[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-03-06-44-43-668535-ip-172-31-73-144.cn-northwest-1.compute.internal-2830 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf urdf_file_name : turtlebot3_burger.urdf [INFO] [ruby $(which gz) sim-1]: process started with pid [2838] [INFO] [robot_state_publisher-2]: process started with pid [2840] [INFO] [create-3]: process started with pid [2842] [INFO] [bridge_node-4]: process started with pid [2844] [INFO] [scan_frame_fix.py-5]: process started with pid [2846] [INFO] [depth_to_pointcloud.py-6]: process started with pid [2848] [create-3] [INFO] [1785739484.379235383] [ros_gz_sim]: Requesting list of world names. [robot_state_publisher-2] [INFO] [1785739484.438634542] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-2] [INFO] [1785739484.438743902] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1785739484.438758778] [robot_state_publisher]: got segment base_scan [robot_state_publisher-2] [INFO] [1785739484.438767041] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-2] [INFO] [1785739484.438775316] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-2] [INFO] [1785739484.438782911] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-2] [INFO] [1785739484.438790852] [robot_state_publisher]: got segment caster_back_link [robot_state_publisher-2] [INFO] [1785739484.438799053] [robot_state_publisher]: got segment imu_link [robot_state_publisher-2] [INFO] [1785739484.438806560] [robot_state_publisher]: got segment realsense_depth_frame [robot_state_publisher-2] [INFO] [1785739484.438814244] [robot_state_publisher]: got segment realsense_link [robot_state_publisher-2] [INFO] [1785739484.438821861] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-2] [INFO] [1785739484.438830136] [robot_state_publisher]: got segment wheel_right_link [depth_to_pointcloud.py-6] [INFO] [1785739485.206767423] [depth_to_pointcloud]: Waiting for camera info on /intel_realsense_r200_depth/camera_info; publishing points on /intel_realsense_r200_depth/depth/color/points [scan_frame_fix.py-5] [INFO] [1785739485.223755343] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan [bridge_node-4] [INFO] [1785739485.326276494] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/tf (gz.msgs.Pose_V) -> /tf (tf2_msgs/msg/TFMessage)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.389492106] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/base_scan/sensor/hls_lfcd_lds/scan (gz.msgs.LaserScan) -> /scan_raw (sensor_msgs/msg/LaserScan)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.391904409] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image (gz.msgs.Image) -> /intel_realsense_r200_rgb/image_raw (sensor_msgs/msg/Image)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.393122299] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info (gz.msgs.CameraInfo) -> /intel_realsense_r200_rgb/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.394357843] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image (gz.msgs.Image) -> /intel_realsense_r200_depth/depth/image_raw (sensor_msgs/msg/Image)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.395508894] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info (gz.msgs.CameraInfo) -> /intel_realsense_r200_depth/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.396589808] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.397734944] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /model/burger/cmd_vel (gz.msgs.Twist)] (Lazy 0) [bridge_node-4] [INFO] [1785739485.398974270] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0) [create-3] [INFO] [1785739485.607039226] [ros_gz_sim]: Requested creation of entity. [create-3] [INFO] [1785739485.607105587] [ros_gz_sim]: OK creation of entity. [INFO] [create-3]: process has finished cleanly [pid 2842] [ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_burger"]/link[@name="realsense_link"]/sensor[@name="intel_realsense_r200_depth"]/gz_frame_id:/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf:L318]: 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-1] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_burger"]/link[@name="realsense_link"]/sensor[@name="intel_realsense_r200_rgb"]/gz_frame_id:/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf:L345]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. [bridge_node-4] [INFO] [1785739533.554411065] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-2] [INFO] [1785739533.554411000] [rclcpp]: signal_handler(SIGINT/SIGTERM) [scan_frame_fix.py-5] Traceback (most recent call last): [scan_frame_fix.py-5] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py", line 50, in [scan_frame_fix.py-5] main() [scan_frame_fix.py-5] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py", line 44, in main [scan_frame_fix.py-5] rclpy.spin(node) [scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin [scan_frame_fix.py-5] executor.spin_once() [scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once [scan_frame_fix.py-5] self._spin_once_impl(timeout_sec) [scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl [scan_frame_fix.py-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks [scan_frame_fix.py-5] return next(self._cb_iter) [scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks [scan_frame_fix.py-5] raise ExternalShutdownException() [scan_frame_fix.py-5] rclpy.executors.ExternalShutdownException [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 2840] [INFO] [bridge_node-4]: process has finished cleanly [pid 2844] [ERROR] [scan_frame_fix.py-5]: process has died [pid 2846, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_1ha4n6qu']. [depth_to_pointcloud.py-6] Traceback (most recent call last): [depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 116, in main [depth_to_pointcloud.py-6] rclpy.spin(node) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin [depth_to_pointcloud.py-6] executor.spin_once() [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once [depth_to_pointcloud.py-6] self._spin_once_impl(timeout_sec) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 805, in _spin_once_impl [depth_to_pointcloud.py-6] raise handler.exception() [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 272, in _execute_coroutine_step [depth_to_pointcloud.py-6] result = coro.send(None) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 488, in handler [depth_to_pointcloud.py-6] await call_coroutine(entity, arg) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 407, in _execute_subscription [depth_to_pointcloud.py-6] await await_or_execute(sub.callback, msg) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 110, in await_or_execute [depth_to_pointcloud.py-6] return callback(*args) [depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 109, in depth_callback [depth_to_pointcloud.py-6] self.cloud_pub.publish(cloud_msg) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 70, in publish [depth_to_pointcloud.py-6] self.__publisher.publish(msg) [depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: Failed to publish: publisher's context is invalid, at ./src/rcl/publisher.c:389 [depth_to_pointcloud.py-6] [depth_to_pointcloud.py-6] During handling of the above exception, another exception occurred: [depth_to_pointcloud.py-6] [depth_to_pointcloud.py-6] Traceback (most recent call last): [depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 125, in [depth_to_pointcloud.py-6] main() [depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 121, in main [depth_to_pointcloud.py-6] rclpy.shutdown() [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown [depth_to_pointcloud.py-6] _shutdown(context=context) [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown [depth_to_pointcloud.py-6] return context.shutdown() [depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown [depth_to_pointcloud.py-6] self.__context.shutdown() [depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 [INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 2838] [INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system [INFO] [depth_to_pointcloud.py-6]: sending signal 'SIGINT' to process[depth_to_pointcloud.py-6] [ERROR] [depth_to_pointcloud.py-6]: process has died [pid 2848, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py --ros-args -r __node:=depth_to_pointcloud --params-file /tmp/launch_params_xy39pu9y'].