turtlebot/turtlebot4_simulator

Gazebo Sim Rendering Not Updating Even Though Sim Does Seem to Be Running

Closed this issue · 8 comments

tshumay commented

Please provide the following information:

  • OS:Ubuntu 20.04
  • ROS Distro: Galactic
  • Built from source or installed: installed
  • Package version:

Package: ros-galactic-turtlebot4-simulator
Status: install ok installed
Priority: optional
Section: misc
Installed-Size: 41
Maintainer: rkreinin rkreinin@clearpathrobotics.com
Architecture: amd64
Version: 0.1.1-1focal.20221016.143508
Depends: ros-galactic-turtlebot4-ignition-bringup, ros-galactic-turtlebot4-ignition-gui-plugins, ros-galactic-turtlebot4-ignition-toolbox, ros-galactic-ros-workspace
Description: TODO: Package description

Expected behaviour
When I launch the Gazebo Simulator, and start the simulation, I expect that posting cmd_vel events, or running NAV via RVIZ should cause the gazebo sim to update as well. Also, the robot looks like it's maybe being rendered as a collision volume instead of the actual geometry? (Screenshot below)

Actual behaviour
The actual robot simulation appears to be running. If I echo the /wheel_vels topic, for example, I see the wheel velocities changing as I would expect them to. Also, if I am running RVIZ with NAV goals, the RVIZ side of the simulation will run and I can see the robot moving around, but Gazebo stays stuck in place.

To Reproduce
Provide the steps to reproduce:

The exact parameters to reproduce are not critical - I tried with and without RVIZ, etc. but can't get the robot to move. In the case where the sim is running via RVIZ Nav, I ran:

ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync nav2:=true rviz:=true

Other notes
Unfortunately, new to all this, so I don't know other details that may be relevant, but I can look things up if clarification is needed.

Screenshot from 2022-10-23 17-38-14

roni-kreinin commented

What hardware is this being run on? Does your PC have a GPU?

tshumay commented

I'm running it on a Linux VM in Parallels on a Mac. It should have GPU support - but it is in a VM.

tshumay commented

I should note, it doesn't appear to be a performance issue at least as far as the renderer is considered. The framerate is good, and I can freely move about the environment, but nothing seems to be happening with the robot on the screen.

roni-kreinin commented

Can you run just ros2 launch turtlebot4_ignition_bringup ignition.launch.py and provide the output?

tshumay commented

For sure - thanks for having a look. Here's what I've got on the output side:

