | |
| <child link="base_link"/> | |
| </joint> | |
| <link name="base_link"> | |
| </link> | |
| <!-- | |
| A box that pretends to be the ground. Used for testing that the scuttle model has been assembled correctly. | |
| --> | |
| <!-- | |
| <joint name="joint_ground_to_footprint" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <parent link="base_footprint"/> | |
| <child link="ground_for_testing"/> | |
| </joint> | |
| <link name="ground_for_testing"> | |
| <visual> | |
| <geometry> | |
| <box size="0.5 0.5 0.01"/> | |
| </geometry> | |
| <origin rpy="0 0 0" xyz="0.25 -0.25 -0.005"/> | |
| </visual> | |
| </link> | |
| --> | |
| <!-- The chassis of cratebot --> | |
| <!-- | |
| Define the connection between base_link and chassis_link. Relative to base_link the joint | |
| is exactly in the c.o.g of the chassis, because ROS considers the joint frame to be the same | |
| as the child frame. | |
| --> | |
| <joint name="chassis_joint" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0.0 0 0.0"/> | |
| <parent link="base_link"/> | |
| <child link="chassis_link"/> | |
| </joint> | |
| <!-- | |
| The coordinate framework has the X-asis in the direction of forward motion, with the y-axis pointing | |
| to the left. This is equivalent to the coordinate system defined by the kinematics guide. | |
| --> | |
| <link name="chassis_link"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.0"/> | |
| <mass value="1.0"/> | |
| <inertia ixx="0.003633333333333334" ixy="0" ixz="0" iyy="0.010508333333333331" iyz="0" izz="0.013541666666666664"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0.0"/> | |
| <geometry> | |
| <box size="0.35 0.2 0.06"/> | |
| </geometry> | |
| <material name="silver"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.0"/> | |
| <geometry> | |
| <box size="0.35 0.2 0.06"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_chassis_to_steering_left_front" type="continuous"> | |
| <origin rpy="0 0 0" xyz="0.12499999999999999 -0.15000000000000002 0.024999999999999998"/> | |
| <parent link="chassis_link"/> | |
| <child link="link_steering_left_front"/> | |
| <axis xyz="0.0 0.0 1.0"/> | |
| </joint> | |
| <link name="link_steering_left_front"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.0001266666666666667" ixy="0" ixz="0" iyy="0.0001266666666666667" iyz="0" izz="0.00025000000000000006"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| </collision> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 -0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 -0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_steering_to_wheel_left_front" type="continuous"> | |
| <origin rpy="0 0 0" xyz="0 0 -0.05"/> | |
| <parent link="link_steering_left_front"/> | |
| <child link="link_wheel_left_front"/> | |
| <axis xyz="0.0 1.0 0.0"/> | |
| </joint> | |
| <link name="link_wheel_left_front"> | |
| <inertial> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.00012166666666666667" ixy="0" ixz="0" iyy="0.00012166666666666667" iyz="0" izz="0.00016"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| <material name="black"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_chassis_to_steering_right_front" type="continuous"> | |
| <origin rpy="0 0 0" xyz="0.12499999999999999 0.15000000000000002 0.024999999999999998"/> | |
| <parent link="chassis_link"/> | |
| <child link="link_steering_right_front"/> | |
| <axis xyz="0.0 0.0 1.0"/> | |
| </joint> | |
| <link name="link_steering_right_front"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.0001266666666666667" ixy="0" ixz="0" iyy="0.0001266666666666667" iyz="0" izz="0.00025000000000000006"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| </collision> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_steering_to_wheel_right_front" type="continuous"> | |
| <origin rpy="0 0 0" xyz="0 0 -0.05"/> | |
| <parent link="link_steering_right_front"/> | |
| <child link="link_wheel_right_front"/> | |
| <axis xyz="0.0 1.0 0.0"/> | |
| </joint> | |
| <link name="link_wheel_right_front"> | |
| <inertial> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.00012166666666666667" ixy="0" ixz="0" iyy="0.00012166666666666667" iyz="0" izz="0.00016"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| <material name="black"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_chassis_to_steering_left_rear" type="continuous"> | |
