jolin@ubuntu:~$ roslaunch pr2_gazebo_wg map_building_demo.launch
... logging to /home/jolin/.ros/log/9e14c83c-d5c8-11df-bc66-002454d0c109/roslaunch-ubuntu-2377.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:54422/

SUMMARY
========

PARAMETERS
 * /r_arm_controller/gains/r_forearm_roll_joint/p
 * /use_sim_time
 * /base_controller/fl_caster_rotation_joint/position_controller/d
 * /base_controller/br_caster_l_wheel_joint/i_clamp
 * /base_controller/bl_caster_rotation_joint/position_controller/d
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp
 * /laser_tilt_controller/gains/d
 * /robot_pose_ekf/odom_used
 * /base_controller/caster_velocity_filter/type
 * /robot_pose_ekf/vo_used
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal
 * /base_hokuyo_node/skip
 * /base_controller/bl_caster_rotation_joint/position_controller/p
 * /r_arm_controller/gains/r_forearm_roll_joint/d
 * /base_odometry/caster_names
 * /base_controller/fl_caster_rotation_joint/position_controller/i
 * /pr2_controller_manager/joint_state_publish_rate
 * /l_arm_controller/gains/l_upper_arm_roll_joint/p
 * /base_controller/br_caster_rotation_joint/velocity_controller/d
 * /base_controller/fl_caster_rotation_joint/position_controller/p
 * /base_controller/caster_velocity_pid_gains/i
 * /base_controller/br_caster_rotation_joint/velocity_controller/i
 * /wide_stereo/wide_stereo_proc/disparity_range
 * /r_arm_controller/gains/r_shoulder_lift_joint/p
 * /l_arm_controller/gains/l_wrist_roll_joint/d
 * /base_controller/br_caster_rotation_joint/velocity_controller/p
 * /diag_agg/analyzers/joints/startswith
 * /l_arm_controller/gains/l_elbow_flex_joint/p
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp
 * /l_arm_controller/gains/l_shoulder_pan_joint/d
 * /l_arm_controller/gains/l_wrist_roll_joint/p
 * /base_controller/bl_caster_rotation_joint/velocity_controller/p
 * /narrow_stereo/narrow_stereo_proc/disparity_range
 * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp
 * /tilt_hokuyo_node/intensity
 * /r_gripper_controller/joint
 * /base_controller/bl_caster_rotation_joint/position_controller/i
 * /base_hokuyo_node/port
 * /base_controller/max_rotational_acceleration
 * /r_arm_controller/joint_trajectory_action_node/joints
 * /base_controller/max_translational_acceleration/x
 * /head_traj_controller/gains/head_pan_joint/i_clamp
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal
 * /base_controller/fr_caster_r_wheel_joint/i_clamp
 * /base_controller/fl_caster_l_wheel_joint/p
 * /base_odometry/publish_tf
 * /r_arm_controller/type
 * /l_arm_controller/gains/l_elbow_flex_joint/d
 * /base_odometry/odometer_publish_rate
 * /base_controller/br_caster_r_wheel_joint/d
 * /base_controller/caster_names
 * /head_traj_controller/gains/head_tilt_joint/d
 * /head_traj_controller/gains/head_tilt_joint/i
 * /base_controller/br_caster_r_wheel_joint/i
 * /base_controller/caster_velocity_filter/params/b
 * /base_controller/caster_velocity_filter/params/a
 * /head_traj_controller/gains/head_tilt_joint/p
 * /base_controller/br_caster_r_wheel_joint/p
 * /base_controller/caster_velocity_filter/name
 * /gmapping_node/odom_frame
 * /r_arm_controller/gains/r_wrist_flex_joint/d
 * /robot_pose_ekf/publish_tf
 * /base_controller/fr_caster_r_wheel_joint/i
 * /l_arm_controller/joint_trajectory_action_node/constraints/goal_time
 * /tilt_hokuyo_node/frame_id
 * /l_arm_controller/gains/l_forearm_roll_joint/p
 * /base_controller/fr_caster_r_wheel_joint/d
 * /base_controller/bl_caster_rotation_joint/position_controller/i_clamp