trentshumay@ubuntu:~/Dev$ ros2 launch turtlebot4_ignition_bringup ignition.launch.py
[INFO] [launch]: All log files can be found below /home/trentshumay/.ros/log/2022-11-05-06-59-22-249600-ubuntu-23897
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [23907]
[INFO] [parameter_bridge-2]: process started with pid [23910]
[INFO] [parameter_bridge-3]: process started with pid [23912]
[INFO] [parameter_bridge-4]: process started with pid [23914]
[INFO] [parameter_bridge-5]: process started with pid [23916]
[INFO] [parameter_bridge-6]: process started with pid [23918]
[INFO] [parameter_bridge-7]: process started with pid [23920]
[INFO] [parameter_bridge-8]: process started with pid [23922]
[INFO] [parameter_bridge-9]: process started with pid [23945]
[INFO] [parameter_bridge-10]: process started with pid [24001]
[INFO] [parameter_bridge-11]: process started with pid [24007]
[INFO] [parameter_bridge-12]: process started with pid [24025]
[INFO] [parameter_bridge-13]: process started with pid [24027]
[INFO] [parameter_bridge-14]: process started with pid [24045]
[INFO] [robot_state_publisher-15]: process started with pid [24081]
[INFO] [robot_state_publisher-16]: process started with pid [24093]
[INFO] [static_transform_publisher-17]: process started with pid [24109]
[INFO] [create-18]: process started with pid [24124]
[INFO] [create-19]: process started with pid [24154]
[INFO] [spawner-20]: process started with pid [24157]
[INFO] [hazards_vector_publisher-21]: process started with pid [24159]
[INFO] [ir_intensity_vector_publisher-22]: process started with pid [24180]
[INFO] [motion_control-23]: process started with pid [24186]
[INFO] [wheel_status_publisher-24]: process started with pid [24240]
[INFO] [mock_publisher-25]: process started with pid [24243]
[INFO] [robot_state-26]: process started with pid [24254]
[INFO] [kidnap_estimator_publisher-27]: process started with pid [24270]
[INFO] [ui_mgr-28]: process started with pid [24277]
[INFO] [pose_republisher_node-29]: process started with pid [24280]
[INFO] [sensors_node-30]: process started with pid [24290]
[INFO] [interface_buttons_node-31]: process started with pid [24339]
[INFO] [turtlebot4_node-32]: process started with pid [24343]
[INFO] [turtlebot4_ignition_hmi_node-33]: process started with pid [24362]
[INFO] [component_container-34]: process started with pid [24366]
[INFO] [static_transform_publisher-35]: process started with pid [24377]
[INFO] [static_transform_publisher-36]: process started with pid [24398]
[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] [1667656764.168481903] [robot_state_publisher]: got segment base_link
[robot_state_publisher-15] [INFO] [1667656764.168573084] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-15] [INFO] [1667656764.168592676] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-15] [INFO] [1667656764.168604606] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-15] [INFO] [1667656764.168614718] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-15] [INFO] [1667656764.168624841] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-15] [INFO] [1667656764.168635675] [robot_state_publisher]: got segment button_1
[robot_state_publisher-15] [INFO] [1667656764.168646257] [robot_state_publisher]: got segment button_2
[robot_state_publisher-15] [INFO] [1667656764.168657290] [robot_state_publisher]: got segment button_power
[robot_state_publisher-15] [INFO] [1667656764.168668103] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-15] [INFO] [1667656764.168678829] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-15] [INFO] [1667656764.168690415] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-15] [INFO] [1667656764.168700691] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-15] [INFO] [1667656764.168710858] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-15] [INFO] [1667656764.168720637] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-15] [INFO] [1667656764.168730734] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-15] [INFO] [1667656764.168740812] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-15] [INFO] [1667656764.168751366] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-15] [INFO] [1667656764.168761514] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-15] [INFO] [1667656764.168772267] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-15] [INFO] [1667656764.168782667] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-15] [INFO] [1667656764.168792809] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-15] [INFO] [1667656764.168803341] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-15] [INFO] [1667656764.168813532] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-15] [INFO] [1667656764.168826712] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-15] [INFO] [1667656764.168837199] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-15] [INFO] [1667656764.168847752] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-15] [INFO] [1667656764.168858636] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-15] [INFO] [1667656764.168869583] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-15] [INFO] [1667656764.168880296] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-15] [INFO] [1667656764.168890734] [robot_state_publisher]: got segment mouse
[robot_state_publisher-15] [INFO] [1667656764.168901701] [robot_state_publisher]: got segment oakd_pro_camera_bracket
[robot_state_publisher-15] [INFO] [1667656764.168911597] [robot_state_publisher]: got segment oakd_pro_imu_frame
[robot_state_publisher-15] [INFO] [1667656764.168923853] [robot_state_publisher]: got segment oakd_pro_left_camera_frame
[robot_state_publisher-15] [INFO] [1667656764.168934683] [robot_state_publisher]: got segment oakd_pro_left_camera_optical_frame