| <origin rpy="0 0 0" xyz="-0.12499999999999999 -0.15000000000000002 0.024999999999999998"/> | |
| <parent link="chassis_link"/> | |
| <child link="link_steering_left_rear"/> | |
| <axis xyz="0.0 0.0 1.0"/> | |
| </joint> | |
| <link name="link_steering_left_rear"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.0001266666666666667" ixy="0" ixz="0" iyy="0.0001266666666666667" iyz="0" izz="0.00025000000000000006"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| </collision> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 -0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 -0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_steering_to_wheel_left_rear" type="continuous"> | |
| <origin rpy="0 0 0" xyz="0 0 -0.05"/> | |
| <parent link="link_steering_left_rear"/> | |
| <child link="link_wheel_left_rear"/> | |
| <axis xyz="0.0 1.0 0.0"/> | |
| </joint> | |
| <link name="link_wheel_left_rear"> | |
| <inertial> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.00012166666666666667" ixy="0" ixz="0" iyy="0.00012166666666666667" iyz="0" izz="0.00016"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| <material name="black"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_chassis_to_steering_right_rear" type="continuous"> | |
| <origin rpy="0 0 0" xyz="-0.12499999999999999 0.15000000000000002 0.024999999999999998"/> | |
| <parent link="chassis_link"/> | |
| <child link="link_steering_right_rear"/> | |
| <axis xyz="0.0 0.0 1.0"/> | |
| </joint> | |
| <link name="link_steering_right_rear"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.0001266666666666667" ixy="0" ixz="0" iyy="0.0001266666666666667" iyz="0" izz="0.00025000000000000006"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.01" radius="0.05"/> | |
| </geometry> | |
| </collision> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| <material name="blue"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0.04 -0.035"/> | |
| <geometry> | |
| <box size="0.04 0.01 0.06"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_steering_to_wheel_right_rear" type="continuous"> | |
| <origin rpy="0 0 0" xyz="0 0 -0.05"/> | |
| <parent link="link_steering_right_rear"/> | |
| <child link="link_wheel_right_rear"/> | |
| <axis xyz="0.0 1.0 0.0"/> | |
| </joint> | |
| <link name="link_wheel_right_rear"> | |
| <inertial> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <mass value="0.2"/> | |
| <inertia ixx="0.00012166666666666667" ixy="0" ixz="0" iyy="0.00012166666666666667" iyz="0" izz="0.00016"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| <material name="black"/> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <cylinder length="0.05" radius="0.04"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <ros2_control name="CratebotJointControl" type="system"> | |
| <hardware> | |
| <plugin>ign_ros2_control/IgnitionSystem</plugin> | |
| </hardware> | |
| <joint name="joint_chassis_to_steering_left_front"> | |
| <command_interface name="position"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_steering_to_wheel_left_front"> | |
| <command_interface name="velocity"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_chassis_to_steering_right_front"> | |
| <command_interface name="position"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_steering_to_wheel_right_front"> | |
| <command_interface name="velocity"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_chassis_to_steering_left_rear"> | |
| <command_interface name="position"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_steering_to_wheel_left_rear"> | |
| <command_interface name="velocity"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_chassis_to_steering_right_rear"> | |
| <command_interface name="position"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| <joint name="joint_steering_to_wheel_right_rear"> | |
| <command_interface name="velocity"> | |
| <param name="min">-1</param> | |
| <param name="max">1</param> | |
| </command_interface> | |
| <state_interface name="position"/> | |
