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office_gzweb/logs/run_all_20260426_105941/A_sim.log

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-26-10-59-42-892981-ip-172-31-71-175.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]
[static_transform_publisher-2] [INFO] [1777172383.109950711] [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'
[ruby $(which gz) sim-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-devuser'
[parameter_bridge-4] [INFO] [1777172383.471279996] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777172383.476192291] [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] [1777172383.480110915] [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] [1777172383.482678714] [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] [1777172383.486857689] [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] [1777172383.488984224] [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] [1777172383.491256975] [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] [1777172383.493544694] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/scan (gz.msgs.LaserScan) -> /scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-4] [INFO] [1777172383.495509477] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/scan (sensor_msgs/msg/LaserScan) -> /scan (gz.msgs.LaserScan)] (Lazy 0)
[robot_state_publisher-1] [INFO] [1777172383.576915256] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1777172383.577837126] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1777172383.578343838] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1777172383.578760572] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1777172383.579256177] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1777172383.579713535] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1777172383.580110050] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1777172383.580497628] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1777172383.580881291] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1777172383.581351966] [robot_state_publisher]: got segment realsense_depth_frame
[robot_state_publisher-1] [INFO] [1777172383.581830150] [robot_state_publisher]: got segment realsense_link
[robot_state_publisher-1] [INFO] [1777172383.582226143] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1777172383.582629427] [robot_state_publisher]: got segment wheel_right_link
[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 [524]
[create-5] [INFO] [1777172395.378070234] [ros_gz_sim]: Requested creation of entity.
[create-5] [INFO] [1777172395.378338951] [ros_gz_sim]: OK creation of entity.
[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].
[INFO] [create-5]: process has finished cleanly [pid 524]
[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 [570]
[async_slam_toolbox_node-6] [INFO] [1777172397.495593916] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-6] [INFO] [1777172397.543277447] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-6] [INFO] [1777172397.544199399] [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] [1777172401.838489861] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 8.697 for reason 'discarding message because the queue is full'
[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 [598]
[rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-devuser'
[rviz2-7] [INFO] [1777172403.594512490] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1777172403.595543805] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-7] [INFO] [1777172403.648413404] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1777172404.356234962] [rviz2]: Trying to create a map of size 175 x 155 using 1 swatches
[rviz2-7] [ERROR] [1777172404.367869934] [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] [1777172406.750948045] [rviz2]: Trying to create a map of size 60 x 60 using 1 swatches
[rviz2-7] [INFO] [1777172406.961892443] [rviz2]: Trying to create a map of size 175 x 155 using 1 swatches
[rviz2-7] [INFO] [1777172429.351415756] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 10.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
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