[ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto #19
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This issue is resolved as it was a version conflict. We simply remove and reinstall the packages (ros2 and turtlebot4 with apt using the bash scripts provided up there) and it was fixed. |
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The few times I have seen this issue was when I had the wrong version of ignition being used. I had to call |
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Please provide the following information:
Expected behaviour
bring up the world and simulation
Actual behaviour
throws out error: [ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto
and nothing shows
To Reproduce
Provide the steps to reproduce:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py
here is the log after this :
[INFO] [launch]: All log files can be found below /home/aphart/.ros/log/2022-08-22-18-22-24-123493-ubuntu-33730
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [33737]
[INFO] [parameter_bridge-2]: process started with pid [33740]
[INFO] [parameter_bridge-3]: process started with pid [33742]
[INFO] [parameter_bridge-4]: process started with pid [33744]
[INFO] [parameter_bridge-5]: process started with pid [33746]
[INFO] [parameter_bridge-6]: process started with pid [33748]
[INFO] [parameter_bridge-7]: process started with pid [33750]
[INFO] [parameter_bridge-8]: process started with pid [33752]
[INFO] [parameter_bridge-9]: process started with pid [33813]
[INFO] [parameter_bridge-10]: process started with pid [33851]
[INFO] [parameter_bridge-11]: process started with pid [33853]
[INFO] [parameter_bridge-12]: process started with pid [33855]
[INFO] [parameter_bridge-13]: process started with pid [33857]
[INFO] [parameter_bridge-14]: process started with pid [33859]
[INFO] [robot_state_publisher-15]: process started with pid [33861]
[INFO] [robot_state_publisher-16]: process started with pid [33880]
[INFO] [static_transform_publisher-17]: process started with pid [33943]
[INFO] [create-18]: process started with pid [33991]
[INFO] [create-19]: process started with pid [33995]
[INFO] [spawner-20]: process started with pid [34010]
[INFO] [hazards_vector_publisher-21]: process started with pid [34012]
[INFO] [ir_intensity_vector_publisher-22]: process started with pid [34016]
[INFO] [motion_control-23]: process started with pid [34043]
[INFO] [wheel_status_publisher-24]: process started with pid [34054]
[INFO] [mock_publisher-25]: process started with pid [34067]
[INFO] [robot_state-26]: process started with pid [34074]
[INFO] [kidnap_estimator_publisher-27]: process started with pid [34094]
[INFO] [ui_mgr-28]: process started with pid [34117]
[INFO] [pose_republisher_node-29]: process started with pid [34119]
[INFO] [sensors_node-30]: process started with pid [34132]
[INFO] [interface_buttons_node-31]: process started with pid [34144]
[INFO] [turtlebot4_node-32]: process started with pid [34146]
[INFO] [turtlebot4_ignition_hmi_node-33]: process started with pid [34177]
[INFO] [component_container-34]: process started with pid [34189]
[INFO] [static_transform_publisher-35]: process started with pid [34191]
[INFO] [static_transform_publisher-36]: process started with pid [34213]
[robot_state_publisher-15] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-15] Link bump_front_center had 0 children
[robot_state_publisher-15] Link bump_front_left had 0 children
[robot_state_publisher-15] Link bump_front_right had 0 children
[robot_state_publisher-15] Link bump_left had 0 children
[robot_state_publisher-15] Link bump_right had 0 children
[robot_state_publisher-15] Link button_1 had 0 children
[robot_state_publisher-15] Link button_2 had 0 children
[robot_state_publisher-15] Link button_power had 0 children
[robot_state_publisher-15] Link cliff_front_left had 0 children
[robot_state_publisher-15] Link cliff_front_right had 0 children
[robot_state_publisher-15] Link cliff_side_left had 0 children
[robot_state_publisher-15] Link cliff_side_right had 0 children
[robot_state_publisher-15] Link front_caster_link had 0 children
[robot_state_publisher-15] Link front_left_bottom_weight_block had 0 children
[robot_state_publisher-15] Link front_left_top_weight_block had 0 children
[robot_state_publisher-15] Link front_right_bottom_weight_block had 0 children
[robot_state_publisher-15] Link front_right_top_weight_block had 0 children
[robot_state_publisher-15] Link imu_link had 0 children
[robot_state_publisher-15] Link ir_intensity_front_center_left had 0 children
[robot_state_publisher-15] Link ir_intensity_front_center_right had 0 children
[robot_state_publisher-15] Link ir_intensity_front_left had 0 children
[robot_state_publisher-15] Link ir_intensity_front_right had 0 children
[robot_state_publisher-15] Link ir_intensity_left had 0 children
[robot_state_publisher-15] Link ir_intensity_right had 0 children
[robot_state_publisher-15] Link ir_intensity_side_left had 0 children
[robot_state_publisher-15] Link ir_omni had 0 children
[robot_state_publisher-15] Link mouse had 0 children
[robot_state_publisher-15] Link shell_link had 7 children
[robot_state_publisher-15] Link front_left_tower_standoff had 0 children
