jihoonl@whoola:/opt/ros/indigo/share/turtlebot_stdr/launch$ roslaunch turtlebot_stdr turtlebot_in_stdr.launch --screen
... logging to /home/jihoonl/.ros/log/c1f702fa-cddb-11e4-9ff5-3085a9948f5e/roslaunch-whoola-20955.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://whoola:56301/
SUMMARY
========
PARAMETERS
* /amcl/base_frame_id: robot0
* /amcl/global_frame_id: world
* /amcl/gui_publish_rate: 10.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 2.0
* /amcl/initial_pose_y: 2.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 60
* /amcl/laser_max_range: 12.0
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 2000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.2
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: map
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 1.0
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.25
* /amcl/use_map_topic: True
* /cmd_vel_mux/yaml_cfg_file: /opt/ros/indigo/s...
* /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
* /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
* /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
* /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
* /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
* /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
* /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
* /diagnostic_aggregator/analyzers/power/path: Power System
* /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/power/timeout: 5.0
* /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
* /diagnostic_aggregator/analyzers/sensors/path: Sensors
* /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
* /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
* /diagnostic_aggregator/base_path:
* /diagnostic_aggregator/pub_rate: 1.0
* /joint_state_publisher/use_gui: True
* /map_server/frame_id: world
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: map
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/max_rot_vel: 5.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 3.0
* /move_base/GlobalPlanner/default_tolerance: 0.0
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 50
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
* /move_base/GlobalPlanner/planner_window_x: 0.0
* /move_base/GlobalPlanner/planner_window_y: 0.0
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/publish_scale: 100
* /move_base/GlobalPlanner/use_dijkstra: True
* /move_base/GlobalPlanner/use_grid_path: False
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/NavfnROS/allow_unknown: False
* /move_base/NavfnROS/default_tolerance: 0.0
* /move_base/NavfnROS/planner_window_x: 0.0
* /move_base/NavfnROS/planner_window_y: 0.0
* /move_base/NavfnROS/visualize_potential: False
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/global_frame: world
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/global_costmap/inflation_layer/enabled: True
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/global_costmap/map_type: voxel
* /move_base/global_costmap/max_obstacle_height: 0.6
* /move_base/global_costmap/obstacle_layer/bump/clearing: False
* /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
* /move_base/global_costmap/obstacle_layer/bump/marking: True
* /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
* /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
* /move_base/global_costmap/obstacle_layer/combination_method: 1
* /move_base/global_costmap/obstacle_layer/enabled: True
* /move_base/global_costmap/obstacle_layer/mark_threshold: 0
* /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
* /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
* /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
* /move_base/global_costmap/obstacle_layer/origin_z: 0.0
* /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
* /move_base/global_costmap/obstacle_layer/scan/clearing: True
* /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
* /move_base/global_costmap/obstacle_layer/scan/marking: True
* /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 5.0
* /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacle_layer/scan/topic: scan
* /move_base/global_costmap/obstacle_layer/track_unknown_space: True
* /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
* /move_base/global_costmap/obstacle_layer/z_voxels: 2
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/robot_base_frame: robot0
* /move_base/global_costmap/robot_radius: 0.2
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 4.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/local_costmap/inflation_layer/enabled: True
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/local_costmap/map_type: voxel
* /move_base/local_costmap/max_obstacle_height: 0.6
* /move_base/local_costmap/obstacle_layer/bump/clearing: False
* /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
* /move_base/local_costmap/obstacle_layer/bump/marking: True
* /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
* /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
* /move_base/local_costmap/obstacle_layer/combination_method: 1
* /move_base/local_costmap/obstacle_layer/enabled: True
* /move_base/local_costmap/obstacle_layer/mark_threshold: 0
* /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
* /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
* /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
* /move_base/local_costmap/obstacle_layer/origin_z: 0.0
