<p>the controller errors are as expected due to missing arms, can you try 'make test' in icra_navigation_gazebo?<br>
John</p>
<p><blockquote type="cite">On Oct 30, 2010 12:20 PM, "Jolin Jia" <<a href="mailto:pplin86@gmail.com">pplin86@gmail.com</a>> wrote:<br><br>Hi,<br><br>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! <br>
<br>====================================error===========================================<br>* /move_base_local_node/local_costmap/rolling_window<br> * /move_base_local_node/TrajectoryPlannerROS/dwa<br> * /move_base_local_node/global_costmap/update_frequency<br>
* /move_base_local_node/global_costmap/base_scan/clearing<br> * /tilt_laser_self_filter/self_see_default_scale<br> * /torso_controller/joints<br> * /move_base_local_node/local_costmap/base_scan_marking/observation_persistence<br>
* /move_base_local_node/local_costmap/tilt_scan/data_type<br> * /move_base_local_node/local_costmap/ground_object_cloud/topic<br> * /move_base_local_node/global_costmap/ground_object_cloud/data_type<br> * /move_base_local_node/local_costmap/tilt_scan/observation_persistence<br>
* /move_base_local_node/global_costmap/ground_object_cloud/marking<br> * /laser_tilt_controller/joint<br> * /teleop_pr2/pan_step<br> * /move_base_local_node/local_costmap/ground_object_cloud/expected_update_rate<br> * /move_base_local_node/global_costmap/height<br>
* /base_controller/fl_caster_rotation_joint/velocity_controller/i<br> * /base_controller/caster_velocity_pid_gains/i<br> * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal<br> * /base_controller/caster_velocity_pid_gains/d<br>
* /diag_agg/analyzers/joints/startswith<br> * /move_base_local_node/local_costmap/ground_object_cloud/marking<br> * /base_controller/caster_velocity_pid_gains/p<br> * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp<br>
* /base_controller/fl_caster_l_wheel_joint/d<br> * /move_base_local_node/TrajectoryPlannerROS/goal_distance_bias<br> * /move_base_local_node/local_costmap/tilt_scan/marking<br> * /base_controller/max_rotational_acceleration<br>
* /base_controller/fl_caster_l_wheel_joint/i<br> * /base_controller/fr_caster_r_wheel_joint/i_clamp<br> * /base_controller/fl_caster_l_wheel_joint/p<br> * /base_odometry/publish_tf<br> * /move_base_local_node/TrajectoryPlannerROS/heading_lookahead<br>
* /move_base_local_node/global_costmap/tilt_scan/clearing<br> * /base_controller/caster_velocity_filter/params/b<br> * /base_controller/caster_velocity_filter/params/a<br> * /base_controller/caster_velocity_filter/name<br>
* /move_base_local_node/global_costmap/width<br> * /r_arm_controller/gains/r_elbow_flex_joint/d<br> * /teleop_pr2/head_button<br> * /move_base_local_node/local_costmap/raytrace_range<br> * /base_laser_self_filter/self_see_default_padding<br>
* /r_arm_controller/gains/r_elbow_flex_joint/p<br> * /base_odometry/state_publish_rate<br> * /base_odometry/cov_yrotation<br> * /move_base_local_node/local_costmap/unknown_threshold<br> * /tilt_shadow_filter/target_frame<br>
* /head_traj_controller/gains/head_tilt_joint/i_clamp<br> * /move_base_local_node/global_costmap/base_scan/marking<br> * /robot_pose_ekf/freq<br> * /base_controller/bl_caster_r_wheel_joint/i<br> * /move_base_local_node/local_costmap/resolution<br>
* /l_arm_controller/gains/l_wrist_flex_joint/d<br> * /move_base_local_node/local_costmap/publish_voxel_map<br> * /move_base_local_node/global_costmap/base_scan/expected_update_rate<br> * /base_controller/timeout<br> * /move_base_local_node/local_costmap/base_scan/topic<br>
