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office_gzweb/logs/run_all_20260425_200001/A_sim.log

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-25-20-00-02-971634-ip-172-31-64-247.cn-northwest-1.compute.internal-358
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: [turtlebot3_office_gz] Isolated GZ_PARTITION=tb3_office_gz (close other gz sim windows or they stay on the default partition). World=/workspace/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf
[INFO] [robot_state_publisher-1]: process started with pid [393]
[INFO] [static_transform_publisher-2]: process started with pid [395]
[INFO] [ruby $(which gz) sim-3]: process started with pid [397]
[INFO] [parameter_bridge-4]: process started with pid [399]
[robot_state_publisher-1] [INFO] [1777118403.252285103] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1777118403.252430624] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1777118403.252446124] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1777118403.252455016] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1777118403.252464155] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1777118403.252472603] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1777118403.252480813] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1777118403.252488796] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1777118403.252496317] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1777118403.252505270] [robot_state_publisher]: got segment realsense_depth_frame
[robot_state_publisher-1] [INFO] [1777118403.252514593] [robot_state_publisher]: got segment realsense_link
[robot_state_publisher-1] [INFO] [1777118403.252522772] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1777118403.252530768] [robot_state_publisher]: got segment wheel_right_link
[ruby $(which gz) sim-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-devuser'
[static_transform_publisher-2] [INFO] [1777118403.532334339] [gz_lidar_frame_align]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_scan' to 'turtlebot3_waffle/base_scan/hls_lfcd_lds'
[parameter_bridge-4] [INFO] [1777118403.572466927] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.575279023] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot3_waffle/cmd_vel (gz.msgs.Twist) -> /model/turtlebot3_waffle/cmd_vel (geometry_msgs/msg/Twist)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.578163176] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/model/turtlebot3_waffle/cmd_vel (geometry_msgs/msg/Twist) -> /model/turtlebot3_waffle/cmd_vel (gz.msgs.Twist)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.579886037] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot3_waffle/odometry (gz.msgs.Odometry) -> /model/turtlebot3_waffle/odometry (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.582617247] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/model/turtlebot3_waffle/odometry (nav_msgs/msg/Odometry) -> /model/turtlebot3_waffle/odometry (gz.msgs.Odometry)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.583917188] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/turtlebot3_waffle/joint_state (gz.msgs.Model) -> /world/default/model/turtlebot3_waffle/joint_state (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.585735996] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/turtlebot3_waffle/tf (gz.msgs.Pose_V) -> /model/turtlebot3_waffle/tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.587541566] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/scan (gz.msgs.LaserScan) -> /scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777118403.588496698] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/scan (sensor_msgs/msg/LaserScan) -> /scan (gz.msgs.LaserScan)] (Lazy 0)
[ruby $(which gz) sim-3] Warning [Inertia.cpp:233] [Inertia::verifyMoment] Invalid entry for (0,0): 0. Value should be positive and greater than zero.
[ruby $(which gz) sim-3] Warning [Inertia.cpp:233] [Inertia::verifyMoment] Invalid entry for (1,1): 0. Value should be positive and greater than zero.
[ruby $(which gz) sim-3] Warning [Inertia.cpp:233] [Inertia::verifyMoment] Invalid entry for (2,2): 0. Value should be positive and greater than zero.
[ruby $(which gz) sim-3] Warning [Inertia.cpp:149] [Inertia::setMoment] Passing in an invalid moment of inertia matrix. Results might not by physically accurate or meaningful.
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [young_lightskinned_female_diffuse2.png]
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [ponytail01_diffuse.png]
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [brown_eye.png]
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [eyebrow002.png]
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [eyelashes01.png]
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [male_elegantsuit01_diffuse.png]
[ruby $(which gz) sim-3] [GUI] [Err] [SystemPaths.cc:526] Could not resolve file [shoes03_diffuse.png]
[INFO] [create-5]: process started with pid [523]
[create-5] [INFO] [1777118415.768684096] [ros_gz_sim]: Requested creation of entity.
[create-5] [INFO] [1777118415.768885846] [ros_gz_sim]: OK creation of entity.
[INFO] [create-5]: process has finished cleanly [pid 523]
[ruby $(which gz) sim-3] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_waffle"]/link[@name="base_scan"]/sensor[@name="hls_lfcd_lds"]/gz_frame_id:/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model_gz.sdf:L137]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[ruby $(which gz) sim-3] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_waffle"]/link[@name="base_scan"]/sensor[@name="hls_lfcd_lds"]/frame_id:/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model_gz.sdf:L138]: XML Element[frame_id], child of element[sensor], not defined in SDF. Copying[frame_id] as children of [sensor].
[ruby $(which gz) sim-3] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_waffle"]/link[@name="base_scan"]/sensor[@name="hls_lfcd_lds"]/gz_frame_id:<data-string>:L162]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[ruby $(which gz) sim-3] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_waffle"]/link[@name="base_scan"]/sensor[@name="hls_lfcd_lds"]/frame_id:<data-string>:L163]: XML Element[frame_id], child of element[sensor], not defined in SDF. Copying[frame_id] as children of [sensor].
[INFO] [launch.user]: [turtlebot3_office_gz] Starting slam_toolbox (map frame will appear for RViz).
[INFO] [async_slam_toolbox_node-6]: process started with pid [569]
[async_slam_toolbox_node-6] [INFO] [1777118417.627079467] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-6] [INFO] [1777118417.705532297] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-6] [INFO] [1777118417.706022442] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [young_lightskinned_female_diffuse2.png]
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [ponytail01_diffuse.png]
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [brown_eye.png]
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [eyebrow002.png]
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [eyelashes01.png]
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [male_elegantsuit01_diffuse.png]
[ruby $(which gz) sim-3] [Err] [SystemPaths.cc:526] Could not resolve file [shoes03_diffuse.png]
[async_slam_toolbox_node-6] [INFO] [1777118422.164341987] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 8.919 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[async_slam_toolbox_node-6] Info: clipped range threshold to be within minimum and maximum range!
[async_slam_toolbox_node-6] Registering sensor: [Custom Described Lidar]
[INFO] [launch.user]: [turtlebot3_office_gz] Starting RViz (after SLAM). Drive the robot to map the office.
[INFO] [rviz2-7]: process started with pid [618]
[rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-devuser'
[rviz2-7] [INFO] [1777118424.040713746] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1777118424.041772765] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-7] [INFO] [1777118424.103563241] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1777118425.285065899] [rviz2]: Trying to create a map of size 175 x 155 using 1 swatches
[rviz2-7] [ERROR] [1777118425.317127125] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-7] active samplers with a different type refer to the same texture image unit
[rviz2-7] [INFO] [1777118427.042219741] [rviz2]: Trying to create a map of size 60 x 60 using 1 swatches
[rviz2-7] [INFO] [1777118427.338408450] [rviz2]: Trying to create a map of size 175 x 155 using 1 swatches
[rviz2-7] [INFO] [1777118453.465656186] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 10.100 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
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