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=======================================
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