* /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
* /move_base/local_costmap/obstacle_layer/scan/clearing: True
* /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
* /move_base/local_costmap/obstacle_layer/scan/marking: True
* /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 5.0
* /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacle_layer/scan/topic: scan
* /move_base/local_costmap/obstacle_layer/track_unknown_space: True
* /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
* /move_base/local_costmap/obstacle_layer/z_voxels: 2
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: robot0
* /move_base/local_costmap/robot_radius: 0.2
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 4.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /navigation_velocity_smoother/accel_lim_v: 1.0
* /navigation_velocity_smoother/accel_lim_w: 2.0
* /navigation_velocity_smoother/decel_factor: 1.5
* /navigation_velocity_smoother/frequency: 20.0
* /navigation_velocity_smoother/robot_feedback: 2
* /navigation_velocity_smoother/speed_lim_v: 0.8
* /navigation_velocity_smoother/speed_lim_w: 5.4
* /robot/name: turtlebot
* /robot/type: turtlebot
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 5.0
* /rosdistro: indigo
* /rosversion: 1.11.10
NODES
/
amcl (amcl/amcl)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
kobuki_safety_controller (nodelet/nodelet)
map_server (map_server/map_server)
mobile_base_nodelet_manager (nodelet/nodelet)
move_base (move_base/move_base)
navigation_velocity_smoother (nodelet/nodelet)
relay_cmd_data (topic_tools/relay)
robot_manager (nodelet/nodelet)
robot_spawn_whoola_20955_5924150219310216960 (stdr_robot/robot_handler)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
stdr_gui_node_whoola_20955_4187621309782193888 (stdr_gui/stdr_gui_node)
stdr_server (stdr_server/stdr_server_node)
tf_connector (turtlebot_stdr/tf_connector.py)
auto-starting new master
process[master]: started with pid [20970]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c1f702fa-cddb-11e4-9ff5-3085a9948f5e
process[rosout-1]: started with pid [20983]
started core service [/rosout]
process[robot_manager-2]: started with pid [21000]
process[stdr_server-3]: started with pid [21001]
[ INFO] [1426730447.485746556]: Initializing nodelet with 4 worker threads.
[ INFO] [1426730447.494901600]: Loading map from image "/opt/ros/indigo/share/turtlebot_stdr/maps/sparse_obstacles.png"
[ INFO] [1426730447.508217086]: Read a 775 X 746 map @ 0.020 m/cell
process[robot_spawn_whoola_20955_5924150219310216960-4]: started with pid [21103]
process[stdr_gui_node_whoola_20955_4187621309782193888-5]: started with pid [21161]
process[relay_cmd_data-6]: started with pid [21164]
process[robot_state_publisher-7]: started with pid [21250]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
process[diagnostic_aggregator-8]: started with pid [21272]
process[joint_state_publisher-9]: started with pid [21291]
process[mobile_base_nodelet_manager-10]: started with pid [21298]
process[cmd_vel_mux-11]: started with pid [21309]
process[map_server-12]: started with pid [21325]
[ INFO] [1426730448.131314999]: Initializing nodelet with 4 worker threads.
[ INFO] [1426730448.160083397]: Loading nodelet /cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1426730448.160209571]: /cmd_vel_mux/output -> /mobile_base/commands/velocity
process[navigation_velocity_smoother-13]: started with pid [21357]
[ INFO] [1426730448.207489845]: Loading map from image "/opt/ros/indigo/share/turtlebot_stdr/maps/sparse_obstacles.png"
[ INFO] [1426730448.234220681]: Read a 775 X 746 map @ 0.020 m/cell
process[kobuki_safety_controller-14]: started with pid [21388]
[ INFO] [1426730448.292819016]: Loading nodelet /navigation_velocity_smoother of type yocs_velocity_smoother/VelocitySmootherNodelet to manager /mobile_base_nodelet_manager with the following remappings:
[ INFO] [1426730448.292892075]: /navigation_velocity_smoother/odometry -> /odom
[ INFO] [1426730448.292989721]: /navigation_velocity_smoother/robot_cmd_vel -> /mobile_base/commands/velocity
[ INFO] [1426730448.293027822]: /navigation_velocity_smoother/smooth_cmd_vel -> /cmd_vel_mux/input/navi
process[move_base-15]: started with pid [21411]
[ INFO] [1426730448.376823723]: Loading nodelet /kobuki_safety_controller of type kobuki_safety_controller/SafetyControllerNodelet to manager /mobile_base_nodelet_manager with the following remappings:
[ INFO] [1426730448.376890267]: /kobuki_safety_controller/cmd_vel -> /cmd_vel_mux/input/safety_controller
[ INFO] [1426730448.376962984]: /kobuki_safety_controller/events/bumper -> /mobile_base/events/bumper
[ INFO] [1426730448.376997888]: /kobuki_safety_controller/events/cliff -> /mobile_base/events/cliff
[ INFO] [1426730448.377028022]: /kobuki_safety_controller/events/wheel_drop -> /mobile_base/events/wheel_drop
process[amcl-16]: started with pid [21438]
process[tf_connector-17]: started with pid [21494]
process[rviz-18]: started with pid [21507]
[INFO] [WallTime: 1426730448.658466] Centering
[ INFO] [1426730448.705020020]: CmdVelMux : (re)configured [/opt/ros/indigo/share/turtlebot_bringup/param/mux.yaml]
[ INFO] [1426730448.741202542]: rviz version 1.11.7
[ INFO] [1426730448.741267554]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1426730448.868259687]: Loaded new robot, /robot0
[ INFO] [1426730448.868546266]: New robot spawned successfully, with name /robot0.