* /base_controller/fr_caster_l_wheel_joint/i_clamp<br> * /move_base_local_node/local_costmap/base_scan/marking<br> * /base_controller/state_publish_rate<br> * /move_base_local_node/local_costmap/base_scan/observation_persistence<br>
* /robot_pose_ekf/imu_used<br> * /l_arm_controller/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal<br> * /teleop_pr2/max_vy_run<br> * /move_base_local_node/local_costmap/unknown_cost_value<br> * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp<br>
* /r_arm_controller/joints<br> * /move_base_local_node/global_costmap/ground_object_cloud/topic<br> * /tilt_laser_self_filter/min_sensor_dist<br> * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal<br>
* /tilt_shadow_filter/scan_filter_chain<br> * /move_base_local_node/local_costmap/base_scan_marking/max_obstacle_height<br> * /r_arm_controller/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal<br> * /l_arm_controller/gains/l_shoulder_pan_joint/p<br>
* /teleop_pr2/max_tilt<br> * /l_arm_controller/gains/l_upper_arm_roll_joint/d<br> * /move_base_local_node/global_costmap/tilt_scan/observation_persistence<br> * /l_arm_controller/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal<br>
* /l_arm_controller/gains/l_upper_arm_roll_joint/p<br> * /base_controller/bl_caster_r_wheel_joint/p<br> * /laser_tilt_controller/velocity_filter<br> * /base_controller/fl_caster_r_wheel_joint/d<br> * /base_controller/wheel_pid_gains/d<br>
* /base_controller/wheel_pid_gains/i<br> * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal<br> * /move_base_local_node/global_costmap/base_scan/topic<br> * /base_controller/wheel_pid_gains/p<br>
* /base_controller/fl_caster_r_wheel_joint/p<br> * /move_base_local_node/global_costmap/footprint<br> * /move_base_local_node/global_costmap/tilt_scan/max_obstacle_height<br> * /move_base_local_node/local_costmap/map_type<br>
* /move_base_local_node/local_costmap/tilt_scan/min_obstacle_height<br> * /head_traj_controller/gains/head_pan_joint/p<br> * /r_gripper_controller/pid/p<br> * /head_traj_controller/gains/head_pan_joint/i<br> * /head_traj_controller/gains/head_pan_joint/d<br>
* /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal<br> * /move_base_local_node/local_costmap/origin_y<br> * /laser_tilt_controller/gains/i_clamp<br> * /l_arm_controller/joints<br> * /teleop_pr2/axis_tilt<br>
* /base_laser_self_filter/min_sensor_dist<br> * /move_base_local_node/global_costmap/transform_tolerance<br> * /base_controller/fr_caster_rotation_joint/velocity_controller/d<br> * /move_base_local_node/local_costmap/global_frame<br>
* /move_base_local_node/local_costmap/base_scan_marking/sensor_frame<br> * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal<br> * /base_controller/fr_caster_rotation_joint/velocity_controller/i<br>
* /torso_controller/gains/torso_lift_joint/i_clamp<br> * /head_traj_controller/type<br> * /torso_controller/type<br> * /use_sim_time<br> * /teleop_pr2/min_tilt<br> * /r_arm_controller/gains/r_wrist_flex_joint/d<br> * /base_controller/fl_caster_rotation_joint/position_controller/p<br>
* /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp<br> * /base_controller/bl_caster_rotation_joint/position_controller/i<br> * /move_base_local_node/global_costmap/base_scan_marking/clearing<br> * /r_arm_controller/gains/r_wrist_flex_joint/p<br>
* /base_controller/fl_caster_rotation_joint/position_controller/d<br> * /base_controller/fl_caster_rotation_joint/position_controller/i<br> * /base_controller/br_caster_rotation_joint/velocity_controller/d<br> * /move_base_local_node/controller_frequency<br>
* /teleop_pr2/torso_dn_button<br> * /base_controller/br_caster_rotation_joint/velocity_controller/i<br> * /move_base_local_node/local_costmap/ground_object_cloud/data_type<br> * /wide_stereo/wide_stereo_proc/num_disp<br>