[robot_state_publisher-15] [INFO] [1667656764.168946266] [robot_state_publisher]: got segment oakd_pro_link
[robot_state_publisher-15] [INFO] [1667656764.168956566] [robot_state_publisher]: got segment oakd_pro_rgb_camera_frame
[robot_state_publisher-15] [INFO] [1667656764.168966781] [robot_state_publisher]: got segment oakd_pro_rgb_camera_optical_frame
[robot_state_publisher-15] [INFO] [1667656764.168978099] [robot_state_publisher]: got segment oakd_pro_right_camera_frame
[robot_state_publisher-15] [INFO] [1667656764.168989187] [robot_state_publisher]: got segment oakd_pro_right_camera_optical_frame
[robot_state_publisher-15] [INFO] [1667656764.168999324] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-15] [INFO] [1667656764.169009268] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-15] [INFO] [1667656764.169019866] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-15] [INFO] [1667656764.169030611] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-15] [INFO] [1667656764.169365802] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-15] [INFO] [1667656764.169378882] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-15] [INFO] [1667656764.169389387] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-15] [INFO] [1667656764.169398830] [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] [1667656764.189208025] [dock_state_publisher]: got segment green_buoy_link
[robot_state_publisher-16] [INFO] [1667656764.189297685] [dock_state_publisher]: got segment halo_link
[robot_state_publisher-16] [INFO] [1667656764.189315345] [dock_state_publisher]: got segment red_buoy_link
[robot_state_publisher-16] [INFO] [1667656764.189327915] [dock_state_publisher]: got segment std_dock_link
[robot_state_publisher-16] [INFO] [1667656764.189338658] [dock_state_publisher]: got segment yellow_buoy_link
[static_transform_publisher-17] [INFO] [1667656764.173208275] [tf_odom_std_dock_link_publisher]: Spinning until killed publishing transform from 'odom' to 'std_dock_link'
[create-18] [INFO] [1667656764.234183186] [ros_ign_gazebo]: Requesting list of world names.
[create-19] [INFO] [1667656764.228146768] [ros_ign_gazebo]: Requesting list of world names.
[hazards_vector_publisher-21] [INFO] [1667656764.195957848] [hazards_vector_publisher]: Advertised topic: /hazard_detection
[hazards_vector_publisher-21] [INFO] [1667656764.196361215] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
[hazards_vector_publisher-21] [INFO] [1667656764.196497233] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
[hazards_vector_publisher-21] [INFO] [1667656764.196645662] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
[hazards_vector_publisher-21] [INFO] [1667656764.196775348] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
[hazards_vector_publisher-21] [INFO] [1667656764.197205359] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
[hazards_vector_publisher-21] [INFO] [1667656764.197357657] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
[hazards_vector_publisher-21] [INFO] [1667656764.197499733] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
[hazards_vector_publisher-21] [INFO] [1667656764.197746755] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
[ir_intensity_vector_publisher-22] [INFO] [1667656764.233725538] [ir_intensity_vector_publisher]: Advertised topic: /ir_intensity
[ir_intensity_vector_publisher-22] [INFO] [1667656764.234091741] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
[ir_intensity_vector_publisher-22] [INFO] [1667656764.234277186] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
[ir_intensity_vector_publisher-22] [INFO] [1667656764.234458211] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
[ir_intensity_vector_publisher-22] [INFO] [1667656764.234650981] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
[ir_intensity_vector_publisher-22] [INFO] [1667656764.234833351] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
[ir_intensity_vector_publisher-22] [INFO] [1667656764.237506180] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
[ir_intensity_vector_publisher-22] [INFO] [1667656764.252352144] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
[motion_control-23] [INFO] [1667656764.257720696] [motion_control]: Enabling REFLEX_BUMP
[motion_control-23] [INFO] [1667656764.257878122] [motion_control]: Enabling REFLEX_CLIFF
[motion_control-23] [INFO] [1667656764.258000031] [motion_control]: Enabling REFLEX_STUCK
[motion_control-23] [INFO] [1667656764.258078469] [motion_control]: Enabling REFLEX_WHEEL_DROP
[wheel_status_publisher-24] [INFO] [1667656764.300930374] [wheel_status_publisher]: Advertised topic: /wheel_vels
[wheel_status_publisher-24] [INFO] [1667656764.308320445] [wheel_status_publisher]: Advertised topic: /wheel_ticks
[mock_publisher-25] [INFO] [1667656764.283370939] [mock_publisher]: Advertised mocked topic: /slip_status
[robot_state-26] [INFO] [1667656764.356260392] [robot_state]: Advertised topic: /battery_state
[robot_state-26] [INFO] [1667656764.357199227] [robot_state]: Subscription to topic: /dock
[robot_state-26] [INFO] [1667656764.357351982] [robot_state]: Advertised topic: /stop_status
[robot_state-26] [INFO] [1667656764.357732216] [robot_state]: Subscription to topic: /odom
[kidnap_estimator_publisher-27] [INFO] [1667656764.373128785] [kidnap_estimator_publisher]: Advertised topic: /kidnap_status
[kidnap_estimator_publisher-27] [INFO] [1667656764.373924196] [kidnap_estimator_publisher]: Subscription to topic: /hazard_detection
[ui_mgr-28] [INFO] [1667656764.327033661] [ui_mgr]: Subscription to topic: /cmd_lightring
[ui_mgr-28] [INFO] [1667656764.331030583] [ui_mgr]: Subscription to topic: /cmd_audio
[turtlebot4_node-32] [INFO] [1667656764.440406049] [turtlebot4_node]: Init Turtlebot4 Node Main