[ INFO] [1426730449.027210447]: Reconfigure request : 0.800000 5.400000 1.000000 2.000000 1.500000
[robot_manager-2] process has died [pid 21000, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=robot_manager __log:=/home/jihoonl/.ros/log/c1f702fa-cddb-11e4-9ff5-3085a9948f5e/robot_manager-2.log].
log file: /home/jihoonl/.ros/log/c1f702fa-cddb-11e4-9ff5-3085a9948f5e/robot_manager-2*.log
[robot_spawn_whoola_20955_5924150219310216960-4] process has finished cleanly
log file: /home/jihoonl/.ros/log/c1f702fa-cddb-11e4-9ff5-3085a9948f5e/robot_spawn_whoola_20955_5924150219310216960-4*.log
[ INFO] [1426730449.369945113]: Initialising nodelet... [kobuki_safety_controller]
[stdr_gui_node_whoola_20955_4187621309782193888-5] process has died [pid 21161, exit code -11, cmd /opt/ros/indigo/lib/stdr_gui/stdr_gui_node __name:=stdr_gui_node_whoola_20955_4187621309782193888 __log:=/home/jihoonl/.ros/log/c1f702fa-cddb-11e4-9ff5-3085a9948f5e/stdr_gui_node_whoola_20955_4187621309782193888-5.log].
log file: /home/jihoonl/.ros/log/c1f702fa-cddb-11e4-9ff5-3085a9948f5e/stdr_gui_node_whoola_20955_4187621309782193888-5*.log
[ INFO] [1426730449.471562484]: Subscribed to map topic.
[ INFO] [1426730449.506439610]: Kobuki initialised. Spinning up update thread ... [kobuki_safety_controller]
[ INFO] [1426730449.506514009]: Nodelet initialised. [kobuki_safety_controller]
[ INFO] [1426730449.667326239]: Received a 775 X 746 map @ 0.020 m/pix
[ INFO] [1426730449.687929227]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1426730449.819378923]: Done initializing likelihood field model.
[ INFO] [1426730450.066249515]: Stereo is NOT SUPPORTED
[ INFO] [1426730450.066360690]: OpenGl version: 4.4 (GLSL 4.4).
[ WARN] [1426730454.266330679]: Waiting on transform from robot0 to world to become available before running costmap, tf error:
[ WARN] [1426730459.297587092]: Waiting on transform from robot0 to world to become available before running costmap, tf error:
[ WARN] [1426730464.328308834]: Waiting on transform from robot0 to world to become available before running costmap, tf error:
[ WARN] [1426730464.667563840]: No laser scan received (and thus no pose updates have been published) for 1426730464.667492 seconds. Verify that data is being published on the /robot0/laser_0 topic.
[ WARN] [1426730469.359750142]: Waiting on transform from robot0 to world to become available before running costmap, tf error:
[ WARN] [1426730474.391097193]: Waiting on transform from robot0 to world to become available before running costmap, tf error:
[ WARN] [1426730479.421713928]: Waiting on transform from robot0 to world to become available before running costmap, tf error:
[ WARN] [1426730479.667116868]: No laser scan received (and thus no pose updates have been published) for 1426730479.667073 seconds. Verify that data is being published on the /robot0/laser_0 topic.