* /base_controller/br_caster_rotation_joint/velocity_controller/p<br> * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp<br> * /move_base_local_node/global_costmap/global_frame<br> * /base_odometry/ils_max_iterations<br>
* /l_arm_controller/gains/l_elbow_flex_joint/p<br> * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal<br> * /base_controller/max_translational_acceleration/y<br> * /r_arm_controller/type<br>
* /l_arm_controller/gains/l_elbow_flex_joint/d<br> * /base_odometry/odometer_publish_rate<br> * /head_traj_controller/gains/head_tilt_joint/d<br> * /head_traj_controller/gains/head_tilt_joint/i<br> * /head_traj_controller/gains/head_tilt_joint/p<br>
* /move_base_local_node/TrajectoryPlannerROS/holonomic_robot<br> * /move_base_local_node/local_costmap/obstacle_range<br> * /move_base_local_node/local_costmap/base_scan_marking/expected_update_rate<br> * /robot_pose_ekf/publish_tf<br>
* /l_arm_controller/gains/l_forearm_roll_joint/p<br> * /move_base_local_node/local_costmap/footprint<br> * /move_base_local_node/TrajectoryPlannerROS/transform_tolerance<br> * /l_arm_controller/gains/l_forearm_roll_joint/d<br>
* /move_base_local_node/local_costmap/base_scan/max_obstacle_height<br> * /base_odometry/type<br> * /base_controller/fl_caster_r_wheel_joint/i<br> * /move_base_local_node/local_costmap/ground_object_cloud/min_obstacle_height<br>
* /base_controller/fl_caster_r_wheel_joint/i_clamp<br> * /move_base_local_node/TrajectoryPlannerROS/min_in_place_rotational_vel<br> * /base_controller/br_caster_r_wheel_joint/i_clamp<br> * /move_base_local_node/global_costmap/ground_object_cloud/max_obstacle_height<br>
* /r_arm_controller/gains/r_upper_arm_roll_joint/p<br> * /move_base_local_node/footprint_padding<br> * /teleop_pr2/axis_vy<br> * /teleop_pr2/axis_vx<br> * /base_odometry/cov_xy<br> * /r_arm_controller/gains/r_upper_arm_roll_joint/d<br>
* /teleop_pr2/max_vx_run<br> * /r_arm_controller/gains/r_shoulder_pan_joint/d<br> * /move_base_local_node/TrajectoryPlannerROS/occdist_scale<br> * /base_odometry/base_link_frame<br> * /base_controller/max_rotational_velocity<br>
* /r_arm_controller/gains/r_shoulder_pan_joint/p<br> * /base_controller/wheel_pid_gains/i_clamp<br> * /move_base_local_node/local_costmap/ground_object_cloud/sensor_frame<br> * /move_base_local_node/global_costmap/base_scan_marking/topic<br>
* /base_odometry/y_stddev<br> * /move_base_local_node/local_costmap/origin_z<br> * /l_gripper_controller/joint<br> * /move_base_local_node/local_costmap/origin_x<br> * /move_base_local_node/global_costmap/observation_sources<br>
* /base_controller/bl_caster_rotation_joint/velocity_controller/p<br> * /base_controller/bl_caster_rotation_joint/velocity_controller/i<br> * /move_base_local_node/global_costmap/origin_z<br> * /move_base_local_node/global_costmap/origin_x<br>
* /move_base_local_node/global_costmap/origin_y<br> * /teleop_pr2/axis_vw<br> * /base_controller/bl_caster_rotation_joint/velocity_controller/d<br> * /base_controller/fr_caster_rotation_joint/position_controller/p<br> * /laser_tilt_controller/max_acceleration<br>
* /move_base_local_node/global_costmap/unknown_cost_value<br> * /base_shadow_filter/target_frame<br> * /base_controller/fr_caster_rotation_joint/position_controller/d<br> * /base_controller/fr_caster_rotation_joint/position_controller/i<br>
* /diag_agg/analyzers/joints/expected<br> * /base_controller/caster_position_pid_gains/p<br> * /robot_description<br> * /l_arm_controller/type<br> * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal<br>
