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fix

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fengyujia 2026-08-18 03:19:01 +00:00
parent 18a3e0dad0
commit 1f6b0bb314
12 changed files with 1327 additions and 14 deletions
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14
.gitignore vendored
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# PMS — 容器运行时产物（勿提交）
.env
.pms-task-env.json
.bashrc
.bash_profile
.config/
.local/
.vnc/
.cache/
.gz/
models/
Desktop/
.ICEauthority

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-07-28-13-41-19-756102-ip-172-31-51-90.cn-northwest-1.compute.internal-496
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [511]
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF.
[INFO] [robot_state_publisher-2]: process started with pid [536]
[INFO] [create-3]: process started with pid [538]
[create-3] [INFO] [1785217288.454022532] [ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [INFO] [1785217288.459342620] [robot_state_publisher]: got segment back_left_wheel
[robot_state_publisher-2] [INFO] [1785217288.459429811] [robot_state_publisher]: got segment back_right_wheel
[robot_state_publisher-2] [INFO] [1785217288.459436699] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1785217288.459441691] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1785217288.459445773] [robot_state_publisher]: got segment chassis_link
[robot_state_publisher-2] [INFO] [1785217288.459449715] [robot_state_publisher]: got segment front_left_wheel
[robot_state_publisher-2] [INFO] [1785217288.459453420] [robot_state_publisher]: got segment front_right_wheel
[robot_state_publisher-2] [INFO] [1785217288.459457443] [robot_state_publisher]: got segment imu_frame
[robot_state_publisher-2] [INFO] [1785217288.459461130] [robot_state_publisher]: got segment middle_left_wheel
[robot_state_publisher-2] [INFO] [1785217288.459464818] [robot_state_publisher]: got segment middle_right_wheel
[robot_state_publisher-2] [INFO] [1785217288.459468484] [robot_state_publisher]: got segment roof_link
[create-3] [INFO] [1785217288.655620742] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-3] [INFO] [1785217288.667105759] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1785217288.667150067] [ros_gz_sim]: OK creation of entity.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id:<urdf-string>:L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[INFO] [create-3]: process has finished cleanly [pid 538]

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-04-17-14-29-468034-ip-172-31-73-134.cn-northwest-1.compute.internal-427
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [429]
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF.
[INFO] [robot_state_publisher-2]: process started with pid [442]
[INFO] [create-3]: process started with pid [444]
[create-3] [INFO] [1785834877.926024020] [ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [INFO] [1785834877.946072327] [robot_state_publisher]: got segment back_left_wheel
[robot_state_publisher-2] [INFO] [1785834877.946141630] [robot_state_publisher]: got segment back_right_wheel
[robot_state_publisher-2] [INFO] [1785834877.946148686] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1785834877.946152958] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1785834877.946156900] [robot_state_publisher]: got segment chassis_link
[robot_state_publisher-2] [INFO] [1785834877.946160922] [robot_state_publisher]: got segment front_left_wheel
[robot_state_publisher-2] [INFO] [1785834877.946164623] [robot_state_publisher]: got segment front_right_wheel
[robot_state_publisher-2] [INFO] [1785834877.946168257] [robot_state_publisher]: got segment imu_frame
[robot_state_publisher-2] [INFO] [1785834877.946171757] [robot_state_publisher]: got segment middle_left_wheel
[robot_state_publisher-2] [INFO] [1785834877.946175160] [robot_state_publisher]: got segment middle_right_wheel
[robot_state_publisher-2] [INFO] [1785834877.946178607] [robot_state_publisher]: got segment roof_link
[create-3] [INFO] [1785834878.127222835] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-3] [INFO] [1785834878.138171058] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1785834878.138194737] [ros_gz_sim]: OK creation of entity.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id:<urdf-string>:L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[INFO] [create-3]: process has finished cleanly [pid 444]

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-10-16-36-58-493098-ip-172-31-58-10.cn-northwest-1.compute.internal-455
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [457]
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF.
[INFO] [robot_state_publisher-2]: process started with pid [542]
[INFO] [create-3]: process started with pid [544]
[create-3] [INFO] [1786351027.014688708] [ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [INFO] [1786351027.038421690] [robot_state_publisher]: got segment back_left_wheel
[robot_state_publisher-2] [INFO] [1786351027.038495696] [robot_state_publisher]: got segment back_right_wheel
[robot_state_publisher-2] [INFO] [1786351027.038503197] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1786351027.038507531] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1786351027.038511783] [robot_state_publisher]: got segment chassis_link
[robot_state_publisher-2] [INFO] [1786351027.038515590] [robot_state_publisher]: got segment front_left_wheel
[robot_state_publisher-2] [INFO] [1786351027.038519113] [robot_state_publisher]: got segment front_right_wheel
[robot_state_publisher-2] [INFO] [1786351027.038522554] [robot_state_publisher]: got segment imu_frame
[robot_state_publisher-2] [INFO] [1786351027.038526058] [robot_state_publisher]: got segment middle_left_wheel
[robot_state_publisher-2] [INFO] [1786351027.038529400] [robot_state_publisher]: got segment middle_right_wheel
[robot_state_publisher-2] [INFO] [1786351027.038532944] [robot_state_publisher]: got segment roof_link
[create-3] [INFO] [1786351027.215949483] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-3] [INFO] [1786351027.226917318] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1786351027.226941240] [ros_gz_sim]: OK creation of entity.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id:<urdf-string>:L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[INFO] [create-3]: process has finished cleanly [pid 544]

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-18-11-16-45-883586-ip-172-31-53-112.cn-northwest-1.compute.internal-435
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [437]
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_RoofB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L23]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfF_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L30]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_WallB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L37]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L44]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L51]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfE_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L58]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L65]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L72]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ShelfD_01_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L79]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_GroundB_01_001"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L86]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Lamp_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L93]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_020"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L100]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_Bucket_01_022"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L107]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_016"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L114]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_017"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L121]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringA_01_018"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L128]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_027"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L136]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_028"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L143]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_029"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L150]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_030"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L157]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_031"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L164]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringC_01_032"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L171]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_ClutteringD_01_005"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L178]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/model[@name="aws_robomaker_warehouse_TrashCanC_01_002"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L185]: XML Attribute[frame] in element[pose] not defined in SDF.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/world[@name="default"]/light[@name="Warehouse_CeilingLight_003"]/pose[@frame=""]:/workspace/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf:L198]: XML Attribute[frame] in element[pose] not defined in SDF.
[INFO] [robot_state_publisher-2]: process started with pid [504]
[INFO] [create-3]: process started with pid [506]
[create-3] [INFO] [1787023014.387462602] [ros_gz_sim]: Requesting list of world names.
[robot_state_publisher-2] [INFO] [1787023014.410511894] [robot_state_publisher]: got segment back_left_wheel
[robot_state_publisher-2] [INFO] [1787023014.410579361] [robot_state_publisher]: got segment back_right_wheel
[robot_state_publisher-2] [INFO] [1787023014.410586025] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1787023014.410590055] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1787023014.410593574] [robot_state_publisher]: got segment chassis_link
[robot_state_publisher-2] [INFO] [1787023014.410597155] [robot_state_publisher]: got segment front_left_wheel
[robot_state_publisher-2] [INFO] [1787023014.410600643] [robot_state_publisher]: got segment front_right_wheel
[robot_state_publisher-2] [INFO] [1787023014.410603955] [robot_state_publisher]: got segment imu_frame
[robot_state_publisher-2] [INFO] [1787023014.410607271] [robot_state_publisher]: got segment middle_left_wheel
[robot_state_publisher-2] [INFO] [1787023014.410610617] [robot_state_publisher]: got segment middle_right_wheel
[robot_state_publisher-2] [INFO] [1787023014.410613888] [robot_state_publisher]: got segment roof_link
[create-3] [INFO] [1787023014.588673480] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-3] [INFO] [1787023014.599543392] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1787023014.599581268] [ros_gz_sim]: OK creation of entity.
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="bcr_bot"]/link[@name="base_footprint"]/sensor[@name="imu_sensor"]/gz_frame_id:<urdf-string>:L0]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
[INFO] [create-3]: process has finished cleanly [pid 506]

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