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c7134c25dfe642f3a467e325920.../autorun_logs/autorun_20260803_064442/tb3_gzsim.log

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[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 <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] [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 <module>
[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'].
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