* /base_controller/caster_position_pid_gains/d<br> * /base_controller/caster_position_pid_gains/i<br> * /sac_ground_removal/z_threshold<br> * /move_base_local_node/global_costmap/base_scan/data_type<br> * /base_controller/bl_caster_l_wheel_joint/i_clamp<br>
* /move_base_local_node/global_costmap/static_map<br> * /diag_agg/analyzers/joints/type<br> * /move_base_local_node/TrajectoryPlannerROS/sim_granularity<br> * /move_base_local_node/global_costmap/ground_object_cloud/observation_persistence<br>
* /base_controller/br_caster_l_wheel_joint/d<br> * /base_controller/br_caster_l_wheel_joint/i<br> * /move_base_local_node/local_costmap/base_scan_marking/data_type<br> * /teleop_pr2/max_vw_run<br> * /base_controller/br_caster_l_wheel_joint/p<br>
* /move_base_local_node/global_costmap/z_voxels<br> * /move_base_local_node/global_costmap/base_scan_marking/min_obstacle_height<br> * /base_controller/fl_caster_rotation_joint/velocity_controller/d<br> * /torso_controller/gains/torso_lift_joint/p<br>
* /move_base_local_node/local_costmap/base_scan/data_type<br> * /base_odometry/caster_names<br> * /torso_controller/gains/torso_lift_joint/d<br> * /base_odometry/rotation_stddev<br> * /base_controller/fl_caster_rotation_joint/velocity_controller/p<br>
* /move_base_local_node/local_costmap/mark_threshold<br> * /torso_controller/gains/torso_lift_joint/i<br> * /laser_tilt_controller/gains/d<br> * /l_arm_controller/gains/l_wrist_flex_joint/p<br> * /r_arm_controller/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal<br>
* /laser_tilt_controller/gains/i<br> * /base_controller/publish_tf<br> * /move_base_local_node/local_costmap/tilt_scan/topic<br> * /move_base_local_node/local_costmap/tilt_scan/expected_update_rate<br> * /laser_tilt_controller/gains/p<br>
* /torso_controller/position_joint_action_node/goal_threshold<br> * /move_base_local_node/local_costmap/base_scan_marking/min_obstacle_height<br> * /r_arm_controller/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal<br>
* /move_base_local_node/global_costmap/base_scan_marking/observation_persistence<br> * /move_base_local_node/local_costmap/width<br> * /move_base_local_node/global_costmap/ground_object_cloud/min_obstacle_height<br> * /move_base_local_node/local_costmap/publish_frequency<br>
* /move_base_local_node/local_costmap/base_scan_marking/marking<br> * /base_odometry/wheel_radius_multiplier<br> * /base_controller/br_caster_l_wheel_joint/i_clamp<br> * /move_base_local_node/local_costmap/height<br> * /robot_pose_ekf/odom_used<br>
* /base_controller/caster_velocity_filter/type<br> * /robot_pose_ekf/vo_used<br> * /move_base_local_node/local_costmap/base_scan_marking/topic<br> * /move_base_local_node/global_costmap/tilt_scan/marking<br> * /pr2_controller_manager/joint_state_publish_rate<br>
* /move_base_local_node/local_costmap/tilt_scan/clearing<br> * /base_controller/br_caster_r_wheel_joint/d<br> * /teleop_pr2/torso_up_button<br> * /head_traj_controller/gains/head_pan_joint/i_clamp<br> * /tilt_laser_self_filter/self_see_default_padding<br>
* /move_base_local_translator/action_name<br> * /r_gripper_controller/joint<br> * /move_base_local_node/global_costmap/z_resolution<br> * /base_controller/br_caster_r_wheel_joint/i<br> * /sac_ground_removal/planar_refine<br>
* /base_controller/br_caster_r_wheel_joint/p<br> * /move_base_local_node/TrajectoryPlannerROS/acc_limit_x<br> * /move_base_local_node/TrajectoryPlannerROS/acc_limit_y<br> * /base_controller/fr_caster_r_wheel_joint/i<br>
* /base_controller/fr_caster_r_wheel_joint/d<br>