| <state_interface name="velocity"/> | |
| <state_interface name="effort"/> | |
| </joint> | |
| </ros2_control> | |
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| ~/ros_ws/cratebot ➜ ros2 control list_controller_types | |
| controller_manager/test_controller controller_interface::ControllerInterface | |
| controller_manager/test_controller_failed_init controller_interface::ControllerInterface | |
| controller_manager/test_controller_with_interfaces controller_interface::ControllerInterface | |
| diff_drive_controller/DiffDriveController controller_interface::ControllerInterface | |
| effort_controllers/JointGroupEffortController controller_interface::ControllerInterface | |
| forward_command_controller/ForwardCommandController controller_interface::ControllerInterface | |
| forward_command_controller/MultiInterfaceForwardCommandController controller_interface::ControllerInterface | |
| imu_sensor_broadcaster/IMUSensorBroadcaster controller_interface::ControllerInterface | |
| joint_state_broadcaster/JointStateBroadcaster controller_interface::ControllerInterface | |
| joint_trajectory_controller/JointTrajectoryController controller_interface::ControllerInterface | |
| tricycle_controller/TricycleController controller_interface::ControllerInterface | |
| velocity_controllers/JointGroupVelocityController controller_interface::ControllerInterface | |
| controller_manager/test_chainable_controller controller_interface::ChainableControllerInterface |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| ~/ros_ws/cratebot ➜ ros2 control list_controllers | |
| joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive | |
| position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] inactive | |
| velocity_controller [velocity_controllers/JointGroupVelocityController] inactive |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| ~/ros_ws/cratebot ➜ ros2 control list_hardware_interfaces | |
| command interfaces | |
| joint_chassis_to_steering_left_front/position [available] [unclaimed] | |
| joint_chassis_to_steering_left_rear/position [available] [unclaimed] | |
| joint_chassis_to_steering_right_front/position [available] [unclaimed] | |
| joint_chassis_to_steering_right_rear/position [available] [unclaimed] | |
| joint_steering_to_wheel_left_front/velocity [available] [unclaimed] | |
| joint_steering_to_wheel_left_rear/velocity [available] [unclaimed] | |
| joint_steering_to_wheel_right_front/velocity [available] [unclaimed] | |
| joint_steering_to_wheel_right_rear/velocity [available] [unclaimed] | |
| state interfaces | |
| joint_chassis_to_steering_left_front/effort | |
| joint_chassis_to_steering_left_front/position | |
| joint_chassis_to_steering_left_front/velocity | |
| joint_chassis_to_steering_left_rear/effort | |
| joint_chassis_to_steering_left_rear/position | |
| joint_chassis_to_steering_left_rear/velocity | |
| joint_chassis_to_steering_right_front/effort | |
| joint_chassis_to_steering_right_front/position | |
| joint_chassis_to_steering_right_front/velocity | |
| joint_chassis_to_steering_right_rear/effort | |
| joint_chassis_to_steering_right_rear/position | |
| joint_chassis_to_steering_right_rear/velocity | |
| joint_steering_to_wheel_left_front/effort | |
| joint_steering_to_wheel_left_front/position | |
| joint_steering_to_wheel_left_front/velocity | |
| joint_steering_to_wheel_left_rear/effort | |
| joint_steering_to_wheel_left_rear/position | |
| joint_steering_to_wheel_left_rear/velocity | |
| joint_steering_to_wheel_right_front/effort | |
| joint_steering_to_wheel_right_front/position | |
| joint_steering_to_wheel_right_front/velocity | |
| joint_steering_to_wheel_right_rear/effort | |
| joint_steering_to_wheel_right_rear/position | |
| joint_steering_to_wheel_right_rear/velocity |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| ~/ros_ws/cratebot ➜ ros2 node list | |
| /cmd_vel_bridge | |
| /controller_manager | |
| /cratebot/clock_bridge | |
| /cratebot/odom_base_tf_bridge | |
| /cratebot/pose_bridge | |
| /ignition_ros_control | |
| /joint_state_broadcaster | |
| /position_trajectory_controller | |
| /robot_state_publisher | |
| /velocity_controller |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment