When I run this command: roslaunchrbvogui _ sim _ brinuprbvogui _ complete. launchrobot _ model: = rbvogui robot _ xacro: = rbvogui _ std.urdf.xacro run _ localization: = true run _ navigation: = true. #13
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roslaunch rbvogui_sim_bringup rbvogui_complete.launch robot_model:=rbvogui robot_xacro:=rbvogui_std.urdf.xacro run_localization:=true run_navigation:=true
... logging to /home/zxcv/.ros/log/341f9fde-eac6-11ee-b94c-b93d09b9055a/roslaunch-ubuntu-2846.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://localhost:33577/
SUMMARY
PARAMETERS
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
rviz (rviz/rviz)
/robot/
amcl (amcl/amcl)
controller_spawner (controller_manager/spawner)
front_laser_filter (laser_filters/scan_to_scan_filter_chain)
map_server (map_server/map_server)
move_base (move_base/move_base)
rear_laser_filter (laser_filters/scan_to_scan_filter_chain)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
twist_mux (twist_mux/twist_mux)
urdf_spawner_robot_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [2860]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 341f9fde-eac6-11ee-b94c-b93d09b9055a
process[rosout-1]: started with pid [2871]
started core service [/rosout]
process[gazebo-2]: started with pid [2878]
process[gazebo_gui-3]: started with pid [2883]
process[robot/urdf_spawner_robot_model-4]: started with pid [2885]
process[robot/robot_state_publisher-5]: started with pid [2888]
process[robot/controller_spawner-6]: started with pid [2890]
process[robot/twist_mux-7]: started with pid [2891]
process[rviz-8]: started with pid [2892]
process[robot/amcl-9]: started with pid [2894]
process[robot/map_server-10]: started with pid [2900]
process[robot/move_base-11]: started with pid [2901]
process[robot/front_laser_filter-12]: started with pid [2903]
process[robot/rear_laser_filter-13]: started with pid [2904]
[ INFO] [1711384752.569426167]: Subscribed to map topic.
[INFO] [1711384753.637777, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1711384753.709763, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1711384753.725775, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1711384755.137616580]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711384755.141943461]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1711384755.629167338]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711384755.633923486]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1711384756.809885784]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1711384756.846204654, 95.570000000]: Physics dynamic reconfigure ready.
[ WARN] [1711384757.054520000, 95.759000000]: No laser scan received (and thus no pose updates have been published) for 95.759000 seconds. Verify that data is being published on the /robot/front_laser/scan topic.
[ WARN] [1711384757.056059555, 95.760000000]: No laser scan received (and thus no pose updates have been published) for 95.760000 seconds. Verify that data is being published on the /robot/front_laser/scan topic.
[INFO] [1711384757.056691, 95.759000]: Calling service /gazebo/spawn_urdf_model
[ WARN] [1711384757.057515555, 95.761000000]: Timed out waiting for transform from robot_base_footprint to robot_map to become available before running costmap, tf error: canTransform: target_frame robot_map does not exist. canTransform: source_frame robot_base_footprint does not exist.. canTransform returned after 95.761 timeout was 0.1.
[ INFO] [1711384757.075555323, 95.767000000]: Received a 896 X 928 map @ 0.050 m/pix
[ INFO] [1711384757.315488502, 95.843000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1711384757.482608962, 95.843000000]: Done initializing likelihood field model.
[ INFO] [1711384757.874350592, 95.843000000]: Laser Plugin: Using the 'robotNamespace' param: '/robot/'
[ INFO] [1711384757.874456363, 95.843000000]: Starting GazeboRosLaser Plugin (ns = /robot/)
[ INFO] [1711384757.884493917, 95.843000000]: GPU Laser Plugin (ns = /robot/) <tf_prefix_>, set to ""
[ INFO] [1711384757.885361161, 95.843000000]: LoadThread function completed
[INFO] [1711384757.890142, 95.843000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1711384757.958934930, 95.843000000]: Camera Plugin: Using the 'robotNamespace' param: '/robot/'
[ INFO] [1711384757.964031044, 95.843000000]: Camera Plugin (ns = /robot/) <tf_prefix_>, set to ""
[ INFO] [1711384758.091231841, 95.843000000]: Loading gazebo_ros_control plugin
[ INFO] [1711384758.091434908, 95.843000000]: Starting gazebo_ros_control plugin in namespace: /robot/
[ INFO] [1711384758.092302475, 95.843000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot/robot_description] on the ROS param server.