* /base_controller/bl_caster_rotation_joint/position_controller/i_clamp<br> * /base_controller/fr_caster_r_wheel_joint/p<br> * /base_controller/fr_caster_rotation_joint/velocity_controller/p<br> * /head_traj_controller/joints<br>
* /move_base_local_node/global_costmap/unknown_threshold<br> * /move_base_local_node/global_costmap/tilt_scan/expected_update_rate<br> * /move_base_local_node/global_costmap/base_scan_marking/expected_update_rate<br> * /move_base_local_node/TrajectoryPlannerROS/path_distance_bias<br>
* /tilt_shadow_filter/high_fidelity<br> * /move_base_local_node/local_costmap/robot_base_frame<br> * /r_arm_controller/joint_trajectory_action_node/joints<br> * /sac_ground_removal/sac_distance_threshold<br> * /teleop_pr2/axis_pan<br>
* /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp<br> * /r_arm_controller/gains/r_wrist_roll_joint/d<br> * /laser_tilt_controller/max_velocity<br> * /pr2_controller_manager/mechanism_statistics_publish_rate<br>
* /base_controller/br_caster_rotation_joint/position_controller/i_clamp<br> * /r_arm_controller/gains/r_wrist_roll_joint/p<br> * /robot_pose_ekf/sensor_timeout<br> * /r_arm_controller/joint_trajectory_action_node/constraints/goal_time<br>
* /l_arm_controller/gains/l_shoulder_pan_joint/d<br> * /base_controller/type<br> * /sac_ground_removal/sac_min_points_per_model<br> * /move_base_local_node/local_costmap/ground_object_cloud/max_obstacle_height<br> * /base_controller/bl_caster_r_wheel_joint/d<br>
* /move_base_local_node/global_costmap/publish_voxel_map<br> * /move_base_local_node/global_costmap/obstacle_range<br> * /robot_state_publisher/tf_prefix<br> * /move_base_local_node/global_costmap/mark_threshold<br> * /diag_agg/analyzers/joints/path<br>
* /base_odometry/base_footprint_frame<br> * /move_base_local_node/local_costmap/inflation_radius<br> * /l_arm_controller/joint_trajectory_action_node/constraints/goal_time<br> * /move_base_local_node/shutdown_costmaps<br>
* /move_base_local_node/local_costmap/base_scan/sensor_frame<br> * /move_base_local_node/local_costmap/ground_object_cloud/observation_persistence<br> * /move_base_local_node/global_costmap/map_type<br> * /torso_controller/position_joint_action_node/joint<br>
* /base_controller/br_caster_rotation_joint/position_controller/d<br> * /base_controller/max_translational_acceleration/x<br> * /base_controller/fr_caster_l_wheel_joint/i<br> * /base_controller/br_caster_rotation_joint/position_controller/i<br>
* /move_base_local_node/global_costmap/base_scan/max_obstacle_height<br> * /base_controller/br_caster_rotation_joint/position_controller/p<br> * /r_gripper_controller/type<br> * /move_base_local_node/global_costmap/ground_object_cloud/sensor_frame<br>
* /base_controller/bl_caster_l_wheel_joint/p<br> * /move_base_local_node/global_costmap/inflation_radius<br> * /base_controller/bl_caster_l_wheel_joint/d<br> * /base_controller/bl_caster_l_wheel_joint/i<br> * /move_base_local_node/local_costmap/z_resolution<br>
* /base_laser_self_filter/sensor_frame<br> * /move_base_local_node/local_costmap/transform_tolerance<br> * /base_controller/bl_caster_r_wheel_joint/i_clamp<br> * /move_base_local_node/global_costmap/base_scan_marking/max_obstacle_height<br>
* /base_odometry/verbose<br> * /teleop_pr2/max_vy<br> * /teleop_pr2/max_vx<br> * /base_controller/fl_caster_l_wheel_joint/i_clamp<br> * /teleop_pr2/max_vw<br> * /move_base_local_node/global_costmap/tilt_scan/data_type<br>
* /move_base_local_node/local_costmap/ground_object_cloud/clearing<br> * /teleop_pr2/run_button<br> * /base_controller/max_translational_velocity<br><br>NODES<br> /torso_controller/<br> position_joint_action_node (single_joint_position_action/single_joint_position_action)<br>
