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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-03-06-41-44-457979-ip-172-31-73-144.cn-northwest-1.compute.internal-2066
[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 [2068]
[INFO] [robot_state_publisher-2]: process started with pid [2070]
[INFO] [create-3]: process started with pid [2072]
[INFO] [bridge_node-4]: process started with pid [2074]
[INFO] [scan_frame_fix.py-5]: process started with pid [2076]
[create-3] [INFO] [1785739305.157115891] [ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [INFO] [1785739305.310311281] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1785739305.310432587] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1785739305.310448452] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-2] [INFO] [1785739305.310458482] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-2] [INFO] [1785739305.310468010] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-2] [INFO] [1785739305.310476829] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-2] [INFO] [1785739305.310485935] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-2] [INFO] [1785739305.310494945] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1785739305.310503756] [robot_state_publisher]: got segment realsense_depth_frame
[robot_state_publisher-2] [INFO] [1785739305.310512622] [robot_state_publisher]: got segment realsense_link
[robot_state_publisher-2] [INFO] [1785739305.310521465] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-2] [INFO] [1785739305.310530114] [robot_state_publisher]: got segment wheel_right_link
[scan_frame_fix.py-5] [INFO] [1785739305.624229733] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan
[create-3] [INFO] [1785739306.245363516] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1785739306.245420544] [ros_gz_sim]: OK creation of entity.
[bridge_node-4] [INFO] [1785739306.272593147] [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] [1785739306.278027213] [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] [1785739306.296159315] [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] [1785739306.296957160] [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] [1785739306.297832796] [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] [1785739306.298544929] [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] [1785739306.299214230] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[bridge_node-4] [INFO] [1785739306.300004433] [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] [1785739306.301026006] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
[INFO] [create-3]: process has finished cleanly [pid 2072]
[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] [1785739460.436619207] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[robot_state_publisher-2] [INFO] [1785739460.436590424] [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 <module>
[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] [bridge_node-4]: process has finished cleanly [pid 2074]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 2070]
[ERROR] [scan_frame_fix.py-5]: process has died [pid 2076, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_j64ck961'].
[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 2068]
[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
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