 * /l_arm_controller/gains/l_forearm_roll_joint/d
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_lift_joint/goal
 * /r_arm_controller/gains/r_elbow_flex_joint/p
 * /base_controller/fr_caster_r_wheel_joint/p
 * /base_odometry/type
 * /narrow_stereo_textured/narrow_stereo_textured_proc/disparity_range
 * /l_arm_controller/gains/l_wrist_flex_joint/p
 * /base_controller/fl_caster_r_wheel_joint/i_clamp
 * /base_odometry/ils_max_iterations
 * /l_arm_controller/gains/l_shoulder_lift_joint/p
 * /head_traj_controller/gains/head_tilt_joint/i_clamp
 * /l_gripper_controller/type
 * /base_controller/br_caster_r_wheel_joint/i_clamp
 * /l_gripper_controller/pid/p
 * /laser_tilt_controller/joint
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal
 * /robot_pose_ekf/freq
 * /base_controller/fr_caster_l_wheel_joint/p
 * /tilt_hokuyo_node/port
 * /base_controller/type
 * /base_controller/max_rotational_velocity
 * /r_arm_controller/gains/r_upper_arm_roll_joint/d
 * /base_odometry/cov_xy
 * /base_controller/publish_tf
 * /base_controller/fr_caster_rotation_joint/velocity_controller/d
 * /laser_tilt_controller/max_velocity
 * /laser_tilt_controller/max_acceleration
 * /pr2_controller_manager/mechanism_statistics_publish_rate
 * /base_controller/br_caster_rotation_joint/position_controller/i_clamp
 * /tilt_hokuyo_node/min_ang
 * /r_arm_controller/gains/r_shoulder_pan_joint/d
 * /base_controller/timeout
 * /r_arm_controller/gains/r_wrist_roll_joint/p
 * /base_odometry/base_link_frame
 * /base_controller/fr_caster_l_wheel_joint/i_clamp
 * /r_arm_controller/gains/r_shoulder_pan_joint/p
 * /base_controller/wheel_pid_gains/i_clamp
 * /base_controller/caster_velocity_pid_gains/d
 * /base_controller/state_publish_rate
 * /base_odometry/y_stddev
 * /robot_pose_ekf/sensor_timeout
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal
 * /l_gripper_controller/joint
 * /r_arm_controller/gains/r_elbow_flex_joint/d
 * /robot_pose_ekf/imu_used
 * /laser_tilt_controller/gains/p
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_elbow_flex_joint/goal
 * /l_arm_controller/joint_trajectory_action_node/joints
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i
 * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp
 * /r_arm_controller/joints
 * /base_controller/bl_caster_rotation_joint/velocity_controller/d
 * /base_controller/fr_caster_rotation_joint/position_controller/p
 * /base_hokuyo_node/min_ang
 * /base_controller/bl_caster_r_wheel_joint/i
 * /base_hokuyo_node/frame_id
 * /tilt_hokuyo_node/max_ang
 * /r_arm_controller/gains/r_shoulder_lift_joint/d
 * /l_arm_controller/gains/l_shoulder_lift_joint/d
 * /r_arm_controller/joint_trajectory_action_node/constraints/goal_time
 * /base_controller/bl_caster_r_wheel_joint/d
 * /base_controller/caster_velocity_pid_gains/i_clamp
 * /base_controller/fr_caster_rotation_joint/position_controller/d
 * /base_controller/fr_caster_l_wheel_joint/d
 * /base_odometry/cov_xrotation
 * /base_controller/fr_caster_rotation_joint/position_controller/i
 * /robot_state_publisher/tf_prefix
 * /base_controller/fr_caster_l_wheel_joint/i
 * /diag_agg/analyzers/joints/path
 * /base_odometry/odom_publish_rate
 * /diag_agg/analyzers/joints/expected
 * /base_controller/caster_position_pid_gains/p
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal
 * /robot_description
 * /l_arm_controller/gains/l_shoulder_pan_joint/p
 * /r_arm_controller/gains/r_wrist_roll_joint/d
 * /l_arm_controller/type
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal
 * /torso_controller/type
 * /r_gripper_controller/pid/p
 * /base_controller/caster_position_pid_gains/d
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal
 * /base_controller/caster_position_pid_gains/i
 * /base_controller/bl_caster_r_wheel_joint/p
 * /base_controller/br_caster_rotation_joint/position_controller/d
 * /base_controller/fl_caster_r_wheel_joint/d
 * /base_controller/max_translational_acceleration/y
 * /robot_state_publisher/publish_frequency
 * /base_controller/wheel_pid_gains/d
 * /base_controller/wheel_pid_gains/i
 * /base_controller/bl_caster_l_wheel_joint/i_clamp
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal
 * /base_controller/br_caster_rotation_joint/position_controller/i
 * /r_arm_controller/gains/r_upper_arm_roll_joint/p
 * /base_controller/fl_caster_r_wheel_joint/i
 * /diag_agg/analyzers/joints/type
 * /base_controller/wheel_pid_gains/p
 * /base_controller/br_caster_rotation_joint/position_controller/p
 * /base_hokuyo_node/intensity
 * /base_controller/fl_caster_r_wheel_joint/p
 * /r_gripper_controller/type
 * /torso_controller/position_joint_action_node/goal_threshold
 * /base_odometry/base_footprint_frame
 * /base_controller/bl_caster_l_wheel_joint/p
 * /base_controller/fl_caster_l_wheel_joint/d
 * /base_controller/br_caster_l_wheel_joint/d
 * /torso_controller/joints
 * /head_traj_controller/gains/head_pan_joint/p
 * /base_odometry/caster_calibration_multiplier
 * /base_controller/br_caster_l_wheel_joint/i
 * /base_odometry/state_publish_rate
 * /base_controller/bl_caster_l_wheel_joint/d
 * /laser_tilt_controller/type
 * /base_controller/br_caster_l_wheel_joint/p
 * /base_controller/bl_caster_l_wheel_joint/i
 * /head_traj_controller/gains/head_pan_joint/d
 * /head_traj_controller/joints
 * /base_controller/fl_caster_rotation_joint/velocity_controller/d
 * /torso_controller/gains/torso_lift_joint/p
 * /laser_tilt_controller/velocity_filter
 * /laser_tilt_controller/gains/i_clamp
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i
 * /torso_controller/gains/torso_lift_joint/d
 * /head_traj_controller/gains/head_pan_joint/i
 * /base_odometry/rotation_stddev
 * /base_controller/fl_caster_rotation_joint/velocity_controller/p
 * /l_arm_controller/joints
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i_clamp
 * /torso_controller/gains/torso_lift_joint/i
 * /base_controller/bl_caster_r_wheel_joint/i_clamp
 * /base_odometry/odom_frame
 * /base_controller/fr_caster_rotation_joint/velocity_controller/p
 * /base_controller/caster_position_pid_gains/i_clamp
 * /base_odometry/verbose
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal
 * /laser_tilt_controller/gains/i
 * /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp
 * /base_hokuyo_node/max_ang
 * /l_arm_controller/gains/l_wrist_flex_joint/d
 * /base_controller/caster_velocity_pid_gains/p
 * /base_controller/fl_caster_l_wheel_joint/i_clamp
 * /tilt_hokuyo_node/skip
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i
 * /base_controller/fl_caster_l_wheel_joint/i
 * /base_odometry/cov_yrotation
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal
 * /l_arm_controller/gains/l_upper_arm_roll_joint/d
 * /r_arm_controller/gains/r_wrist_flex_joint/p
 * /torso_controller/gains/torso_lift_joint/i_clamp
 * /head_traj_controller/type
 * /base_odometry/x_stddev
 * /base_controller/max_translational_velocity
 * /base_odometry/wheel_radius_multiplier
 * /torso_controller/position_joint_action_node/joint

NODES
  /torso_controller/
