[INFO] [launch]: All log files can be found below /home/upo/.ros/log/2023-03-02-12-27-45-844687-buer-9972 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [9973] [INFO] [gzclient-2]: process started with pid [9975] [INFO] [spawn_entity.py-3]: process started with pid [9977] [INFO] [spawner-4]: process started with pid [9979] [INFO] [spawner-5]: process started with pid [9981] [INFO] [twist_mux-6]: process started with pid [9983] [INFO] [twist_marker-7]: process started with pid [9986] [INFO] [joy_teleop-8]: process started with pid [9989] [INFO] [robot_state_publisher-9]: process started with pid [9991] [twist_mux-6] [INFO] [1677756466.427992043] [twist_mux]: Topic handler 'topics.joystick' subscribed to topic 'joy_vel': timeout = 0.500000s , priority = 100. [twist_mux-6] [INFO] [1677756466.428563004] [twist_mux]: Topic handler 'topics.keyboard' subscribed to topic 'key_vel': timeout = 0.500000s , priority = 90. [twist_mux-6] [INFO] [1677756466.428655938] [twist_mux]: Topic handler 'topics.marker' subscribed to topic 'marker_vel': timeout = 0.500000s , priority = 99. [twist_mux-6] [INFO] [1677756466.428735519] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'nav_vel': timeout = 0.500000s , priority = 10. [twist_mux-6] [INFO] [1677756466.428818481] [twist_mux]: Topic handler 'topics.phone' subscribed to topic 'phone_vel': timeout = 0.500000s , priority = 98. [twist_mux-6] [INFO] [1677756466.428893949] [twist_mux]: Topic handler 'topics.rviz' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s , priority = 95. [twist_mux-6] [INFO] [1677756466.428964850] [twist_mux]: Topic handler 'topics.servoing' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s , priority = 20. [twist_mux-6] [INFO] [1677756466.429041123] [twist_mux]: Topic handler 'topics.tablet' subscribed to topic 'tab_vel': timeout = 0.500000s , priority = 100. [twist_mux-6] [INFO] [1677756466.429117511] [twist_mux]: Topic handler 'locks.joystick' subscribed to topic 'joy_priority': timeout = None , priority = 100. [twist_mux-6] [INFO] [1677756466.429286266] [twist_mux]: Topic handler 'locks.loop_closure' subscribed to topic 'stop_closing_loop': timeout = None , priority = 200. [twist_mux-6] [INFO] [1677756466.429363628] [twist_mux]: Topic handler 'locks.pause' subscribed to topic 'pause_navigation': timeout = None , priority = 100. [robot_state_publisher-9] Link base_link had 13 children [robot_state_publisher-9] Link base_antenna_left_link had 0 children [robot_state_publisher-9] Link base_antenna_right_link had 0 children [robot_state_publisher-9] Link base_imu_link had 0 children [robot_state_publisher-9] Link base_laser_link had 0 children [robot_state_publisher-9] Link base_sonar_01_link had 0 children [robot_state_publisher-9] Link base_sonar_02_link had 0 children [robot_state_publisher-9] Link base_sonar_03_link had 0 children [robot_state_publisher-9] Link caster_back_left_1_link had 1 children [robot_state_publisher-9] Link caster_back_left_2_link had 0 children [robot_state_publisher-9] Link caster_back_right_1_link had 1 children [robot_state_publisher-9] Link caster_back_right_2_link had 0 children [robot_state_publisher-9] Link caster_front_left_1_link had 1 children [robot_state_publisher-9] Link caster_front_left_2_link had 0 children [robot_state_publisher-9] Link caster_front_right_1_link had 1 children [robot_state_publisher-9] Link caster_front_right_2_link had 0 children [robot_state_publisher-9] Link suspension_left_link had 1 children [robot_state_publisher-9] Link wheel_left_link had 0 children [robot_state_publisher-9] Link suspension_right_link had 1 children [robot_state_publisher-9] Link wheel_right_link had 0 children [robot_state_publisher-9] Link base_cover_link had 0 children [robot_state_publisher-9] [INFO] [1677756466.482472898] [robot_state_publisher]: got segment base_antenna_left_link [robot_state_publisher-9] [INFO] [1677756466.482576687] [robot_state_publisher]: got segment base_antenna_right_link [robot_state_publisher-9] [INFO] [1677756466.482583496] [robot_state_publisher]: got segment base_cover_link [robot_state_publisher-9] [INFO] [1677756466.482588562] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-9] [INFO] [1677756466.482593195] [robot_state_publisher]: got segment base_imu_link [robot_state_publisher-9] [INFO] [1677756466.482597419] [robot_state_publisher]: got segment base_laser_link [robot_state_publisher-9] [INFO] [1677756466.482601686] [robot_state_publisher]: got segment base_link [robot_state_publisher-9] [INFO] [1677756466.482605976] [robot_state_publisher]: got segment base_sonar_01_link [robot_state_publisher-9] [INFO] [1677756466.482610158] [robot_state_publisher]: got segment base_sonar_02_link [robot_state_publisher-9] [INFO] [1677756466.482614431] [robot_state_publisher]: got segment base_sonar_03_link [robot_state_publisher-9] [INFO] [1677756466.482618638] [robot_state_publisher]: got segment caster_back_left_1_link [robot_state_publisher-9] [INFO] [1677756466.482622912] [robot_state_publisher]: got segment caster_back_left_2_link [robot_state_publisher-9] [INFO] [1677756466.482627131] [robot_state_publisher]: got segment caster_back_right_1_link [robot_state_publisher-9] [INFO] [1677756466.482631445] [robot_state_publisher]: got segment caster_back_right_2_link [robot_state_publisher-9] [INFO] [1677756466.482635630] [robot_state_publisher]: got segment caster_front_left_1_link [robot_state_publisher-9] [INFO] [1677756466.482639756] [robot_state_publisher]: got segment caster_front_left_2_link [robot_state_publisher-9] [INFO] [1677756466.482643822] [robot_state_publisher]: got segment caster_front_right_1_link [robot_state_publisher-9] [INFO] [1677756466.482647936] [robot_state_publisher]: got segment caster_front_right_2_link [robot_state_publisher-9] [INFO] [1677756466.482652086] [robot_state_publisher]: got segment suspension_left_link [robot_state_publisher-9] [INFO] [1677756466.482656267] [robot_state_publisher]: got segment suspension_right_link [robot_state_publisher-9] [INFO] [1677756466.482660419] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-9] [INFO] [1677756466.482664689] [robot_state_publisher]: got segment wheel_right_link [spawn_entity.py-3] [INFO] [1677756466.772115436] [spawn_entity]: Spawn Entity started [spawn_entity.py-3] [INFO] [1677756466.772411733] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-3] warnings.warn( [spawn_entity.py-3] [INFO] [1677756466.773792014] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-3] [INFO] [1677756466.785328743] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-3] [INFO] [1677756466.785581202] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-3] [INFO] [1677756467.790518933] [spawn_entity]: Calling service /spawn_entity [spawn_entity.py-3] [INFO] [1677756468.275126078] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [pmb2] [gzserver-1] [INFO] [1677756468.290278824] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-1] [INFO] [1677756468.297388389] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-1] [INFO] [1677756468.297817309] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-1] [INFO] [1677756468.297912645] [gazebo_ros2_control]: Loading parameter files /home/upo/pmb2_public_ws/install/pmb2_controller_configuration/share/pmb2_controller_configuration/config/gazebo_controller_manager_cfg.yaml [gzserver-1] [INFO] [1677756468.306191074] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-1] [INFO] [1677756468.307367724] [gazebo_ros2_control]: Recieved urdf from param server, parsing... [gzserver-1] [INFO] [1677756468.324696676] [gazebo_ros2_control]: Loading joint: wheel_right_joint [gzserver-1] [INFO] [1677756468.324751523] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1677756468.324766087] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1677756468.324802291] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1677756468.324830271] [gazebo_ros2_control]: velocity [gzserver-1] [INFO] [1677756468.324844820] [gazebo_ros2_control]: Loading joint: wheel_left_joint [gzserver-1] [INFO] [1677756468.324855926] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1677756468.324866088] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1677756468.324876402] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1677756468.324889711] [gazebo_ros2_control]: velocity [gzserver-1] [INFO] [1677756468.324945248] [gazebo_ros2_control]: Loading sensor: base_imu_sensor [gzserver-1] [INFO] [1677756468.324958780] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1677756468.324976447] [gazebo_ros2_control]: orientation.x [gzserver-1] [INFO] [1677756468.324987785] [gazebo_ros2_control]: orientation.y [gzserver-1] [INFO] [1677756468.324998078] [gazebo_ros2_control]: orientation.z [gzserver-1] [INFO] [1677756468.325008473] [gazebo_ros2_control]: orientation.w [gzserver-1] [INFO] [1677756468.325018695] [gazebo_ros2_control]: angular_velocity.x [gzserver-1] [INFO] [1677756468.325028854] [gazebo_ros2_control]: angular_velocity.y [gzserver-1] [INFO] [1677756468.325038946] [gazebo_ros2_control]: angular_velocity.z [gzserver-1] [INFO] [1677756468.325049761] [gazebo_ros2_control]: linear_acceleration.x [gzserver-1] [INFO] [1677756468.325060126] [gazebo_ros2_control]: linear_acceleration.y [gzserver-1] [INFO] [1677756468.325070234] [gazebo_ros2_control]: linear_acceleration.z [gzserver-1] [INFO] [1677756468.325108905] [resource_manager]: Initialize hardware 