[robot_state_publisher-15] Link front_right_tower_standoff had 0 children
[robot_state_publisher-15] Link oakd_pro_camera_bracket had 1 children
[robot_state_publisher-15] Link oakd_pro_link had 4 children
[robot_state_publisher-15] Link oakd_pro_imu_frame had 0 children
[robot_state_publisher-15] Link oakd_pro_left_camera_frame had 1 children
[robot_state_publisher-15] Link oakd_pro_left_camera_optical_frame had 0 children
[robot_state_publisher-15] Link oakd_pro_rgb_camera_frame had 1 children
[robot_state_publisher-15] Link oakd_pro_rgb_camera_optical_frame had 0 children
[robot_state_publisher-15] Link oakd_pro_right_camera_frame had 1 children
[robot_state_publisher-15] Link oakd_pro_right_camera_optical_frame had 0 children
[robot_state_publisher-15] Link rear_left_tower_standoff had 0 children
[robot_state_publisher-15] Link rear_right_tower_standoff had 0 children
[robot_state_publisher-15] Link rplidar_link had 0 children
[robot_state_publisher-15] Link tower_sensor_plate had 0 children
[robot_state_publisher-15] Link wheel_drop_left had 1 children
[robot_state_publisher-15] Link left_wheel had 0 children
[robot_state_publisher-15] Link wheel_drop_right had 1 children
[robot_state_publisher-15] Link right_wheel had 0 children
[robot_state_publisher-15] [INFO] [1661217745.702219269] [robot_state_publisher]: got segment base_link
[robot_state_publisher-15] [INFO] [1661217745.702500542] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-15] [INFO] [1661217745.702602444] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-15] [INFO] [1661217745.702612914] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-15] [INFO] [1661217745.702620138] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-15] [INFO] [1661217745.702627121] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-15] [INFO] [1661217745.702634275] [robot_state_publisher]: got segment button_1
[robot_state_publisher-15] [INFO] [1661217745.702640777] [robot_state_publisher]: got segment button_2
[robot_state_publisher-15] [INFO] [1661217745.702649033] [robot_state_publisher]: got segment button_power
[robot_state_publisher-15] [INFO] [1661217745.702688157] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-15] [INFO] [1661217745.702697084] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-15] [INFO] [1661217745.702703706] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-15] [INFO] [1661217745.702710399] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-15] [INFO] [1661217745.702740225] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-15] [INFO] [1661217745.702748751] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-15] [INFO] [1661217745.702755564] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-15] [INFO] [1661217745.702762327] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-15] [INFO] [1661217745.702913824] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-15] [INFO] [1661217745.702926578] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-15] [INFO] [1661217745.702933672] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-15] [INFO] [1661217745.702940024] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-15] [INFO] [1661217745.702946235] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-15] [INFO] [1661217745.702953158] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-15] [INFO] [1661217745.702959791] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-15] [INFO] [1661217745.702968437] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-15] [INFO] [1661217745.702974990] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-15] [INFO] [1661217745.702981572] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-15] [INFO] [1661217745.702988115] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-15] [INFO] [1661217745.702994927] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-15] [INFO] [1661217745.703001129] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-15] [INFO] [1661217745.703007581] [robot_state_publisher]: got segment mouse
[robot_state_publisher-15] [INFO] [1661217745.703013743] [robot_state_publisher]: got segment oakd_pro_camera_bracket
[robot_state_publisher-15] [INFO] [1661217745.703020005] [robot_state_publisher]: got segment oakd_pro_imu_frame
[robot_state_publisher-15] [INFO] [1661217745.703027209] [robot_state_publisher]: got segment oakd_pro_left_camera_frame
[robot_state_publisher-15] [INFO] [1661217745.703090468] [robot_state_publisher]: got segment oakd_pro_left_camera_optical_frame
[robot_state_publisher-15] [INFO] [1661217745.703102872] [robot_state_publisher]: got segment oakd_pro_link
[robot_state_publisher-15] [INFO] [1661217745.703109785] [robot_state_publisher]: got segment oakd_pro_rgb_camera_frame
[robot_state_publisher-15] [INFO] [1661217745.703173766] [robot_state_publisher]: got segment oakd_pro_rgb_camera_optical_frame
[robot_state_publisher-15] [INFO] [1661217745.703256002] [robot_state_publisher]: got segment oakd_pro_right_camera_frame
[robot_state_publisher-15] [INFO] [1661217745.703269076] [robot_state_publisher]: got segment oakd_pro_right_camera_optical_frame