[static_transform_publisher-35] [INFO] [1667656764.491837343] [rplidar_stf]: Spinning until killed publishing transform from 'rplidar_link' to 'turtlebot4/rplidar_link/rplidar'
[turtlebot4_node-32] [INFO] [1667656764.523811403] [turtlebot4_node]: Buttons Init
[turtlebot4_node-32] [INFO] [1667656764.537297283] [turtlebot4_node]: Init Display
[turtlebot4_node-32] [INFO] [1667656764.550726851] [turtlebot4_node]: Leds Init
[turtlebot4_node-32] [INFO] [1667656764.582993308] [turtlebot4_node]: Turtlebot4 standard running.
[parameter_bridge-12] [INFO] [1667656764.633568195] [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] [1667656764.633984799] [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] [1667656764.634171275] [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] [1667656764.656340882] [camera_stf]: Spinning until killed publishing transform from 'oakd_pro_rgb_camera_optical_frame' to 'turtlebot4/oakd_pro_rgb_camera_frame/rgbd_camera'
[spawner-20] [INFO] [1667656764.710362989] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ign gazebo-1] [Msg] Ignition Gazebo Server v5.4.0
[ign gazebo-1] [Msg] Loading SDF world file[/opt/ros/galactic/share/turtlebot4_ignition_bringup/worlds/depot.sdf].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8064491505919932473] / [ign_gazebo_components.Level].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
[ign gazebo-1] [Dbg] [Physics.cc:753] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-4/engine-plugins/libignition-physics-dartsim-plugin.so]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ign gazebo-1] [Msg] Create service on [/world/depot/create]
[ign gazebo-1] [Msg] Remove service on [/world/depot/remove]
[ign gazebo-1] [Msg] Pose service on [/world/depot/set_pose]
[ign gazebo-1] [Msg] Pose service on [/world/depot/set_pose_vector]
[ign gazebo-1] [Msg] Light configuration service on [/world/depot/light_config]
[ign gazebo-1] [Msg] Physics service on [/world/depot/set_physics]
[ign gazebo-1] [Msg] Enable collision service on [/world/depot/enable_collision]
[ign gazebo-1] [Msg] Disable collision service on [/world/depot/disable_collision]
[ign gazebo-1] [Msg] Material service on [/world/depot/visual_config]
[ign gazebo-1] [Msg] Material service on [/world/depot/wheel_slip]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3866641186784191835] / [ign_gazebo_components.Light].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9912133897551038435] / [ign_gazebo_components.LightType].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [360894313363162387] / [ign_gazebo_components.Joint].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4514298940308304267] / [ign_gazebo_components.JointType].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [6791213906290467105] / [ign_gazebo_components.ThreadPitch].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [14863055383328686534] / [ign_gazebo_components.ParentLinkName].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [3888602368311486678] / [ign_gazebo_components.ChildLinkName].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [16752981946841796574] / [ign_gazebo_components.JointAxis].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17053779755061317520] / [ign_gazebo_components.ModelCanonicalLink].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
[ign gazebo-1] [Msg] Joint velocity initialized to [1]
[ign gazebo-1] [Dbg] [JointController.cc:142] [JointController] Velocity mode
[ign gazebo-1] [Msg] JointController subscribing to Double messages on [/model/Depot/joint/fan1_joint/cmd_vel]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::JointController] for entity [4]
[ign gazebo-1] [Msg] Joint velocity initialized to [2]
[ign gazebo-1] [Dbg] [JointController.cc:142] [JointController] Velocity mode
[ign gazebo-1] [Msg] JointController subscribing to Double messages on [/model/Depot/joint/fan2_joint/cmd_vel]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::JointController] for entity [4]
[ign gazebo-1] [Msg] Loaded level [3]
[ign gazebo-1] [Msg] Serving world controls on [/world/depot/control] and [/world/depot/playback/control]
[ign gazebo-1] [Msg] Serving GUI information on [/world/depot/gui/info]
[ign gazebo-1] [Msg] World [depot] initialized with [1ms] physics profile.
[create-19] [INFO] [1667656764.950561271] [ros_ign_gazebo]: Waiting messages on topic [standard_dock_description].
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[create-18] [INFO] [1667656765.051370494] [ros_ign_gazebo]: Waiting messages on topic [robot_description].
[create-18] [INFO] [1667656765.151008780] [ros_ign_gazebo]: Requested creation of entity.
[create-18] [INFO] [1667656765.151069323] [ros_ign_gazebo]: OK creation of entity.
[create-19] [INFO] [1667656765.151061108] [ros_ign_gazebo]: Requested creation of entity.
[create-19] [INFO] [1667656765.151114910] [ros_ign_gazebo]: OK creation of entity.
[INFO] [create-19]: process has finished cleanly [pid 24154]
[INFO] [create-18]: process has finished cleanly [pid 24124]
[ign gazebo-1] [Msg] Serving world SDF generation service[Msg] Ignition Gazebo GUI v5.4.0
[ign gazebo-1] [Dbg] [Application.cc:90] Initializing application.
[ign gazebo-1] [GUI] [Dbg] [Application.cc:515] Create main window
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:145] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:91] Requesting initial state from [/world/depot/state]...
[ign gazebo-1] [GUI] [Msg] Loading config [/opt/ros/galactic/share/turtlebot4_ignition_bringup/gui/standard/gui.config]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [GzScene3D]
[ign gazebo-1] [GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[ign gazebo-1] [GUI] [Msg] Transform mode service on [/gui/transform_mode]
[ign gazebo-1] [GUI] [Msg] Record video service on [/gui/record_video]
[ign gazebo-1] [GUI] [Msg] Move to service on [/gui/move_to]