/l_gripper_controller/<br> gripper_action_node (pr2_gripper_action/pr2_gripper_action)<br> /r_gripper_controller/<br> gripper_action_node (pr2_gripper_action/pr2_gripper_action)<br> /wide_stereo/<br> wide_stereo_proc (stereo_image_proc/stereo_image_proc)<br>
/<br> gazebo (gazebo/gazebo)<br> pr2_gazebo_model (gazebo_tools/gazebo_model)<br> robot_state_publisher (robot_state_publisher/state_publisher)<br> pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)<br>
default_controllers_spawner (pr2_controller_manager/spawner)<br> fake_joint_calibration (rostopic/rostopic)<br> diag_agg (diagnostic_aggregator/aggregator_node)<br> robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)<br>
teleop_pr2 (pr2_teleop/teleop_pr2)<br> base_scan_throttle (topic_tools/throttle)<br> tilt_scan_throttle (topic_tools/throttle)<br> tilt_scan_filtered_throttle (topic_tools/throttle)<br> base_scan_marking_throttle (topic_tools/throttle)<br>
send_navstack_tilt_profile (2dnav_pr2/navstack_tilt_profile.py)<br> tilt_shadow_filter (laser_filters/scan_to_cloud_filter_chain)<br> tilt_laser_self_filter (robot_self_filter/self_filter)<br> base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)<br>
base_laser_self_filter (robot_self_filter/self_filter)<br> ground_object_cloud_throttle (topic_tools/throttle)<br> sac_ground_removal (semantic_point_annotator/sac_inc_ground_removal_node)<br> move_base_local_translator (move_base_client/move_base_translator)<br>
move_base_local_node (move_base/move_base)<br> /narrow_stereo/<br> narrow_stereo_proc (stereo_image_proc/stereo_image_proc)<br> /head_traj_controller/<br> point_head_action (pr2_head_action/pr2_head_action)<br>
/move_base_local_node/local_costmap/<br> voxel_grid_throttle (topic_tools/throttle)<br><br>starting new master (master configured for auto start)<br>process[master]: started with pid [13581]<br>ROS_MASTER_URI=<a href="http://ubuntu:11311/" target="_blank">http://ubuntu:11311/</a><br>
<br>setting /run_id to a105baf6-e3d3-11df-85c6-002454d0c109<br>process[rosout-1]: started with pid [13594]<br>started core service [/rosout]<br>process[gazebo-2]: started with pid [13597]<br>process[pr2_gazebo_model-3]: started with pid [13598]<br>
process[robot_state_publisher-4]: started with pid [13599]<br>process[pr2_mechanism_diagnostics-5]: started with pid [13600]<br>process[default_controllers_spawner-6]: started with pid [13601]<br>process[gripper_action_node-7]: started with pid [13602]<br>
process[gripper_action_node-8]: started with pid [13603]<br>process[point_head_action-9]: started with pid [13604]<br>process[position_joint_action_node-10]: started with pid [13605]<br>process[fake_joint_calibration-11]: started with pid [13606]<br>
process[wide_stereo_proc-12]: started with pid [13607]<br>process[narrow_stereo_proc-13]: started with pid [13608]<br>process[diag_agg-14]: started with pid [13609]<br>process[robot_pose_ekf-15]: started with pid [13610]<br>
process[teleop_pr2-16]: started with pid [13611]<br>process[base_scan_throttle-17]: started with pid [13612]<br>process[tilt_scan_throttle-18]: started with pid [13613]<br>process[tilt_scan_filtered_throttle-19]: started with pid [13616]<br>
process[base_scan_marking_throttle-20]: started with pid [13617]<br>process[send_navstack_tilt_profile-21]: started with pid [13619]<br>process[tilt_shadow_filter-22]: started with pid [13621]<br>process[tilt_laser_self_filter-23]: started with pid [13622]<br>
process[base_shadow_filter-24]: started with pid [13623]<br>process[base_laser_self_filter-25]: started with pid [13624]<br>process[ground_object_cloud_throttle-26]: started with pid [13625]<br>process[sac_ground_removal-27]: started with pid [13626]<br>