[ERROR] [1711384758.225805036, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_right_motor_wheel_joint
[ERROR] [1711384758.227965116, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_right_wheel_joint
[ERROR] [1711384758.229483063, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_left_motor_wheel_joint
[ERROR] [1711384758.230299082, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_left_wheel_joint
[ERROR] [1711384758.231076649, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_left_motor_wheel_joint
[ERROR] [1711384758.231906067, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_left_wheel_joint
[ERROR] [1711384758.232644856, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_right_motor_wheel_joint
[ERROR] [1711384758.233201776, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_right_wheel_joint
[ INFO] [1711384758.246394555, 95.843000000]: Loaded gazebo_ros_control.
[INFO] [1711384758.474023, 95.968000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1711384758.477740, 95.970000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1711384758.487123, 95.977000]: Loading controller: robotnik_base_control
[ INFO] [1711384758.691409517, 96.141000000]: Dynamic Reconfigure:
DynamicParams:
Kinematic parameters:
direction wheels init range: 3.14
direction wheels moving range: 3.14
[ INFO] [1711384758.694029801, 96.149000000]: /robot/robotnik_base_control::initController: everything is OK!
[INFO] [1711384758.695668, 96.149000]: Loading controller: joint_read_command_controller
[robot/urdf_spawner_robot_model-4] process has finished cleanly
log file: /home/zxcv/.ros/log/341f9fde-eac6-11ee-b94c-b93d09b9055a/robot-urdf_spawner_robot_model-4*.log
[INFO] [1711384758.748620, 96.192000]: Loading controller: joint_read_state_controller
[INFO] [1711384758.767670, 96.203000]: Controller Spawner: Loaded controllers: robotnik_base_control, joint_read_command_controller, joint_read_state_controller
[ INFO] [1711384758.773395639, 96.205000000]: /robot/robotnik_base_control: Starting!
[INFO] [1711384758.773950, 96.205000]: Started controllers: robotnik_base_control, joint_read_command_controller, joint_read_state_controller
[ INFO] [1711384759.131560320, 96.534000000]: global_costmap: Using plugin "static_map_layer"
[ INFO] [1711384759.145898733, 96.542000000]: Requesting the map...
[ INFO] [1711384759.364408170, 96.743000000]: Resizing costmap to 896 X 928 at 0.050000 m/pix
[ INFO] [1711384759.472725805, 96.842000000]: Received a 896 X 928 map at 0.050000 m/pix
[ INFO] [1711384759.475017119, 96.842000000]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1711384759.639421453, 97.004000000]: local_costmap: Using plugin "obstacle_laser_layer"
[ INFO] [1711384759.665804983, 97.028000000]: Subscribed to Topics: front_laser rear_laser
[ INFO] [1711384759.762992663, 97.135000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1711384759.914769909, 97.284000000]: Created local_planner teb_local_planner/TebLocalPlannerROS
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ WARN] [1711384759.957613142, 97.321000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ WARN] [1711384759.989057653, 97.356000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.4410 seconds
[ INFO] [1711384760.184868830, 97.545000000]: Footprint model 'polygon' loaded for trajectory optimization.
[ INFO] [1711384760.185832399, 97.546000000]: Parallel planning in distinctive topologies disabled.
[ INFO] [1711384760.454134315, 97.778000000]: Costmap conversion plugin costmap_converter::CostmapToPolygonsDBSMCCH loaded.
[ INFO] [1711384760.978654122, 98.254000000]: Recovery behavior will clear layer 'obstacle_laser_layer'
[ INFO] [1711384760.985358468, 98.258000000]: Recovery behavior will clear layer 'obstacle_laser_layer'
[ INFO] [1711384761.164980839, 98.403000000]: odom received!
[ WARN] [1711384761.175377471, 98.412000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2560 seconds
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 103.724000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ WARN] [1711384766.901763431, 103.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 103.724000 according to authority unknown_publisher
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