[ign gazebo-1] [GUI] [Msg] Follow service on [/gui/follow]
[ign gazebo-1] [GUI] [Msg] Follow offset service on [/gui/follow/offset]
[ign gazebo-1] [GUI] [Msg] View angle service on [/gui/view_angle]
[ign gazebo-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[ign gazebo-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-5/plugins/gui/libGzScene3D.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [WorldControl]
[ign gazebo-1] [GUI] [Msg] Using world control service [/world/depot/control]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libWorldControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [WorldStats]
[ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats]
[ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libWorldStats.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [TransformControl]
[ign gazebo-1] [INFO] [1667656765.509904286] [ignition_ros_control]: [ign_ros2_control] Fixed joint [bump_front_center_joint] (Entity=113)] is skipped
[ign gazebo-1] [INFO] [1667656765.510126499] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_caster_joint] (Entity=114)] is skipped
[ign gazebo-1] [INFO] [1667656765.510145793] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_left_bottom_weight_block_joint] (Entity=115)] is skipped
[ign gazebo-1] [INFO] [1667656765.510158855] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_left_top_weight_block_joint] (Entity=116)] is skipped
[ign gazebo-1] [INFO] [1667656765.510170832] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_right_bottom_weight_block_joint] (Entity=117)] is skipped
[ign gazebo-1] [INFO] [1667656765.510196844] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_right_top_weight_block_joint] (Entity=118)] is skipped
[ign gazebo-1] [INFO] [1667656765.510208981] [ignition_ros_control]: [ign_ros2_control] Fixed joint [imu_joint] (Entity=119)] is skipped
[ign gazebo-1] [INFO] [1667656765.510221648] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_left_joint] (Entity=120)] is skipped
[ign gazebo-1] [INFO] [1667656765.510233907] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_right_joint] (Entity=121)] is skipped
[ign gazebo-1] [INFO] [1667656765.510253077] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_left_joint] (Entity=122)] is skipped
[ign gazebo-1] [INFO] [1667656765.510265964] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_right_joint] (Entity=123)] is skipped
[ign gazebo-1] [INFO] [1667656765.510277924] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_left_joint] (Entity=124)] is skipped
[ign gazebo-1] [INFO] [1667656765.510290342] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_right_joint] (Entity=125)] is skipped
[ign gazebo-1] [INFO] [1667656765.510302944] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_intensity_side_left_joint] (Entity=126)] is skipped
[ign gazebo-1] [INFO] [1667656765.510328586] [ignition_ros_control]: [ign_ros2_control] Fixed joint [ir_omni_joint] (Entity=127)] is skipped
[ign gazebo-1] [INFO] [1667656765.510344475] [ignition_ros_control]: [ign_ros2_control] Fixed joint [mouse_joint] (Entity=128)] is skipped
[ign gazebo-1] [INFO] [1667656765.510357145] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_left_tower_standoff_joint] (Entity=129)] is skipped
[ign gazebo-1] [INFO] [1667656765.510369932] [ignition_ros_control]: [ign_ros2_control] Fixed joint [front_right_tower_standoff_joint] (Entity=130)] is skipped
[ign gazebo-1] [INFO] [1667656765.510395056] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_camera_bracket_joint] (Entity=131)] is skipped
[ign gazebo-1] [INFO] [1667656765.510408700] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_joint] (Entity=132)] is skipped
[ign gazebo-1] [INFO] [1667656765.510421312] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_imu_joint] (Entity=133)] is skipped
[ign gazebo-1] [INFO] [1667656765.510433748] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_left_camera_joint] (Entity=134)] is skipped
[ign gazebo-1] [INFO] [1667656765.510446037] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_left_camera_optical_joint] (Entity=135)] is skipped
[ign gazebo-1] [INFO] [1667656765.510458056] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_rgb_camera_joint] (Entity=136)] is skipped
[ign gazebo-1] [INFO] [1667656765.510470378] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_rgb_camera_optical_joint] (Entity=137)] is skipped
[ign gazebo-1] [INFO] [1667656765.510482780] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_right_camera_joint] (Entity=138)] is skipped
[ign gazebo-1] [INFO] [1667656765.510499327] [ignition_ros_control]: [ign_ros2_control] Fixed joint [oakd_pro_right_camera_optical_joint] (Entity=139)] is skipped
[ign gazebo-1] [INFO] [1667656765.510511777] [ignition_ros_control]: [ign_ros2_control] Fixed joint [rear_left_tower_standoff_joint] (Entity=140)] is skipped
[ign gazebo-1] [INFO] [1667656765.510523560] [ignition_ros_control]: [ign_ros2_control] Fixed joint [rear_right_tower_standoff_joint] (Entity=141)] is skipped
[ign gazebo-1] [INFO] [1667656765.510536051] [ignition_ros_control]: [ign_ros2_control] Fixed joint [rplidar_joint] (Entity=142)] is skipped
[ign gazebo-1] [INFO] [1667656765.510580460] [ignition_ros_control]: [ign_ros2_control] Fixed joint [tower_sensor_plate_joint] (Entity=143)] is skipped
[ign gazebo-1] [INFO] [1667656765.522052796] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1667656765.529311850] [ignition_ros_control]: Received URDF from param server
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:369: ReferenceError: control is not defined
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:391: ReferenceError: control is not defined
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:413: ReferenceError: control is not defined
