Hi, I found that when I get the newest ros-1.2.0 release in the Ubuntu 10.04, I can get the simulation environment with "roslaunch icra_navigation_gazebo obstacle_slalom.launch", that's to say I can get the Gazebo window. But I also get some error as following. I think the version of icra_navigation_gazebo mismatch with the newest ros-1.2.0 and maybe I can modify some configure file to solve this problem. And any advice to solve it. Any help will be appreciated. Thanks in advanced! ====================================error=========================================== * /move_base_local_node/local_costmap/rolling_window * /move_base_local_node/TrajectoryPlannerROS/dwa * /move_base_local_node/global_costmap/update_frequency * /move_base_local_node/global_costmap/base_scan/clearing * /tilt_laser_self_filter/self_see_default_scale * /torso_controller/joints * /move_base_local_node/local_costmap/base_scan_marking/observation_persistence * /move_base_local_node/local_costmap/tilt_scan/data_type * /move_base_local_node/local_costmap/ground_object_cloud/topic * /move_base_local_node/global_costmap/ground_object_cloud/data_type * /move_base_local_node/local_costmap/tilt_scan/observation_persistence * /move_base_local_node/global_costmap/ground_object_cloud/marking * /laser_tilt_controller/joint * /teleop_pr2/pan_step * /move_base_local_node/local_costmap/ground_object_cloud/expected_update_rate * /move_base_local_node/global_costmap/height * /base_controller/fl_caster_rotation_joint/velocity_controller/i * /base_controller/caster_velocity_pid_gains/i * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal * /base_controller/caster_velocity_pid_gains/d * /diag_agg/analyzers/joints/startswith * /move_base_local_node/local_costmap/ground_object_cloud/marking * /base_controller/caster_velocity_pid_gains/p * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp * /base_controller/fl_caster_l_wheel_joint/d * /move_base_local_node/TrajectoryPlannerROS/goal_distance_bias * /move_base_local_node/local_costmap/tilt_scan/marking * /base_controller/max_rotational_acceleration * /base_controller/fl_caster_l_wheel_joint/i * /base_controller/fr_caster_r_wheel_joint/i_clamp * /base_controller/fl_caster_l_wheel_joint/p * /base_odometry/publish_tf * /move_base_local_node/TrajectoryPlannerROS/heading_lookahead * /move_base_local_node/global_costmap/tilt_scan/clearing * /base_controller/caster_velocity_filter/params/b * /base_controller/caster_velocity_filter/params/a * /base_controller/caster_velocity_filter/name * /move_base_local_node/global_costmap/width * /r_arm_controller/gains/r_elbow_flex_joint/d * /teleop_pr2/head_button * /move_base_local_node/local_costmap/raytrace_range * /base_laser_self_filter/self_see_default_padding * /r_arm_controller/gains/r_elbow_flex_joint/p * /base_odometry/state_publish_rate * /base_odometry/cov_yrotation * /move_base_local_node/local_costmap/unknown_threshold * /tilt_shadow_filter/target_frame * /head_traj_controller/gains/head_tilt_joint/i_clamp * /move_base_local_node/global_costmap/base_scan/marking * /robot_pose_ekf/freq * /base_controller/bl_caster_r_wheel_joint/i * /move_base_local_node/local_costmap/resolution * /l_arm_controller/gains/l_wrist_flex_joint/d * /move_base_local_node/local_costmap/publish_voxel_map * /move_base_local_node/global_costmap/base_scan/expected_update_rate * /base_controller/timeout * /move_base_local_node/local_costmap/base_scan/topic * /base_controller/fr_caster_l_wheel_joint/i_clamp * /move_base_local_node/local_costmap/base_scan/marking * /base_controller/state_publish_rate * /move_base_local_node/local_costmap/base_scan/observation_persistence * /robot_pose_ekf/imu_used * /l_arm_controller/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal * /teleop_pr2/max_vy_run * /move_base_local_node/local_costmap/unknown_cost_value * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp * /r_arm_controller/joints * /move_base_local_node/global_costmap/ground_object_cloud/topic * /tilt_laser_self_filter/min_sensor_dist * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal * /tilt_shadow_filter/scan_filter_chain * /move_base_local_node/local_costmap/base_scan_marking/max_obstacle_height * /r_arm_controller/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal * /l_arm_controller/gains/l_shoulder_pan_joint/p * /teleop_pr2/max_tilt * /l_arm_controller/gains/l_upper_arm_roll_joint/d * /move_base_local_node/global_costmap/tilt_scan/observation_persistence * /l_arm_controller/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal * /l_arm_controller/gains/l_upper_arm_roll_joint/p * /base_controller/bl_caster_r_wheel_joint/p * /laser_tilt_controller/velocity_filter * /base_controller/fl_caster_r_wheel_joint/d * /base_controller/wheel_pid_gains/d * /base_controller/wheel_pid_gains/i * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal * /move_base_local_node/global_costmap/base_scan/topic * /base_controller/wheel_pid_gains/p * /base_controller/fl_caster_r_wheel_joint/p * /move_base_local_node/global_costmap/footprint * /move_base_local_node/global_costmap/tilt_scan/max_obstacle_height * /move_base_local_node/local_costmap/map_type * /move_base_local_node/local_costmap/tilt_scan/min_obstacle_height * /head_traj_controller/gains/head_pan_joint/p * /r_gripper_controller/pid/p * /head_traj_controller/gains/head_pan_joint/i * /head_traj_controller/gains/head_pan_joint/d * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal * /move_base_local_node/local_costmap/origin_y * /laser_tilt_controller/gains/i_clamp * /l_arm_controller/joints * /teleop_pr2/axis_tilt * /base_laser_self_filter/min_sensor_dist * /move_base_local_node/global_costmap/transform_tolerance * /base_controller/fr_caster_rotation_joint/velocity_controller/d * /move_base_local_node/local_costmap/global_frame * /move_base_local_node/local_costmap/base_scan_marking/sensor_frame * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal * /base_controller/fr_caster_rotation_joint/velocity_controller/i * /torso_controller/gains/torso_lift_joint/i_clamp * /head_traj_controller/type * /torso_controller/type * /use_sim_time * /teleop_pr2/min_tilt * /r_arm_controller/gains/r_wrist_flex_joint/d * /base_controller/fl_caster_rotation_joint/position_controller/p * /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp * /base_controller/bl_caster_rotation_joint/position_controller/i * /move_base_local_node/global_costmap/base_scan_marking/clearing * /r_arm_controller/gains/r_wrist_flex_joint/p * /base_controller/fl_caster_rotation_joint/position_controller/d * /base_controller/fl_caster_rotation_joint/position_controller/i * /base_controller/br_caster_rotation_joint/velocity_controller/d * /move_base_local_node/controller_frequency * /teleop_pr2/torso_dn_button * /base_controller/br_caster_rotation_joint/velocity_controller/i * /move_base_local_node/local_costmap/ground_object_cloud/data_type * /wide_stereo/wide_stereo_proc/num_disp * /base_controller/br_caster_rotation_joint/velocity_controller/p * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp * /move_base_local_node/global_costmap/global_frame * /base_odometry/ils_max_iterations * /l_arm_controller/gains/l_elbow_flex_joint/p * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal * /base_controller/max_translational_acceleration/y * /r_arm_controller/type * /l_arm_controller/gains/l_elbow_flex_joint/d * /base_odometry/odometer_publish_rate * /head_traj_controller/gains/head_tilt_joint/d * /head_traj_controller/gains/head_tilt_joint/i * /head_traj_controller/gains/head_tilt_joint/p * /move_base_local_node/TrajectoryPlannerROS/holonomic_robot * /move_base_local_node/local_costmap/obstacle_range * /move_base_local_node/local_costmap/base_scan_marking/expected_update_rate * /robot_pose_ekf/publish_tf * /l_arm_controller/gains/l_forearm_roll_joint/p * /move_base_local_node/local_costmap/footprint * /move_base_local_node/TrajectoryPlannerROS/transform_tolerance * /l_arm_controller/gains/l_forearm_roll_joint/d * /move_base_local_node/local_costmap/base_scan/max_obstacle_height * /base_odometry/type * /base_controller/fl_caster_r_wheel_joint/i * /move_base_local_node/local_costmap/ground_object_cloud/min_obstacle_height * /base_controller/fl_caster_r_wheel_joint/i_clamp * /move_base_local_node/TrajectoryPlannerROS/min_in_place_rotational_vel * /base_controller/br_caster_r_wheel_joint/i_clamp * /move_base_local_node/global_costmap/ground_object_cloud/max_obstacle_height * /r_arm_controller/gains/r_upper_arm_roll_joint/p * /move_base_local_node/footprint_padding * /teleop_pr2/axis_vy * /teleop_pr2/axis_vx * /base_odometry/cov_xy * /r_arm_controller/gains/r_upper_arm_roll_joint/d * /teleop_pr2/max_vx_run * /r_arm_controller/gains/r_shoulder_pan_joint/d * /move_base_local_node/TrajectoryPlannerROS/occdist_scale * /base_odometry/base_link_frame * /base_controller/max_rotational_velocity * /r_arm_controller/gains/r_shoulder_pan_joint/p * /base_controller/wheel_pid_gains/i_clamp * /move_base_local_node/local_costmap/ground_object_cloud/sensor_frame * /move_base_local_node/global_costmap/base_scan_marking/topic * /base_odometry/y_stddev * /move_base_local_node/local_costmap/origin_z * /l_gripper_controller/joint * /move_base_local_node/local_costmap/origin_x * /move_base_local_node/global_costmap/observation_sources * /base_controller/bl_caster_rotation_joint/velocity_controller/p * /base_controller/bl_caster_rotation_joint/velocity_controller/i * /move_base_local_node/global_costmap/origin_z * /move_base_local_node/global_costmap/origin_x * /move_base_local_node/global_costmap/origin_y * /teleop_pr2/axis_vw * /base_controller/bl_caster_rotation_joint/velocity_controller/d * /base_controller/fr_caster_rotation_joint/position_controller/p * /laser_tilt_controller/max_acceleration * /move_base_local_node/global_costmap/unknown_cost_value * /base_shadow_filter/target_frame * /base_controller/fr_caster_rotation_joint/position_controller/d * /base_controller/fr_caster_rotation_joint/position_controller/i * /diag_agg/analyzers/joints/expected * /base_controller/caster_position_pid_gains/p * /robot_description * /l_arm_controller/type * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal * /base_controller/caster_position_pid_gains/d * /base_controller/caster_position_pid_gains/i * /sac_ground_removal/z_threshold * /move_base_local_node/global_costmap/base_scan/data_type * /base_controller/bl_caster_l_wheel_joint/i_clamp * /move_base_local_node/global_costmap/static_map * /diag_agg/analyzers/joints/type * /move_base_local_node/TrajectoryPlannerROS/sim_granularity * /move_base_local_node/global_costmap/ground_object_cloud/observation_persistence * /base_controller/br_caster_l_wheel_joint/d * /base_controller/br_caster_l_wheel_joint/i * /move_base_local_node/local_costmap/base_scan_marking/data_type * /teleop_pr2/max_vw_run * /base_controller/br_caster_l_wheel_joint/p * /move_base_local_node/global_costmap/z_voxels * /move_base_local_node/global_costmap/base_scan_marking/min_obstacle_height * /base_controller/fl_caster_rotation_joint/velocity_controller/d * /torso_controller/gains/torso_lift_joint/p * /move_base_local_node/local_costmap/base_scan/data_type * /base_odometry/caster_names * /torso_controller/gains/torso_lift_joint/d * /base_odometry/rotation_stddev * /base_controller/fl_caster_rotation_joint/velocity_controller/p * /move_base_local_node/local_costmap/mark_threshold * /torso_controller/gains/torso_lift_joint/i * /laser_tilt_controller/gains/d * /l_arm_controller/gains/l_wrist_flex_joint/p * /r_arm_controller/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal * /laser_tilt_controller/gains/i * /base_controller/publish_tf * /move_base_local_node/local_costmap/tilt_scan/topic * /move_base_local_node/local_costmap/tilt_scan/expected_update_rate * /laser_tilt_controller/gains/p * /torso_controller/position_joint_action_node/goal_threshold * /move_base_local_node/local_costmap/base_scan_marking/min_obstacle_height * /r_arm_controller/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal * /move_base_local_node/global_costmap/base_scan_marking/observation_persistence * /move_base_local_node/local_costmap/width * /move_base_local_node/global_costmap/ground_object_cloud/min_obstacle_height * /move_base_local_node/local_costmap/publish_frequency * /move_base_local_node/local_costmap/base_scan_marking/marking * /base_odometry/wheel_radius_multiplier * /base_controller/br_caster_l_wheel_joint/i_clamp * /move_base_local_node/local_costmap/height * /robot_pose_ekf/odom_used * /base_controller/caster_velocity_filter/type * /robot_pose_ekf/vo_used * /move_base_local_node/local_costmap/base_scan_marking/topic * /move_base_local_node/global_costmap/tilt_scan/marking * /pr2_controller_manager/joint_state_publish_rate * /move_base_local_node/local_costmap/tilt_scan/clearing * /base_controller/br_caster_r_wheel_joint/d * /teleop_pr2/torso_up_button * /head_traj_controller/gains/head_pan_joint/i_clamp * /tilt_laser_self_filter/self_see_default_padding * /move_base_local_translator/action_name * /r_gripper_controller/joint * /move_base_local_node/global_costmap/z_resolution * /base_controller/br_caster_r_wheel_joint/i * /sac_ground_removal/planar_refine * /base_controller/br_caster_r_wheel_joint/p * /move_base_local_node/TrajectoryPlannerROS/acc_limit_x * /move_base_local_node/TrajectoryPlannerROS/acc_limit_y * /base_controller/fr_caster_r_wheel_joint/i * /base_controller/fr_caster_r_wheel_joint/d * /base_controller/bl_caster_rotation_joint/position_controller/i_clamp * /base_controller/fr_caster_r_wheel_joint/p * /base_controller/fr_caster_rotation_joint/velocity_controller/p * /head_traj_controller/joints * /move_base_local_node/global_costmap/unknown_threshold * /move_base_local_node/global_costmap/tilt_scan/expected_update_rate * /move_base_local_node/global_costmap/base_scan_marking/expected_update_rate * /move_base_local_node/TrajectoryPlannerROS/path_distance_bias * /tilt_shadow_filter/high_fidelity * /move_base_local_node/local_costmap/robot_base_frame * /r_arm_controller/joint_trajectory_action_node/joints * /sac_ground_removal/sac_distance_threshold * /teleop_pr2/axis_pan * /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp * /r_arm_controller/gains/r_wrist_roll_joint/d * /laser_tilt_controller/max_velocity * /pr2_controller_manager/mechanism_statistics_publish_rate * /base_controller/br_caster_rotation_joint/position_controller/i_clamp * /r_arm_controller/gains/r_wrist_roll_joint/p * /robot_pose_ekf/sensor_timeout * /r_arm_controller/joint_trajectory_action_node/constraints/goal_time * /l_arm_controller/gains/l_shoulder_pan_joint/d * /base_controller/type * /sac_ground_removal/sac_min_points_per_model * /move_base_local_node/local_costmap/ground_object_cloud/max_obstacle_height * /base_controller/bl_caster_r_wheel_joint/d * /move_base_local_node/global_costmap/publish_voxel_map * /move_base_local_node/global_costmap/obstacle_range * /robot_state_publisher/tf_prefix * /move_base_local_node/global_costmap/mark_threshold * /diag_agg/analyzers/joints/path * /base_odometry/base_footprint_frame * /move_base_local_node/local_costmap/inflation_radius * /l_arm_controller/joint_trajectory_action_node/constraints/goal_time * /move_base_local_node/shutdown_costmaps * /move_base_local_node/local_costmap/base_scan/sensor_frame * /move_base_local_node/local_costmap/ground_object_cloud/observation_persistence * /move_base_local_node/global_costmap/map_type * /torso_controller/position_joint_action_node/joint * /base_controller/br_caster_rotation_joint/position_controller/d * /base_controller/max_translational_acceleration/x * /base_controller/fr_caster_l_wheel_joint/i * /base_controller/br_caster_rotation_joint/position_controller/i * /move_base_local_node/global_costmap/base_scan/max_obstacle_height * /base_controller/br_caster_rotation_joint/position_controller/p * /r_gripper_controller/type * /move_base_local_node/global_costmap/ground_object_cloud/sensor_frame * /base_controller/bl_caster_l_wheel_joint/p * /move_base_local_node/global_costmap/inflation_radius * /base_controller/bl_caster_l_wheel_joint/d * /base_controller/bl_caster_l_wheel_joint/i * /move_base_local_node/local_costmap/z_resolution * /base_laser_self_filter/sensor_frame * /move_base_local_node/local_costmap/transform_tolerance * /base_controller/bl_caster_r_wheel_joint/i_clamp * /move_base_local_node/global_costmap/base_scan_marking/max_obstacle_height * /base_odometry/verbose * /teleop_pr2/max_vy * /teleop_pr2/max_vx * /base_controller/fl_caster_l_wheel_joint/i_clamp * /teleop_pr2/max_vw * /move_base_local_node/global_costmap/tilt_scan/data_type * /move_base_local_node/local_costmap/ground_object_cloud/clearing * /teleop_pr2/run_button * /base_controller/max_translational_velocity NODES /torso_controller/ position_joint_action_node (single_joint_position_action/single_joint_position_action) /l_gripper_controller/ gripper_action_node (pr2_gripper_action/pr2_gripper_action) /r_gripper_controller/ gripper_action_node (pr2_gripper_action/pr2_gripper_action) /wide_stereo/ wide_stereo_proc (stereo_image_proc/stereo_image_proc) / gazebo (gazebo/gazebo) pr2_gazebo_model (gazebo_tools/gazebo_model) robot_state_publisher (robot_state_publisher/state_publisher) pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics) default_controllers_spawner (pr2_controller_manager/spawner) fake_joint_calibration (rostopic/rostopic) diag_agg (diagnostic_aggregator/aggregator_node) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) teleop_pr2 (pr2_teleop/teleop_pr2) base_scan_throttle (topic_tools/throttle) tilt_scan_throttle (topic_tools/throttle) tilt_scan_filtered_throttle (topic_tools/throttle) base_scan_marking_throttle (topic_tools/throttle) send_navstack_tilt_profile (2dnav_pr2/navstack_tilt_profile.py) tilt_shadow_filter (laser_filters/scan_to_cloud_filter_chain) tilt_laser_self_filter (robot_self_filter/self_filter) base_shadow_filter (laser_filters/scan_to_cloud_filter_chain) base_laser_self_filter (robot_self_filter/self_filter) ground_object_cloud_throttle (topic_tools/throttle) sac_ground_removal (semantic_point_annotator/sac_inc_ground_removal_node) move_base_local_translator (move_base_client/move_base_translator) move_base_local_node (move_base/move_base) /narrow_stereo/ narrow_stereo_proc (stereo_image_proc/stereo_image_proc) /head_traj_controller/ point_head_action (pr2_head_action/pr2_head_action) /move_base_local_node/local_costmap/ voxel_grid_throttle (topic_tools/throttle) starting new master (master configured for auto start) process[master]: started with pid [13581] ROS_MASTER_URI=http://ubuntu:11311/ setting /run_id to a105baf6-e3d3-11df-85c6-002454d0c109 process[rosout-1]: started with pid [13594] started core service [/rosout] process[gazebo-2]: started with pid [13597] process[pr2_gazebo_model-3]: started with pid [13598] process[robot_state_publisher-4]: started with pid [13599] process[pr2_mechanism_diagnostics-5]: started with pid [13600] process[default_controllers_spawner-6]: started with pid [13601] process[gripper_action_node-7]: started with pid [13602] process[gripper_action_node-8]: started with pid [13603] process[point_head_action-9]: started with pid [13604] process[position_joint_action_node-10]: started with pid [13605] process[fake_joint_calibration-11]: started with pid [13606] process[wide_stereo_proc-12]: started with pid [13607] process[narrow_stereo_proc-13]: started with pid [13608] process[diag_agg-14]: started with pid [13609] process[robot_pose_ekf-15]: started with pid [13610] process[teleop_pr2-16]: started with pid [13611] process[base_scan_throttle-17]: started with pid [13612] process[tilt_scan_throttle-18]: started with pid [13613] process[tilt_scan_filtered_throttle-19]: started with pid [13616] process[base_scan_marking_throttle-20]: started with pid [13617] process[send_navstack_tilt_profile-21]: started with pid [13619] process[tilt_shadow_filter-22]: started with pid [13621] process[tilt_laser_self_filter-23]: started with pid [13622] process[base_shadow_filter-24]: started with pid [13623] process[base_laser_self_filter-25]: started with pid [13624] process[ground_object_cloud_throttle-26]: started with pid [13625] process[sac_ground_removal-27]: started with pid [13626] process[voxel_grid_throttle-28]: started with pid [13627] process[move_base_local_translator-29]: started with pid [13628] process[move_base_local_node-30]: started with pid [13631] [ INFO] [1288408395.962600133]: Self see link name base_laser_link padding 0.01 [ WARN] [1288408395.973834270]: Some links were included for self mask but they do not exist in the model: l_upper_arm_link l_upper_arm_roll_link l_upper_arm_link l_upper_arm_roll_link l_elbow_flex_link l_forearm_link l_forearm_roll_link l_forearm_cam_frame l_wrist_flex_link l_wrist_roll_link l_gripper_palm_link l_gripper_l_finger_link l_gripper_l_finger_tip_link l_gripper_r_finger_link l_gripper_r_finger_tip_link l_shoulder_pan_link l_shoulder_lift_link r_upper_arm_link r_upper_arm_roll_link r_elbow_flex_link r_forearm_link r_forearm_roll_link r_forearm_cam_frame r_wrist_flex_link r_wrist_roll_link r_gripper_palm_link r_gripper_l_finger_link r_gripper_l_finger_tip_link r_gripper_r_finger_link r_gripper_r_finger_tip_link r_shoulder_pan_link r_shoulder_lift_link [ WARN] [1288408395.974114936]: No robot links will be checked for self mask [ INFO] [1288408397.065876464]: Self see link name base_link padding 0.01 [ WARN] [1288408397.066412798]: Some links were included for self mask but they do not exist in the model: l_upper_arm_link l_upper_arm_roll_link l_upper_arm_link l_upper_arm_roll_link l_elbow_flex_link l_forearm_link l_forearm_roll_link l_forearm_cam_frame l_wrist_flex_link l_wrist_roll_link l_gripper_palm_link l_gripper_l_finger_link l_gripper_l_finger_tip_link l_gripper_r_finger_link l_gripper_r_finger_tip_link l_shoulder_pan_link l_shoulder_lift_link r_upper_arm_link r_upper_arm_roll_link r_elbow_flex_link r_forearm_link r_forearm_roll_link r_forearm_cam_frame r_wrist_flex_link r_wrist_roll_link r_gripper_palm_link r_gripper_l_finger_link r_gripper_l_finger_tip_link r_gripper_r_finger_link r_gripper_r_finger_tip_link r_shoulder_pan_link r_shoulder_lift_link [ WARN] [1288408397.265868976]: SUPPORT FOR gazebo_model IS BEING DEPRECATED, PLEASE USE spawn_model IN THE FUTURE. rosrun gazebo spawn_model for usage information. Gazebo multi-robot simulator, version 0.10.0 Part of the Player/Stage Project [http://playerstage.sourceforge.net]. Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors. Released under the GNU General Public License. Param [quickStep] is deprecated: [replace quickStep with stepType] Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters] Param [quickStepW] is deprecated: [replace quickStepW with stepW] Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4] [pr2_gazebo_model-3] process has finished cleanly. log file: /home/jolin/.ros/log/a105baf6-e3d3-11df-85c6-002454d0c109/pr2_gazebo_model-3*.log [ WARN] [1288408403.814743340, 0.679000000]: Message from [/tilt_shadow_filter] has a non-fully-qualified frame_id [base_footprint]. Resolved locally to [/base_footprint]. This is will likely not work in multi-robot systems. This message will only print once. advertised as base_scan_throttled [ WARN] [1288408404.045075877, 0.738000000]: Message from [/base_shadow_filter] has a non-fully-qualified frame_id [base_footprint]. Resolved locally to [/base_footprint]. This is will likely not work in multi-robot systems. This message will only print once. [ERROR] [1288408404.780543848, 0.907000000]: Could not find joint named "r_gripper_joint" (namespace: /r_gripper_controller) [ERROR] [1288408404.780741259, 0.907000000]: Initializing controller 'r_gripper_controller' failed [ERROR] 1288408405.782211: Failed to load r_gripper_controller [ERROR] [1288408405.812371011, 1.176000000]: Could not find joint named "l_gripper_joint" (namespace: /l_gripper_controller) [ERROR] [1288408405.812511135, 1.176000000]: Initializing controller 'l_gripper_controller' failed [ERROR] 1288408406.813986: Failed to load l_gripper_controller [ERROR] [1288408406.830531350, 1.428000000]: Joint not found: r_shoulder_pan_joint. (namespace: /r_arm_controller) [ERROR] [1288408406.830690662, 1.428000000]: Initializing controller 'r_arm_controller' failed [ERROR] 1288408407.832227: Failed to load r_arm_controller [ERROR] [1288408407.839538953, 1.687000000]: Joint not found: l_shoulder_pan_joint. (namespace: /l_arm_controller) [ERROR] [1288408407.839661016, 1.687000000]: Initializing controller 'l_arm_controller' failed [ERROR] 1288408408.841357: Failed to load l_arm_controller [INFO] 1288408408.841951: Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller [INFO] 1288408408.874156: Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller [ INFO] [1288408408.919702448, 1.964000000]: Initializing Odom sensor [ INFO] [1288408408.957434667, 1.975000000]: Odom sensor activated [ INFO] [1288408409.061768582, 2.000000000]: Kalman filter initialized with odom measurement [ERROR] [1288408410.149929791, 2.280000000]: You are using acc_limit_x where you should be using acc_lim_x. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion. [ERROR] [1288408410.153614814, 2.284000000]: You are using acc_limit_y where you should be using acc_lim_y. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion. [ERROR] [1288408410.156233791, 2.284000000]: You are using acc_limit_th where you should be using acc_lim_th. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion ====================================end of error=======================================