[robot_state_publisher-15] [INFO] [1661217745.703276200] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-15] [INFO] [1661217745.703282522] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-15] [INFO] [1661217745.703289245] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-15] [INFO] [1661217745.703295997] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-15] [INFO] [1661217745.703303031] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-15] [INFO] [1661217745.703309874] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-15] [INFO] [1661217745.703316637] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-15] [INFO] [1661217745.703323399] [robot_state_publisher]: got segment wheel_drop_right
[robot_state_publisher-16] The root link std_dock_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-16] Link green_buoy_link had 0 children
[robot_state_publisher-16] Link halo_link had 0 children
[robot_state_publisher-16] Link red_buoy_link had 0 children
[robot_state_publisher-16] Link yellow_buoy_link had 0 children
[robot_state_publisher-16] [INFO] [1661217745.747982154] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-16] [INFO] [1661217745.748046075] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-16] [INFO] [1661217745.748056044] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-16] [INFO] [1661217745.748062826] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-16] [INFO] [1661217745.748069419] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-17] [INFO] [1661217745.713660820] [tf_odom_std_dock_link_publisher]: Spinning until killed publishing transform from 'odom' to 'std_dock_link'
[create-18] [INFO] [1661217745.756015534] [ros_ign_gazebo]: Requesting list of world names.
[create-19] [INFO] [1661217745.782291678] [ros_ign_gazebo]: Requesting list of world names.
[hazards_vector_publisher-21] [INFO] [1661217745.778072764] [hazards_vector_publisher]: Advertised topic: /hazard_detection
[hazards_vector_publisher-21] [INFO] [1661217745.779360802] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[hazards_vector_publisher-21] [INFO] [1661217745.780475483] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-21] [INFO] [1661217745.780981120] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[hazards_vector_publisher-21] [INFO] [1661217745.781488090] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-21] [INFO] [1661217745.781777257] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[hazards_vector_publisher-21] [INFO] [1661217745.783167479] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-21] [INFO] [1661217745.783673928] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-21] [INFO] [1661217745.783888213] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763063546] [ir_intensity_vector_publisher]: Advertised topic: /ir_intensity
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763319581] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763456780] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763583871] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763714749] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763836329] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-22] [INFO] [1661217745.763946447] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-22] [INFO] [1661217745.766117347] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[motion_control-23] [INFO] [1661217745.826411255] [motion_control]: Enabling REFLEX_BUMP
[motion_control-23] [INFO] [1661217745.831441428] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-23] [INFO] [1661217745.851823587] [motion_control]: Enabling REFLEX_STUCK
[motion_control-23] [INFO] [1661217745.855343300] [motion_control]: Enabling REFLEX_WHEEL_DROP
[wheel_status_publisher-24] [INFO] [1661217745.818505079] [wheel_status_publisher]: Advertised topic: /wheel_vels
[wheel_status_publisher-24] [INFO] [1661217745.818745514] [wheel_status_publisher]: Advertised topic: /wheel_ticks
[mock_publisher-25] [INFO] [1661217745.796366174] [mock_publisher]: Advertised mocked topic: /slip_status
[robot_state-26] [INFO] [1661217745.803452609] [robot_state]: Advertised topic: /battery_state
[robot_state-26] [INFO] [1661217745.803994916] [robot_state]: Subscription to topic: /dock
[robot_state-26] [INFO] [1661217745.804109362] [robot_state]: Advertised topic: /stop_status
[robot_state-26] [INFO] [1661217745.805946811] [robot_state]: Subscription to topic: /odom
[kidnap_estimator_publisher-27] [INFO] [1661217745.900800276] [kidnap_estimator_publisher]: Advertised topic: /kidnap_status
[kidnap_estimator_publisher-27] [INFO] [1661217745.916601460] [kidnap_estimator_publisher]: Subscription to topic: /hazard_detection
[ui_mgr-28] [INFO] [1661217745.833911432] [ui_mgr]: Subscription to topic: /cmd_lightring
[ui_mgr-28] [INFO] [1661217745.835277699] [ui_mgr]: Subscription to topic: /cmd_audio
[turtlebot4_node-32] [INFO] [1661217745.951822187] [turtlebot4_node]: Init Turtlebot4 Node Main
[turtlebot4_node-32] [INFO] [1661217746.009455463] [turtlebot4_node]: Buttons Init
[turtlebot4_node-32] [INFO] [1661217746.016077412] [turtlebot4_node]: Init Display
[turtlebot4_node-32] [INFO] [1661217746.017623559] [turtlebot4_node]: Leds Init
[turtlebot4_node-32] [INFO] [1661217746.032013551] [turtlebot4_node]: Turtlebot4 standard running.
