100 lines
10 KiB
Plaintext
100 lines
10 KiB
Plaintext
[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-03-05-31-37-493398-ip-172-31-64-79.cn-northwest-1.compute.internal-29568
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[INFO] [launch]: Default logging verbosity is set to INFO
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urdf_file_name : turtlebot3_burger.urdf
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urdf_file_name : turtlebot3_burger.urdf
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[INFO] [ruby $(which gz) sim-1]: process started with pid [29576]
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[INFO] [robot_state_publisher-2]: process started with pid [29578]
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[INFO] [create-3]: process started with pid [29580]
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[INFO] [bridge_node-4]: process started with pid [29582]
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[INFO] [scan_frame_fix.py-5]: process started with pid [29584]
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[INFO] [depth_to_pointcloud.py-6]: process started with pid [29586]
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[create-3] [INFO] [1785735098.413179772] [ros_gz_sim]: Requesting list of world names.
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[robot_state_publisher-2] [INFO] [1785735098.592972125] [robot_state_publisher]: got segment base_footprint
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[robot_state_publisher-2] [INFO] [1785735098.593931302] [robot_state_publisher]: got segment base_link
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[robot_state_publisher-2] [INFO] [1785735098.594500277] [robot_state_publisher]: got segment base_scan
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[robot_state_publisher-2] [INFO] [1785735098.594947435] [robot_state_publisher]: got segment camera_depth_optical_frame
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[robot_state_publisher-2] [INFO] [1785735098.595402664] [robot_state_publisher]: got segment camera_rgb_frame
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[robot_state_publisher-2] [INFO] [1785735098.595841928] [robot_state_publisher]: got segment camera_rgb_optical_frame
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[robot_state_publisher-2] [INFO] [1785735098.596272904] [robot_state_publisher]: got segment caster_back_link
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[robot_state_publisher-2] [INFO] [1785735098.596700400] [robot_state_publisher]: got segment imu_link
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[robot_state_publisher-2] [INFO] [1785735098.597201840] [robot_state_publisher]: got segment realsense_depth_frame
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[robot_state_publisher-2] [INFO] [1785735098.597647831] [robot_state_publisher]: got segment realsense_link
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[robot_state_publisher-2] [INFO] [1785735098.598089725] [robot_state_publisher]: got segment wheel_left_link
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[robot_state_publisher-2] [INFO] [1785735098.598864996] [robot_state_publisher]: got segment wheel_right_link
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[create-3] [INFO] [1785735098.623674584] [ros_gz_sim]: Requested creation of entity.
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[create-3] [INFO] [1785735098.623750721] [ros_gz_sim]: OK creation of entity.
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[INFO] [create-3]: process has finished cleanly [pid 29580]
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[scan_frame_fix.py-5] [INFO] [1785735099.143485611] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan
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[bridge_node-4] [INFO] [1785735099.555069567] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/tf (gz.msgs.Pose_V) -> /tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
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[bridge_node-4] [INFO] [1785735099.563936030] [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)
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[bridge_node-4] [INFO] [1785735099.567531145] [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)
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[bridge_node-4] [INFO] [1785735099.569433916] [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)
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[bridge_node-4] [INFO] [1785735099.571491296] [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)
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[bridge_node-4] [INFO] [1785735099.572884225] [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)
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[bridge_node-4] [INFO] [1785735099.574370269] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
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[bridge_node-4] [INFO] [1785735099.576225695] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /model/burger/cmd_vel (gz.msgs.Twist)] (Lazy 0)
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[bridge_node-4] [INFO] [1785735099.579948199] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
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[depth_to_pointcloud.py-6] [INFO] [1785735100.019630009] [depth_to_pointcloud]: Waiting for camera info on /intel_realsense_r200_depth/camera_info; publishing points on /intel_realsense_r200_depth/depth/color/points
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[bridge_node-4] [INFO] [1785738556.607131229] [rclcpp]: signal_handler(SIGINT/SIGTERM)
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[robot_state_publisher-2] [INFO] [1785738556.607355617] [rclcpp]: signal_handler(SIGINT/SIGTERM)
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[scan_frame_fix.py-5] Traceback (most recent call last):
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[scan_frame_fix.py-5] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py", line 50, in <module>
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[scan_frame_fix.py-5] main()
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[scan_frame_fix.py-5] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py", line 44, in main
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[scan_frame_fix.py-5] rclpy.spin(node)
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[scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin
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[scan_frame_fix.py-5] executor.spin_once()
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[scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once
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[scan_frame_fix.py-5] self._spin_once_impl(timeout_sec)
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[scan_frame_fix.py-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl
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[scan_frame_fix.py-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
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[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
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[scan_frame_fix.py-5] return next(self._cb_iter)
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[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
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[scan_frame_fix.py-5] raise ExternalShutdownException()
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[scan_frame_fix.py-5] rclpy.executors.ExternalShutdownException
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[INFO] [bridge_node-4]: process has finished cleanly [pid 29582]
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[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 29578]
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[ERROR] [scan_frame_fix.py-5]: process has died [pid 29584, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_497z68mi'].
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[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 29576]
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[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
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[INFO] [depth_to_pointcloud.py-6]: sending signal 'SIGINT' to process[depth_to_pointcloud.py-6]
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[depth_to_pointcloud.py-6] Traceback (most recent call last):
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[depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 116, in main
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[depth_to_pointcloud.py-6] rclpy.spin(node)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin
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[depth_to_pointcloud.py-6] executor.spin_once()
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once
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[depth_to_pointcloud.py-6] self._spin_once_impl(timeout_sec)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 805, in _spin_once_impl
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[depth_to_pointcloud.py-6] raise handler.exception()
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 272, in _execute_coroutine_step
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[depth_to_pointcloud.py-6] result = coro.send(None)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 488, in handler
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[depth_to_pointcloud.py-6] await call_coroutine(entity, arg)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 407, in _execute_subscription
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[depth_to_pointcloud.py-6] await await_or_execute(sub.callback, msg)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 110, in await_or_execute
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[depth_to_pointcloud.py-6] return callback(*args)
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[depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 109, in depth_callback
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[depth_to_pointcloud.py-6] self.cloud_pub.publish(cloud_msg)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 70, in publish
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[depth_to_pointcloud.py-6] self.__publisher.publish(msg)
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[depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: Failed to publish: publisher's context is invalid, at ./src/rcl/publisher.c:389
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[depth_to_pointcloud.py-6]
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[depth_to_pointcloud.py-6] During handling of the above exception, another exception occurred:
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[depth_to_pointcloud.py-6]
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[depth_to_pointcloud.py-6] Traceback (most recent call last):
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[depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 125, in <module>
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[depth_to_pointcloud.py-6] main()
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[depth_to_pointcloud.py-6] File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 121, in main
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[depth_to_pointcloud.py-6] rclpy.shutdown()
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown
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[depth_to_pointcloud.py-6] _shutdown(context=context)
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
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[depth_to_pointcloud.py-6] return context.shutdown()
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[depth_to_pointcloud.py-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
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[depth_to_pointcloud.py-6] self.__context.shutdown()
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[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
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[ERROR] [depth_to_pointcloud.py-6]: process has died [pid 29586, 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_f094vx5j'].
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