'ros2_control_pmb2_system' [gzserver-1] [INFO] [1677756468.325257599] [resource_manager]: Successful initialization of hardware 'ros2_control_pmb2_system' [gzserver-1] [INFO] [1677756468.325357114] [resource_manager]: 'configure' hardware 'ros2_control_pmb2_system' [gzserver-1] [INFO] [1677756468.325365803] [resource_manager]: Successful 'configure' of hardware 'ros2_control_pmb2_system' [gzserver-1] [INFO] [1677756468.325376473] [resource_manager]: 'activate' hardware 'ros2_control_pmb2_system' [gzserver-1] [INFO] [1677756468.325383721] [resource_manager]: Successful 'activate' of hardware 'ros2_control_pmb2_system' [gzserver-1] [INFO] [1677756468.325462351] [gazebo_ros2_control]: Loading controller_manager [gzserver-1] [WARN] [1677756468.347145599] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-1] [INFO] [1677756468.347331763] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [INFO] [spawn_entity.py-3]: process has finished cleanly [pid 9977] [spawner-5] [INFO] [1677756468.509150671] [spawner_joint_state_broadcaster]: Set controller type to "joint_state_broadcaster/JointStateBroadcaster" for joint_state_broadcaster [gzserver-1] [INFO] [1677756468.510291482] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-4] [INFO] [1677756468.510799344] [spawner_mobile_base_controller]: Set controller type to "diff_drive_controller/DiffDriveController" for mobile_base_controller [gzserver-1] [INFO] [1677756468.532119542] [controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details) [gzserver-1] [INFO] [1677756468.537666598] [controller_manager]: Loading controller 'mobile_base_controller' [spawner-5] [INFO] [1677756468.538939691] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [gzserver-1] [INFO] [1677756468.567402679] [controller_manager]: Setting use_sim_time=True for mobile_base_controller to match controller manager (see ros2_control#325 for details) [spawner-4] [INFO] [1677756468.572921123] [spawner_mobile_base_controller]: Loaded mobile_base_controller [spawner-5] Traceback (most recent call last): [spawner-5] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in [spawner-5] sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')()) [spawner-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main [spawner-5] load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file, [spawner-5] File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file [spawner-5] load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict) [spawner-5] File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict [spawner-5] parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict) [spawner-5] File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict [spawner-5] parameter = Parameter() [spawner-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__ [spawner-5] self.name = kwargs.get('name', str()) [spawner-5] AttributeError: 'Parameter' object attribute 'name' is read-only [spawner-4] Traceback (most recent call last): [spawner-4] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in [spawner-4] sys.exit(load_entry_point('controller-manager==2.23.0', 'console_scripts', 'spawner')()) [spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main [spawner-4] load_parameter_file(node=node, node_name=prefixed_controller_name, parameter_file=param_file, [spawner-4] File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 159, in load_parameter_file [spawner-4] load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict) [spawner-4] File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 117, in load_parameter_dict [spawner-4] parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict) [spawner-4] File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 108, in parse_parameter_dict [spawner-4] parameter = Parameter() [spawner-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter.py", line 80, in __init__ [spawner-4] self.name = kwargs.get('name', str()) [spawner-4] AttributeError: 'Parameter' object attribute 'name' is read-only [ERROR] [spawner-5]: process has died [pid 9981, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --controller-type joint_state_broadcaster/JointStateBroadcaster --param-file /home/upo/pmb2_public_ws/install/pmb2_controller_configuration/share/pmb2_controller_configuration/config/joint_state_broadcaster.yaml --ros-args']. [ERROR] [spawner-4]: process has died [pid 9979, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner mobile_base_controller --controller-manager controller_manager --controller-type diff_drive_controller/DiffDriveController --param-file /home/upo/pmb2_public_ws/install/pmb2_controller_configuration/share/pmb2_controller_configuration/config/mobile_base_controller.yaml --ros-args'].