[parameter_bridge-12] [INFO] [1661217746.083035479] [turtlebot4.hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Ignition ignition.msgs.Int32 (showing msg only once per type)
[parameter_bridge-10] [INFO] [1661217746.084237052] [turtlebot4.hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/String to Ignition ignition.msgs.StringMsg (showing msg only once per type)
[parameter_bridge-10] [INFO] [1661217746.084367158] [turtlebot4.hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Ignition ignition.msgs.Int32 (showing msg only once per type)
[static_transform_publisher-36] [INFO] [1661217746.091637677] [camera_stf]: Spinning until killed publishing transform from 'oakd_pro_rgb_camera_optical_frame' to 'turtlebot4/oakd_pro_rgb_camera_frame/rgbd_camera'
[static_transform_publisher-35] [INFO] [1661217746.114313337] [rplidar_stf]: Spinning until killed publishing transform from 'rplidar_link' to 'turtlebot4/rplidar_link/rplidar'
[spawner-20] [INFO] [1661217746.221676630] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ign gazebo-1] �[1;36m[Dbg] [ign.cc:161] �[0m�[1;36mSubscribing to [�[0m�[1;36m/gazebo/starting_world�[0m�[1;36m].�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[Dbg] [ign.cc:163] �[0m�[1;36mWaiting for a world to be set from the GUI...�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mReceived world [�[0m�[1;32mdepot.sdf�[0m�[1;32m] from the GUI.�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [ign.cc:167] �[0m�[1;36mUnsubscribing from [�[0m�[1;36m/gazebo/starting_world�[0m�[1;36m].�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mIgnition Gazebo Server v�[0m�[1;32m6.11.0�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mLoading SDF world file[�[0m�[1;32m/opt/ros/galactic/share/turtlebot4_ignition_bringup/worlds/depot.sdf�[0m�[1;32m].�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mServing entity system service on [�[0m�[1;32m/�[0m�[1;32mentity/system/add�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [Physics.cc:803] �[0m�[1;36mLoaded [�[0m�[1;36mignition::physics::dartsim::Plugin�[0m�[1;36m] from library [�[0m�[1;36m/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[Dbg] [SystemManager.cc:58] �[0m�[1;36mLoaded system [�[0m�[1;36mignition::gazebo::systems::Physics�[0m�[1;36m] for entity [�[0m�[1;36m1�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mCreate service on [�[0m�[1;32m/world/depot/create�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mRemove service on [�[0m�[1;32m/world/depot/remove�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mPose service on [�[0m�[1;32m/world/depot/set_pose�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mPose service on [�[0m�[1;32m/world/depot/set_pose_vector�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mLight configuration service on [�[0m�[1;32m/world/depot/light_config�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mPhysics service on [�[0m�[1;32m/world/depot/set_physics�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mSphericalCoordinates service on [�[0m�[1;32m/world/depot/set_spherical_coordinates�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mEnable collision service on [�[0m�[1;32m/world/depot/enable_collision�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mDisable collision service on [�[0m�[1;32m/world/depot/disable_collision�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mMaterial service on [�[0m�[1;32m/world/depot/visual_config�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mMaterial service on [�[0m�[1;32m/world/depot/wheel_slip�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [SystemManager.cc:58] �[0m�[1;36mLoaded system [�[0m�[1;36mignition::gazebo::systems::UserCommands�[0m�[1;36m] for entity [�[0m�[1;36m1�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[Dbg] [SystemManager.cc:58] �[0m�[1;36mLoaded system [�[0m�[1;36mignition::gazebo::systems::SceneBroadcaster�[0m�[1;36m] for entity [�[0m�[1;36m1�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mJoint velocity initialized to [�[0m�[1;32m1�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [JointController.cc:142] �[0m�[1;36m[JointController] Velocity mode�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mJointController subscribing to Double messages on [�[0m�[1;32m/model/Depot/joint/fan1_joint/cmd_vel�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [SystemManager.cc:58] �[0m�[1;36mLoaded system [�[0m�[1;36mignition::gazebo::systems::JointController�[0m�[1;36m] for entity [�[0m�[1;36m4�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mJoint velocity initialized to [�[0m�[1;32m2�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [JointController.cc:142] �[0m�[1;36m[JointController] Velocity mode�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mJointController subscribing to Double messages on [�[0m�[1;32m/model/Depot/joint/fan2_joint/cmd_vel�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [SystemManager.cc:58] �[0m�[1;36mLoaded system [�[0m�[1;36mignition::gazebo::systems::JointController�[0m�[1;36m] for entity [�[0m�[1;36m4�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mLoaded level [�[0m�[1;32m3�[0m�[1;32m]�[0m�[1;32m�[0m
[create-19] [INFO] [1661217746.479599596] [ros_ign_gazebo]: Waiting messages on topic [standard_dock_description].