[ign gazebo-1] [GUI] [Wrn] [Application.cc:757] [QT] file::/Turtlebot4Hmi/Turtlebot4Hmi.qml:435: ReferenceError: control is not defined
[ign gazebo-1] [INFO] [1667656765.534202991] [ignition_ros_control]: Loading joint: left_wheel_joint
[ign gazebo-1] [INFO] [1667656765.534251341] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1667656765.534266999] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1667656765.534282940] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1667656765.534294118] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1667656765.534309606] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1667656765.534430524] [ignition_ros_control]: Loading sensor: imu
[ign gazebo-1] [INFO] [1667656765.534446622] [ignition_ros_control]: State:
[ign gazebo-1] [WARN] [1667656765.534501921] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1667656765.534590129] [ignition_ros_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1667656765.534764135] [ignition_ros_control]: Loading joint: right_wheel_joint
[ign gazebo-1] [INFO] [1667656765.534779807] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1667656765.534788476] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1667656765.534797024] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1667656765.534804841] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1667656765.534812683] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1667656765.534824159] [ignition_ros_control]: Loading sensor: imu
[ign gazebo-1] [INFO] [1667656765.534833239] [ignition_ros_control]: State:
[ign gazebo-1] [WARN] [1667656765.534842120] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1667656765.534851700] [ignition_ros_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1667656765.534864139] [ignition_ros_control]: Loading controller_manager
[ign gazebo-1] [GUI] [Msg] Added plugin [Transform contr on [/world/depot/generate_world_sdf]
[ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds]
[ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ign gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ign gazebo-1] [Msg] Server control service on [/server_control].
[ign gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[ign gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[ign gazebo-1] [Dbg] [SimulationRunner.cc:521] Creating PostUpdate worker threads: 2
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (0)
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [1301926277928136113] / [ign_gazebo_components.GpuLidar].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9386381083157376121] / [ign_gazebo_components.ContactSensor].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17771214158902094494] / [ign_gazebo_components.Imu].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [10461520141335422054] / [ign_gazebo_components.WorldPose].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9810498410555695050] / [ign_gazebo_components.AngularVelocity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [17373107141547024696] / [ign_gazebo_components.LinearAcceleration].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [12225837088678955875] / [ign_gazebo_components.RgbdCamera].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4068291309002341380] / [ign_gazebo_components.JointVelocity].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [16434675394613771646] / [ign_gazebo_components.JointForce].
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ign_ros2_control::IgnitionROS2ControlPlugin] for entity [30]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [30]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::Contact] for entity [30]
[ign gazebo-1] [Dbg] [Sensors.cc:381] Configuring Sensors system
[ign gazebo-1] [Dbg] [Sensors.cc:311] SensorsPrivate::Run
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::Sensors] for entity [30]
[ign gazebo-1] [INFO] [1667656765.723553076] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-20] [INFO] [1667656765.739112014] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ign gazebo-1] [INFO] [1667656765.742749997] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1667656765.742904168] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v115ModelE], which doesn't have operator<<. Component will not be serialized.
[ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v115ModelE], which doesn't have operator<<. Component will not be serialized.
[ign gazebo-1] [Wrn] [Component.hh:127] Trying to serialize component with data type [St10shared_ptrIN3sdf3v117ElementEE], which doesn't have operator<<. Component will not be serialized.
[ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v115WorldE], which doesn't have operator<<. Component will not be serialized.
[ign gazebo-1] [WARN] [1667656765.814503219] [ignition_ros_control]: Desired controller update period (0.001 s) is slower than the gazebo simulation period (0 s).
[ign gazebo-1] [Dbg] [Sensors.cc:291] ol] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-5/plugins/gui/libTransformControl.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [Shapes]
[ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-5/plugins/gui/libShapes.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [Turtlebot4Hmi]
[ign gazebo-1] [GUI] [Msg] Added plugin [Turtlebot4 HMI] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Turtlebot4Hmi] from path [/opt/ros/galactic/share/turtlebot4_ignition_gui_plugins/lib/libTurtlebot4Hmi.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:392] Loading plugin [Teleop]
[ign gazebo-1] [GUI] [Msg] Added plugin [Teleop] to main window
[ign gazebo-1] [GUI] [Msg] Loaded plugin [Teleop] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libTeleop.so]
[ign gazebo-1] [GUI] [Dbg] [Application.cc:529] Applying config