    position_joint_action_node (single_joint_position_action/single_joint_position_action)
  /wide_stereo/
    wide_stereo_proc (stereo_image_proc/stereo_image_proc)
  /narrow_stereo/
    narrow_stereo_proc (stereo_image_proc/stereo_image_proc)
  /l_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /r_forearm_cam/
    image_proc (image_proc/image_proc)
  /l_forearm_cam/
    image_proc (image_proc/image_proc)
  /r_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /
    gazebo (gazebo/gazebo)
    pr2_gazebo_model (gazebo/spawn_model)
    robot_state_publisher (robot_state_publisher/state_publisher)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    fake_joint_calibration (rostopic/rostopic)
    diag_agg (diagnostic_aggregator/aggregator_node)
    pr2_dashboard_aggregator (pr2_dashboard_aggregator/dashboard_aggregator.py)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    base_hokuyo_node (gazebo_plugins/hokuyo_node)
    tilt_hokuyo_node (gazebo_plugins/hokuyo_node)
    camera_synchronizer_node (gazebo_plugins/camera_synchronizer)
    default_controllers_spawner (pr2_controller_manager/spawner)
    tuckarm (pr2_tuckarm/tuck_arms.py)
    rviz (rviz/rviz)
    gmapping_node (gmapping/slam_gmapping)
  /narrow_stereo_textured/
    narrow_stereo_textured_proc (stereo_image_proc/stereo_image_proc)
  /head_traj_controller/
    point_head_action (pr2_head_action/pr2_head_action)

starting new master (master configured for auto start)
process[master]: started with pid [2394]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 9e14c83c-d5c8-11df-bc66-002454d0c109
process[rosout-1]: started with pid [2407]
started core service [/rosout]
process[gazebo-2]: started with pid [2421]
process[pr2_gazebo_model-3]: started with pid [2422]
process[robot_state_publisher-4]: started with pid [2425]
process[pr2_mechanism_diagnostics-5]: started with pid [2426]
process[fake_joint_calibration-6]: started with pid [2443]
process[wide_stereo_proc-7]: started with pid [2454]
process[narrow_stereo_proc-8]: started with pid [2466]
process[narrow_stereo_textured_proc-9]: started with pid [2467]
process[image_proc-10]: started with pid [2468]
process[image_proc-11]: started with pid [2469]
process[diag_agg-12]: started with pid [2470]
process[pr2_dashboard_aggregator-13]: started with pid [2471]
process[robot_pose_ekf-14]: started with pid [2489]
process[base_hokuyo_node-15]: started with pid [2541]
process[tilt_hokuyo_node-16]: started with pid [2542]
process[camera_synchronizer_node-17]: started with pid [2543]
process[default_controllers_spawner-18]: started with pid [2546]
process[gripper_action_node-19]: started with pid [2549]
process[gripper_action_node-20]: started with pid [2552]
process[point_head_action-21]: started with pid [2553]
process[position_joint_action_node-22]: started with pid [2556]
process[tuckarm-23]: started with pid [2567]
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.

process[rviz-24]: started with pid [2902]
[ INFO] [1286864355.499680879]: Starting to spin camera_synchronizer at 100.000000 Hz...
process[gmapping_node-25]: started with pid [3075]
loading model xml from ros parameter
attempting to spawn robot in simulation
waiting for service spawn_urdf_model
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]
Gazebo successfully initialized
[gazebo-2] process has died [pid 2421, exit code -11].
log files: /home/jolin/.ros/log/9e14c83c-d5c8-11df-bc66-002454d0c109/gazebo-2*.log
Service call failed: unable to connect to service: [Errno 111] Connection refused