[create-19] [INFO] [1661217746.579349187] [ros_ign_gazebo]: Requested creation of entity.
[create-19] [INFO] [1661217746.579411585] [ros_ign_gazebo]: OK creation of entity.
[create-18] [INFO] [1661217746.580075327] [ros_ign_gazebo]: Waiting messages on topic [robot_description].
[create-18] [INFO] [1661217746.586997194] [ros_ign_gazebo]: Requested creation of entity.
[create-18] [INFO] [1661217746.587036468] [ros_ign_gazebo]: OK creation of entity.
[INFO] [create-18]: process has finished cleanly [pid 33991]
[INFO] [create-19]: process has finished cleanly [pid 33995]
[ign gazebo-1] �[1;33m[GUI] [Wrn] [Application.cc:797] �[0m�[1;33m[QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"�[0m�[1;33m�[0m
[ign gazebo-1] �[1;33m[GUI] [Wrn] [Application.cc:797] �[0m�[1;33m[QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"�[0m�[1;33m�[0m
[ign gazebo-1] �[1;33m[GUI] [Wrn] [Scene3D.cc:2941] �[0m�[1;33mThe GzScene3D plugin is deprecated on v6 and will be removed on �[0m�[1;33mv7. Use MinimalScene together with other plugins as needed.�[0m�[1;33m�[0m
[ign gazebo-1] �[1;32m[Msg] �[0m�[1;32mServing world controls on [�[0m�[1;32m/world/depot�[0m�[1;32m/control], [�[0m�[1;32m/world/depot�[0m�[1;32m/control/state] and [�[0m�[1;32m/world/depot�[0m�[1;32m[Msg] �[0m�[1;32mIgnition Gazebo GUI v�[0m�[1;32m6.11.0�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[Dbg] [Gui.cc:253] �[0m�[1;36mWaiting for subscribers to [�[0m�[1;36m/gazebo/starting_world�[0m�[1;36m]...�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[Dbg] [Application.cc:92] �[0m�[1;36mInitializing application.�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [Application.cc:555] �[0m�[1;36mCreate main window�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [PathManager.cc:66] �[0m�[1;36mRequesting resource paths through [�[0m�[1;36m/gazebo/resource_paths/get�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [Gui.cc:333] �[0m�[1;36mGUI requesting list of world names. The server may be busy �[0m�[1;36mdownloading resources. Please be patient.�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [PathManager.cc:55] �[0m�[1;36mReceived resource paths.�[0m�[1;36m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [GuiRunner.cc:145] �[0m�[1;36mRequesting initial state from [�[0m�[1;36m/world/depot/state�[0m�[1;36m]...�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mLoading config [�[0m�[1;32m/opt/ros/galactic/share/turtlebot4_ignition_bringup/gui/standard/gui.config�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [Application.cc:426] �[0m�[1;36mLoading plugin [�[0m�[1;36mGzScene3D�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mVideo recorder stats topic advertised on [�[0m�[1;32m/gui/record_video/stats�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mTransform mode service on [�[0m�[1;32m/gui/transform_mode�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mRecord video service on [�[0m�[1;32m/gui/record_video�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mMove to service on [�[0m�[1;32m/gui/move_to�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mFollow service on [�[0m�[1;32m/gui/follow�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mFollow offset service on [�[0m�[1;32m/gui/follow/offset�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView angle service on [�[0m�[1;32m/gui/view_angle�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mMove to pose service on [�[0m�[1;32m/gui/move_to/pose�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mCamera pose topic advertised on [�[0m�[1;32m/gui/camera/pose�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView as transparent service on [�[0m�[1;32m/gui/view/transparent�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView center of mass service on [�[0m�[1;32m/gui/view/com�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView inertia service on [�[0m�[1;32m/gui/view/inertia�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView joints service on [�[0m�[1;32m/gui/view/joints�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView wireframes service on [�[0m�[1;32m/gui/view/wireframes�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mView collisions service on [�[0m�[1;32m/gui/view/collisions�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mCamera view controller topic advertised on [�[0m�[1;32m/gui/camera/view_control�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mAdded plugin [�[0m�[1;32m3D View�[0m�[1;32m] to main window�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mLoaded plugin [�[0m�[1;32mGzScene3D�[0m�[1;32m] from path [�[0m�[1;32m/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzScene3D.so�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [Application.cc:426] �[0m�[1;36mLoading plugin [�[0m�[1;36mWorldControl�[0m�[1;36m]�[0m�[1;36m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mUsing world control service [�[0m�[1;32m/world/depot/control�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mListening to stats on [�[0m�[1;32m/world/depot/stats�[0m�[1;32m]�[0m�[1;32m�[0m