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
[ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v115ModelE], which doesn't have operator>>. Component will not be deserialized.
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17373107141547024696] / [ign_gazebo_components.LinearAcceleration].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9810498410555695050] / [ign_gazebo_components.AngularVelocity].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17771214158902094494] / [ign_gazebo_components.Imu].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [10461520141335422054] / [ign_gazebo_components.WorldPose].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [1301926277928136113] / [ign_gazebo_components.GpuLidar].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [12225837088678955875] / [ign_gazebo_components.RgbdCamera].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6791213906290467105] / [ign_gazebo_components.ThreadPitch].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [360894313363162387] / [ign_gazebo_components.Joint].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3888602368311486678] / [ign_gazebo_components.ChildLinkName].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [14863055383328686534] / [ign_gazebo_components.ParentLinkName].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4514298940308304267] / [ign_gazebo_components.JointType].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [16752981946841796574] / [ign_gazebo_components.JointAxis].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [16434675394613771646] / [ign_gazebo_components.JointForce].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4068291309002341380] / [ign_gazebo_components.JointVelocity].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17053779755061317520] / [ign_gazebo_components.ModelCanonicalLink].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
[ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v115WorldE], which doesn't have operator>>. Component will not be deserialized.
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4906787361437880049] / [ign_gazebo_components.PhysicsSolver].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [7381306350865462520] / [ign_gazebo_components.PhysicsCollisionDetector].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
[ign gazebo-1] [GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
[ign gazebo-1] [GUI] [Wrn] [Component.hh:172] Trying to deserialize component with data type [St10shared_ptrIN3sdf3v117ElementEE], which doesn't have operator>>. Component will not be deserialized.
[ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1894] emission texture not supported
[ign gazebo-1] [GUI] [Dbg] [EntiSensorsPrivate::RenderThread started
[ign gazebo-1] [Dbg] [Sensors.cc:190] Waiting for init
[ign gazebo-1] [Dbg] [UserCommands.cc:1145] Created entity [30] named [turtlebot4]
[ign gazebo-1] [Dbg] [SimulationRunner.cc:882] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [148]
[ign gazebo-1] [Dbg] [UserCommands.cc:1145] Created entity [148] named [standard_dock]
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [7381306350865462520] / [ign_gazebo_components.PhysicsCollisionDetector].
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [4906787361437880049] / [ign_gazebo_components.PhysicsSolver].
[ign gazebo-1] [Msg] Serving scene information on [/world/depot/scene/info]
[ign gazebo-1] [Msg] Serving graph information on [/world/depot/scene/graph]
[ign gazebo-1] [Msg] Serving full state on [/world/depot/state]
[ign gazebo-1] [Msg] Serving full state (async) on [/world/depot/state_async]
[ign gazebo-1] [Msg] Publishing scene information on [/world/depot/scene/info]
[ign gazebo-1] [Msg] Publishing entity deletions on [/world/depot/scene/deletion]
[ign gazebo-1] [Msg] Publishing state changes on [/world/depot/state]
[ign gazebo-1] [Msg] Publishing pose messages on [/world/depot/pose/info]
[ign gazebo-1] [Msg] Publishing dynamic pose messages on [/world/depot/dynamic_pose/info]
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:1170] Updated state thread iterators: 8 threads processing around 21 components each.
[ign gazebo-1] [Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread (0)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:521] Creating PostUpdate worker threads: 7
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (0)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (1)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (2)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (3)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (4)
[ign gazebo-1] [Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (5)
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:767] Using components of type [14423792621074650228] / [ign_gazebo_components.JointVelocityCmd].
[ign gazebo-1] [Dbg] [Sensors.cc:469] Initialization needed
[ign gazebo-1] [Dbg] [Sensors.cc:202] Initializing render context
[ign gazebo-1] [Dbg] [EntityComponentManager.cc:1170] Updated state thread iterators: 8 threads processing around 21 components each.
[ign gazebo-1] [Msg] Loading plugin [ignition-rendering-ogre]
[ign gazebo-1] [Wrn] [ColladaLoader.cc:1894] emission texture not supported
[ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1894] emission texture not supported
[ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1894] emission texture not supported
[ign gazebo-1] [Wrn] [ColladaLoader.cc:1894] emission texture not supported
[ign gazebo-1] [Wrn] [ColladaLoader.cc:1894] emission texture not supported
