masterrobotica-uvic / copter_arm_robot Goto Github PK

itfanr@itfanr-pc:catkin_ws$ roslaunch copter_arm_robot copter_arm_sim.launch
... logging to /home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/roslaunch-itfanr-pc-25125.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://itfanr-pc:38009/

SUMMARY
========

PARAMETERS
 * /copter_arm/free_controller/joint: free_joint
 * /copter_arm/free_controller/type: effort_controller...
 * /copter_arm/motor_controller/joint: motor_joint
 * /copter_arm/motor_controller/type: velocity_controll...
 * /copter_arm/state_controller/publish_rate: 50
 * /copter_arm/state_controller/type: joint_state_contr...
 * /copter_arm_angle_controller/Kd: 0.0
 * /copter_arm_angle_controller/Ki: 0.0
 * /copter_arm_angle_controller/Kp: 0.0
 * /copter_arm_angle_controller/diagnostic_period: 0.25
 * /copter_arm_angle_controller/lower_limit: -9999999
 * /copter_arm_angle_controller/max_loop_frequency: 100.0
 * /copter_arm_angle_controller/min_loop_frequency: 100.0
 * /copter_arm_angle_controller/upper_limit: 9999999
 * /copter_arm_angle_controller/windup_limit: 500
 * /joint_state_publisher/source_list: ['copter_arm/join...
 * /joint_state_publisher/use_gui: False
 * /mouse_teleop/frequency: 10.0
 * /mouse_teleop/holonomic: False
 * /mouse_teleop/scale: 1.4
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /copter_arm/
    controller_spawner (controller_manager/spawner)
  /
    copter_arm_angle_controller (pid/controller)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    mouse_teleop (mouse_teleop/mouse_teleop.py)
    plots (rqt_gui/rqt_gui)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    setpoint_transformer (topic_tools/transform)
    state_transformer (topic_tools/transform)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [25139]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fa6e36cc-b63e-11e8-bf7f-408d5c402b0c
process[rosout-1]: started with pid [25152]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [25168]
process[robot_state_publisher-3]: started with pid [25177]
process[copter_arm/controller_spawner-4]: started with pid [25178]
process[gazebo-5]: started with pid [25179]
process[gazebo_gui-6]: started with pid [25186]
process[urdf_spawner-7]: started with pid [25200]
process[copter_arm_angle_controller-8]: started with pid [25210]
process[mouse_teleop-9]: started with pid [25221]
process[setpoint_transformer-10]: started with pid [25233]
process[state_transformer-11]: started with pid [25237]
process[plots-12]: started with pid [25242]
[INFO] [1536724225.747098, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
ERROR: Wrong input topic (or topic field): /copter_arm/joint_states
ERROR: Wrong input topic (or topic field): /mouse_vel
[ INFO] [1536724226.180601325]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536724226.184209954]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1536724226.198175747]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536724226.210003024]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[setpoint_transformer-10] process has died [pid 25233, exit code 1, cmd /opt/ros/kinetic/lib/topic_tools/transform /mouse_vel /setpoint std_msgs/Float64 m.linear.x /control_effort:=/copter_arm/motor_controller/command __name:=setpoint_transformer __log:=/home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/setpoint_transformer-10.log].
log file: /home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/setpoint_transformer-10*.log
[state_transformer-11] process has died [pid 25237, exit code 1, cmd /opt/ros/kinetic/lib/topic_tools/transform /copter_arm/joint_states /state std_msgs/Float64 m.position[0] /control_effort:=/copter_arm/motor_controller/command __name:=state_transformer __log:=/home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/state_transformer-11.log].
log file: /home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/state_transformer-11*.log
[setpoint_transformer-10] restarting process
process[setpoint_transformer-10]: started with pid [25475]
[state_transformer-11] restarting process
process[state_transformer-11]: started with pid [25476]
X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  153 (DRI2)
  Minor opcode of failed request:  3 (DRI2CreateDrawable)
  Resource id in failed request:  0x5600002
  Serial number of failed request:  31
  Current serial number in output stream:  33
SpawnModel script started
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
terminate called recursively
[INFO] [1536724226.743930, 0.000000]: Loading model XML from ros parameter
[INFO] [1536724226.757329, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
Aborted (core dumped)
[gazebo_gui-6] process has died [pid 25186, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient /control_effort:=/copter_arm/motor_controller/command __name:=gazebo_gui __log:=/home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/gazebo_gui-6.log].
log file: /home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/gazebo_gui-6*.log
[ INFO] [1536724226.946387932, 0.026000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1536724227.042736693, 0.119000000]: Physics dynamic reconfigure ready.
[INFO] [1536724227.068358, 0.144000]: Calling service /gazebo/spawn_urdf_model
PluginManager._load_plugin() could not load plugin "rqt_publisher/Publisher": plugin not available
PluginManager._load_plugin() could not load plugin "rqt_reconfigure/Param": plugin not available
PluginManager._load_plugin() could not load plugin "rqt_plot/Plot": plugin not available
[INFO] [1536724227.352071, 0.325000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1536724227.370441750, 0.325000000]: Loading gazebo_ros_control plugin
[ INFO] [1536724227.370531264, 0.325000000]: Starting gazebo_ros_control plugin in namespace: /copter_arm
[ INFO] [1536724227.371216852, 0.325000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1536724227.485771049, 0.325000000]: Loaded gazebo_ros_control.
[urdf_spawner-7] process has finished cleanly
log file: /home/itfanr/.ros/log/fa6e36cc-b63e-11e8-bf7f-408d5c402b0c/urdf_spawner-7*.log
[INFO] [1536724227.618617, 0.467000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1536724227.620351, 0.469000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1536724227.622116, 0.471000]: Loading controller: state_controller
[INFO] [1536724227.631978, 0.481000]: Loading controller: motor_controller
[INFO] [1536724227.649024, 0.499000]: Controller Spawner: Loaded controllers: state_controller, motor_controller
[INFO] [1536724227.653153, 0.503000]: Started controllers: state_controller, motor_controller