[ign gazebo-1] �[1;36m[GUI] [Dbg] [WorldControl.cc:248] �[0m�[1;36mUsing a service to share WorldControl msgs with the server�[0m
[ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto
[ign gazebo-1] [libprotobuf FATAL google/protobuf/descriptor.cc:1358] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
[ign gazebo-1] terminate called after throwing an instance of 'google::protobuf::FatalException'
[ign gazebo-1] what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7fbf371e2409, in
[ign gazebo-1] #30 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7fbf371e2ff4, in
[ign gazebo-1] #29 Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.11.0", at 0x7fbf3677dc2c, in runGui
[ign gazebo-1] #28 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fbf36533bc3, in ignition::gazebo::v6::gui::runGui(int&, char**, char const*, char const*, int, char const*)
[ign gazebo-1] #27 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fbf365335c8, in ignition::gazebo::v6::gui::createGui(int&, char**, char const*, char const*, bool, char const*, int, char const*)
[ign gazebo-1] #26 Object "/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x7fbf34f74c14, in ignition::gui::Application::LoadConfig(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ign gazebo-1] #25 Object "/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x7fbf34f731f5, in ignition::gui::Application::LoadPlugin(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, tinyxml2::XMLElement const*)
[ign gazebo-1] #24 Object "/lib/x86_64-linux-gnu/libignition-plugin1-loader.so.1", at 0x7fbf371f9670, in ignition::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ign gazebo-1] #23 Object "/lib/x86_64-linux-gnu/libignition-plugin1-loader.so.1", at 0x7fbf371f8a7d, in ignition::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ign gazebo-1] #22 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7fbf3aedc3d9, in dlopen
[ign gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7fbf3aedcb58, in
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f29f2, in _dl_catch_error
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f2927, in _dl_catch_exception
[ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7fbf3aedc34b, in
[ign gazebo-1] #17 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b52f609, in
[ign gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f2927, in _dl_catch_exception
[ign gazebo-1] #15 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b5300ce, in
[ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f2984, in _dl_catch_exception
[ign gazebo-1] #13 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b52bca0, in
[ign gazebo-1] #12 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b52bb99, in
[ign gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libignition-msgs7.so.7", at 0x7fbef289e628, in void std::call_once<void (&)()>(std::once_flag&, void (&)())
[ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7fbf3af804de, in
[ign gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libignition-msgs7.so.7", at 0x7fbef28992ad, in protobuf_ignition_2fmsgs_2factor_2eproto::AddDescriptorsImpl()
[ign gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libprotobuf.so.17", at 0x7fbf3565687d, in
[ign gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7fbf36fe55a9, in _Unwind_Resume
[ign gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7fbf36fe4bee, in
[ign gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf37098d20, in __gxx_personality_v0
[ign gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf37098368, in
[ign gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf3709938b, in
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf3708d910, in
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3afb4858, in abort
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3afd500b, in gsignal
[ign gazebo-1] Aborted (Signal sent by tkill() 34211 1000)
[ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto
[ign gazebo-1] [libprotobuf FATAL google/protobuf/descriptor.cc:1358] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
[ign gazebo-1] terminate called after throwing an instance of 'google::protobuf::FatalException'
[ign gazebo-1] what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7fbf1146c65a, in ignition::gazebo::v6::systems::CreateCommand::Execute()
[ign gazebo-1] #30 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fbf36337070, in ignition::gazebo::v6::SdfEntityCreator::CreateEntities(sdf::v12::Model const*)