process[voxel_grid_throttle-28]: started with pid [13627]<br>process[move_base_local_translator-29]: started with pid [13628]<br>process[move_base_local_node-30]: started with pid [13631]<br>[ INFO] [1288408395.962600133]: Self see link name base_laser_link padding 0.01<br>
[ 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<br>
[ WARN] [1288408395.974114936]: No robot links will be checked for self mask<br>[ INFO] [1288408397.065876464]: Self see link name base_link padding 0.01<br>[ 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<br>
[ WARN] [1288408397.265868976]: SUPPORT FOR gazebo_model IS BEING DEPRECATED, PLEASE USE spawn_model IN THE FUTURE.<br><br>rosrun gazebo spawn_model<br><br>for usage information.<br>Gazebo multi-robot simulator, version 0.10.0<br>
<br>Part of the Player/Stage Project [<a href="http://playerstage.sourceforge.net" target="_blank">http://playerstage.sourceforge.net</a>].<br>Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.<br>Released under the GNU General Public License.<br>
<br>Param [quickStep] is deprecated: [replace quickStep with stepType]<br>Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters]<br>Param [quickStepW] is deprecated: [replace quickStepW with stepW]<br>
Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4]<br>[pr2_gazebo_model-3] process has finished cleanly.<br>log file: /home/jolin/.ros/log/a105baf6-e3d3-11df-85c6-002454d0c109/pr2_gazebo_model-3*.log<br>
[ 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.<br>
advertised as base_scan_throttled<br>[ 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.<br>
[ERROR] [1288408404.780543848, 0.907000000]: Could not find joint named "r_gripper_joint" (namespace: /r_gripper_controller)<br>[ERROR] [1288408404.780741259, 0.907000000]: Initializing controller 'r_gripper_controller' failed<br>
[ERROR] 1288408405.782211: Failed to load r_gripper_controller<br>[ERROR] [1288408405.812371011, 1.176000000]: Could not find joint named "l_gripper_joint" (namespace: /l_gripper_controller)<br>[ERROR] [1288408405.812511135, 1.176000000]: Initializing controller 'l_gripper_controller' failed<br>
[ERROR] 1288408406.813986: Failed to load l_gripper_controller<br>[ERROR] [1288408406.830531350, 1.428000000]: Joint not found: r_shoulder_pan_joint. (namespace: /r_arm_controller)<br>[ERROR] [1288408406.830690662, 1.428000000]: Initializing controller 'r_arm_controller' failed<br>
[ERROR] 1288408407.832227: Failed to load r_arm_controller<br>[ERROR] [1288408407.839538953, 1.687000000]: Joint not found: l_shoulder_pan_joint. (namespace: /l_arm_controller)<br>[ERROR] [1288408407.839661016, 1.687000000]: Initializing controller 'l_arm_controller' failed<br>
[ERROR] 1288408408.841357: Failed to load l_arm_controller<br>[INFO] 1288408408.841951: Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller<br>[INFO] 1288408408.874156: Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller<br>
[ INFO] [1288408408.919702448, 1.964000000]: Initializing Odom sensor<br>[ INFO] [1288408408.957434667, 1.975000000]: Odom sensor activated<br>[ INFO] [1288408409.061768582, 2.000000000]: Kalman filter initialized with odom measurement<br>
[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.<br>
[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.<br>
[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<br>
<br>====================================end of error=======================================<br>
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<br></blockquote></p>