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: ROOF. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: WALLS. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: PILLERS. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FANS. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: INTERCOM. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FireAlarm. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FireAlarmPole. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: Pipes. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: STAIRS. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: BOXSET. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FLOOR. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FanBack. Checking first set with index: 0
[ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FAN1. Checking first set with index: 0
[ign gazebo-1] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[ign gazebo-1] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[ign gazebo-1] [Dbg] [RenderUtil.cc:1829] Create scene [scene]
[ign gazebo-1] [Dbg] [Sensors.cc:215] Rendering Thread initialized
[ign gazebo-1] [Dbg] [RgbdCameraSensor.cc:214] RGB images for [turtlebot4::oakd_pro_rgb_camera_frame::rgbd_camera] advertised on [world/depot/model/turtlebot4/link/oakd_pro_rgb_camera_frame/sensor/rgbd_camera/image]
[ign gazebo-1] [Dbg] [RgbdCameraSensor.cc:228] Depth images for [turtlebot4::oakd_pro_rgb_camera_frame::rgbd_camera] advertised on [world/depot/model/turtlebot4/link/oakd_pro_rgb_camera_frame/sensor/rgbd_camera/depth_image]
[ign gazebo-1] [Dbg] [RgbdCameraSensor.cc:242] Points for [turtlebot4::oakd_pro_rgb_camera_frame::rgbd_camera] advertised on [world/depot/model/turtlebot4/link/oakd_pro_rgb_camera_frame/sensor/rgbd_camera/points]
[ign gazebo-1] [Dbg] [CameraSensor.cc:531] Camera info for [turtlebot4::oakd_pro_rgb_camera_frame::rgbd_camera] advertised on [world/depot/model/turtlebot4/link/oakd_pro_rgb_camera_frame/sensor/rgbd_camera/camera_info]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::base_link::cliff_front_left] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::base_link::cliff_front_left] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_front_left/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::base_link::cliff_front_right] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::base_link::cliff_front_right] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_front_right/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::base_link::cliff_side_left] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::base_link::cliff_side_left] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_side_left/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::base_link::cliff_side_right] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::base_link::cliff_side_right] advertised on [world/depot/model/turtlebot4/link/base_link/sensor/cliff_side_right/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/depot/model/turtlebot4/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_left::ir_intensity_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_left::ir_intensity_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_left/sensor/ir_intensity_left/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_right::ir_intensity_right] advertised on [world/depot/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_right::ir_intensity_right] advertised on [world/depot/model/turtlebot4/link/ir_intensity_right/sensor/ir_intensity_right/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::ir_intensity_side_left::ir_intensity_side_left] advertised on [world/depot/model/turtlebot4/link/ir_intensity_side_left/sensor/ir_intensity_side_left/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [turtlebot4::rplidar_link::rplidar] advertised on [world/depot/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan]
[ign gazebo-1] [Dbg] [GpuLidarSensor.cc:149] Lidar points for [turtlebot4::rplidar_link::rplidar] advertised on [world/depot/model/turtlebot4/link/rplidar_link/sensor/rplidar/scan/points]
[ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [standard_dock::green_buoy_link::green_buoy] advertised on [world/depot/model/standard_dock/link/green_buoy_link/sensor/green_buoy/scan]
[ign gazebo-1] [Wrn] [OgreGpuRays.cc:253] Horizontal FOV for GPU rays is capped at 180 degrees.
[ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported

hilary-luo commented

This issue is being closed due to inactivity. If you are still experiencing the issue, feel free to reopen this ticket when you are ready to continue the troubleshooting process.

dlitvak commented

Experiencing the same issue. Robot doesn't move on arrow press, even though the commands do publish in /cmd_vel.
Have you been able to resolve this? How do I debug?

I start robot via ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py model:=lite
I can see the robot.

ros2 launch turtlebot4_ignition_bringup ignition.launch.py
The scene is rendered, but the robot is not there.

hilary-luo commented

@dlitvak Please open your own issue and I can help you troubleshoot there. That being said, first make sure that you are pressing play on the simulation. The operation you are describing is also what I would expect to see if you haven't pressed play.

I start robot via ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py model:=lite
I can see the robot.

ros2 launch turtlebot4_ignition_bringup ignition.launch.py
The scene is rendered, but the robot is not there.

What you described here is expected operation in humble. The first launch file is the one that you should be using, the second one launches only the ignition gazebo environment. I see a place where this command on the website wasn't updated for Humble, I will make sure that gets fixed. The Turtlebot 4 Simulator page and the Tutorials have all been updated so they are good resources on how to launch the simulation in Humble.