[ign gazebo-1] #29 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fbf3634c8ee, in void ignition::gazebo::v6::EventManager::Emit<ignition::common::EventT<void (unsigned long, std::vector<sdf::v12::Plugin, std::allocatorsdf::v12::Plugin >), ignition::gazebo::v6::events::LoadPluginsTag>, unsigned long const&, std::vector<sdf::v12::Plugin, std::allocatorsdf::v12::Plugin > const&>(unsigned long const&, std::vector<sdf::v12::Plugin, std::allocatorsdf::v12::Plugin > const&)
[ign gazebo-1] #28 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fbf3637333c, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v12::Plugin, std::allocatorsdf::v12::Plugin > const&)
[ign gazebo-1] #27 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fbf3638c5d3, in ignition::gazebo::v6::SystemManager::LoadPlugin(unsigned long, sdf::v12::Plugin const&)
[ign gazebo-1] #26 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fbf3638938d, in ignition::gazebo::v6::SystemLoader::LoadPlugin(sdf::v12::Plugin const&)
[ign gazebo-1] #25 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7fbf3638a37d, in
[ign gazebo-1] #24 Object "/lib/x86_64-linux-gnu/libignition-plugin1-loader.so.1", at 0x7fbf371f9670, in ignition::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ign gazebo-1] #23 Object "/lib/x86_64-linux-gnu/libignition-plugin1-loader.so.1", at 0x7fbf371f8a7d, in ignition::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ign gazebo-1] #22 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7fbf3aedc3d9, in dlopen
[ign gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7fbf3aedcb58, in
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f29f2, in _dl_catch_error
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f2927, in _dl_catch_exception
[ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libdl.so.2", at 0x7fbf3aedc34b, in
[ign gazebo-1] #17 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b52f609, in
[ign gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f2927, in _dl_catch_exception
[ign gazebo-1] #15 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b5300ce, in
[ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3b0f2984, in _dl_catch_exception
[ign gazebo-1] #13 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b52bca0, in
[ign gazebo-1] #12 Object "/lib64/ld-linux-x86-64.so.2", at 0x7fbf3b52bb99, in
[ign gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libignition-msgs7.so.7", at 0x7fbf0bc29628, in void std::call_once<void (&)()>(std::once_flag&, void (&)())
[ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7fbf3af804de, in
[ign gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libignition-msgs7.so.7", at 0x7fbf0bc242ad, in protobuf_ignition_2fmsgs_2factor_2eproto::AddDescriptorsImpl()
[ign gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libprotobuf.so.17", at 0x7fbf3565687d, in
[ign gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7fbf36fe55a9, in _Unwind_Resume
[ign gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7fbf36fe4bee, in
[ign gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf37098d20, in __gxx_personality_v0
[ign gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf37098368, in
[ign gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf3709938b, in
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fbf3708d910, in
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3afb4858, in abort
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbf3afd500b, in gsignal
[ign gazebo-1] Aborted (Signal sent by tkill() 34210 1000)
[spawner-20] [INFO] [1661217748.231695688] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[INFO] [ign gazebo-1]: process has finished cleanly [pid 33737]
[ign gazebo-1] �[1;32m[GUI] �[0m�[1;32m[Msg] �[0m�[1;32mAdded plugin [�[0m�[1;3
[spawner-20] [INFO] [1661217750.240691509] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-20] [INFO] [1661217752.250757137] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-20] [INFO] [1661217754.261419700] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-20] [ERROR] [1661217756.270170568] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-20]: process has died [pid 34010, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner joint_state_broadcaster -c /controller_manager --ros-args'].
[INFO] [spawner-37]: process started with pid [34342]
[spawner-37] [INFO] [1661217756.640803896] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-37] [INFO] [1661217758.653617944] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-37] [INFO] [1661217760.664842582] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-37] [INFO] [1661217762.673802269] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-37] [INFO] [1661217764.684837128] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-37] [ERROR] [1661217766.695746629] [spawner_diffdrive_controller]: Controller manager not available
[ERROR] [spawner-37]: process has died [pid 34342, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner diffdrive_controller -c /controller_manager --ros-args --params-file /opt/ros/galactic/share/irobot_create_control/config/control.yaml'].
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[static_transform_publisher-36] [INFO] [1661217783.344734290] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-35] [INFO] [1661217783.344739250] [rclcpp]: signal_handler(signal_value=2)
[ui_mgr-28] [INFO] [1661217783.344776181] [rclcpp]: signal_handler(signal_value=2)
[mock_publisher-25] [INFO] [1661217783.344795586] [rclcpp]: signal_handler(signal_value=2)
[sensors_node-30] [INFO] [1661217783.344776971] [rclcpp]: signal_handler(signal_value=2)
[turtlebot4_ignition_hmi_node-33] [INFO] [1661217783.344793915] [rclcpp]: signal_handler(signal_value=2)
[pose_republisher_node-29] [INFO] [1661217783.344776922] [rclcpp]: signal_handler(signal_value=2)
[hazards_vector_publisher-21] [INFO] [1661217783.344852564] [rclcpp]: signal_handler(signal_value=2)
[robot_state-26] [INFO] [1661217783.344894254] [rclcpp]: signal_handler(signal_value=2)
[component_container-34] [INFO] [1661217783.344947955] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-15] [INFO] [1661217783.344975796] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-11] [INFO] [1661217783.344958667] [rclcpp]: signal_handler(signal_value=2)
[interface_buttons_node-31] [INFO] [1661217783.345020843] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-13] [INFO] [1661217783.345035620] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-12] [INFO] [1661217783.345047886] [rclcpp]: signal_handler(signal_value=2)
[kidnap_estimator_publisher-27] [INFO] [1661217783.345090274] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-3] [INFO] [1661217783.345113958] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-6] [INFO] [1661217783.345130140] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-7] [INFO] [1661217783.345154978] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-2] [INFO] [1661217783.345216852] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-9] [INFO] [1661217783.345314610] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-5] [INFO] [1661217783.345356888] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-14] [INFO] [1661217783.345434336] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-17] [INFO] [1661217783.345527282] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-8] [INFO] [1661217783.345613494] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-4] [INFO] [1661217783.346191295] [rclcpp]: signal_handler(signal_value=2)
[ir_intensity_vector_publisher-22] [INFO] [1661217783.347387806] [rclcpp]: signal_handler(signal_value=2)
[parameter_bridge-10] [INFO] [1661217783.347562936] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-16] [INFO] [1661217783.349299696] [rclcpp]: signal_handler(signal_value=2)
[wheel_status_publisher-24] [INFO] [1661217783.350158208] [rclcpp]: signal_handler(signal_value=2)
[motion_control-23] [INFO] [1661217783.355614161] [rclcpp]: signal_handler(signal_value=2)
[turtlebot4_node-32] [INFO] [1661217783.344903660] [rclcpp]: signal_handler(signal_value=2)
[INFO] [ui_mgr-28]: process has finished cleanly [pid 34117]
[INFO] [interface_buttons_node-31]: process has finished cleanly [pid 34144]
[INFO] [robot_state-26]: process has finished cleanly [pid 34074]
[INFO] [robot_state_publisher-15]: process has finished cleanly [pid 33861]
[INFO] [mock_publisher-25]: process has finished cleanly [pid 34067]
[INFO] [static_transform_publisher-35]: process has finished cleanly [pid 34191]
[INFO] [static_transform_publisher-36]: process has finished cleanly [pid 34213]
[INFO] [kidnap_estimator_publisher-27]: process has finished cleanly [pid 34094]
[INFO] [static_transform_publisher-17]: process has finished cleanly [pid 33943]
[INFO] [hazards_vector_publisher-21]: process has finished cleanly [pid 34012]
[INFO] [wheel_status_publisher-24]: process has finished cleanly [pid 34054]
[INFO] [robot_state_publisher-16]: process has finished cleanly [pid 33880]
[INFO] [component_container-34]: process has finished cleanly [pid 34189]
[INFO] [sensors_node-30]: process has finished cleanly [pid 34132]
[INFO] [pose_republisher_node-29]: process has finished cleanly [pid 34119]
[INFO] [ir_intensity_vector_publisher-22]: process has finished cleanly [pid 34016]
[INFO] [turtlebot4_ignition_hmi_node-33]: process has finished cleanly [pid 34177]
[INFO] [motion_control-23]: process has finished cleanly [pid 34043]
[INFO] [turtlebot4_node-32]: process has finished cleanly [pid 34146]
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[INFO] [parameter_bridge-13]: process has finished cleanly [pid 33857]
[INFO] [parameter_bridge-6]: process has finished cleanly [pid 33748]
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 33740]
[INFO] [parameter_bridge-10]: process has finished cleanly [pid 33851]
[INFO] [parameter_bridge-4]: process has finished cleanly [pid 33744]
[INFO] [parameter_bridge-5]: process has finished cleanly [pid 33746]
[INFO] [parameter_bridge-9]: process has finished cleanly [pid 33813]
[INFO] [parameter_bridge-14]: process has finished cleanly [pid 33859]
[INFO] [parameter_bridge-7]: process has finished cleanly [pid 33750]
[INFO] [parameter_bridge-12]: process has finished cleanly [pid 33855]
[INFO] [parameter_bridge-11]: process has finished cleanly [pid 33853]
[INFO] [parameter_bridge-8]: process has finished cleanly [pid 33752]
[INFO] [parameter_bridge-3]: process has finished cleanly [pid 33742]
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