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rendering issue in simulation (blue, red stuff) #1054

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femust opened this issue Jun 28, 2022 · 0 comments
Open

rendering issue in simulation (blue, red stuff) #1054

femust opened this issue Jun 28, 2022 · 0 comments

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@femust
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femust commented Jun 28, 2022 •
edited
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When running

ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1 robotName3:=X3 robotConfig3:=X3_SENSOR_CONFIG_1 robotName4:=X4 robotConfig4:=X4_SENSOR_CONFIG_1

on ros melodic 18.04 I got the following visualization:
image

do you know what may be an issue?

Log:

 ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1 robotName3:=X3 robotConfig3:=X3_SENSOR_CONFIG_1 robotName4:=X4 robotConfig4:=X4_SENSOR_CONFIG_1
[Dbg] [Manager.cc:575] Forked a process for [ros] command[roslaunchsubt_roscompetition_init.launchworld_name:=simple_cave_01vehicle_topics:=0enable_ground_truth:=0robot_names:=X1,X2,X3,X4]
[Dbg] [Manager.cc:575] Forked a process for [x1_description] command[roslaunch--waitsubt_rosx1_description.launchworld_name:=simple_cave_01name:=X1]
[Dbg] [Manager.cc:575] Forked a process for [x1_ros_ign_bridge] command[roslaunch--waitsubt_rosvehicle_topics.launchworld_name:=simple_cave_01name:=X1uav:=0laser_scan:=1stereo_cam:=0lidar_3d:=0breadcrumbs:=0]
[Dbg] [Manager.cc:575] Forked a process for [x2_description] command[roslaunch--waitsubt_rosx2_description.launchworld_name:=simple_cave_01name:=X2]
[Dbg] [Manager.cc:575] Forked a process for [x2_ros_ign_bridge] command[roslaunch--waitsubt_rosvehicle_topics.launchworld_name:=simple_cave_01name:=X2uav:=0laser_scan:=1stereo_cam:=0lidar_3d:=0breadcrumbs:=0]
[Dbg] [Manager.cc:575] Forked a process for [x3_description] command[roslaunch--waitsubt_rosx3_description.launchworld_name:=simple_cave_01name:=X3]
[Dbg] [Manager.cc:575] Forked a process for [x3_ros_ign_bridge] command[roslaunch--waitsubt_rosvehicle_topics.launchworld_name:=simple_cave_01name:=X3uav:=1laser_scan:=0stereo_cam:=0rgbd_cam:=0breadcrumbs:=0]
[Dbg] [Manager.cc:575] Forked a process for [x4_description] command[roslaunch--waitsubt_rosx4_description.launchworld_name:=simple_cave_01name:=X4]
[Dbg] [Manager.cc:575] Forked a process for [x4_ros_ign_bridge] command[roslaunch--waitsubt_rosvehicle_topics.launchworld_name:=simple_cave_01name:=X4uav:=1laser_scan:=0stereo_cam:=0rgbd_cam:=0breadcrumbs:=0]
[Dbg] [Manager.cc:839] Loading plugin. Name[ignition::launch::GazeboServer] File[libignition-launch-gazebo.so]
[Msg] Log path already exists on disk! Existing files will be overwritten.
[Msg] Removing existing path [/tmp/ign/logs/gazebo]
[Msg] Logging to [/tmp/ign/logs/gazebo]
[Msg] Recording to [/tmp/ign/logs/gazebo]
[Msg] Loading SDF world file[/home/andrzej/code_workspaces/subt_ws/install/share/subt_ign/worlds/simple_cave_01.sdf].
[Dbg] [Manager.cc:839] Loading plugin. Name[ignition::launch::GazeboGui] File[libignition-launch-gazebogui.so]
[Msg] Ignition Gazebo GUI    v4.14.0
[Dbg] [Application.cc:88] Initializing application.
[GUI] [Dbg] [Application.cc:432] Create main window
roscore/master is not yet running, will wait for it to start
roscore/master is not yet running, will wait for it to start
roscore/master is not yet running, will wait for it to start
roscore/master is not yet running, will wait for it to start
... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19864.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

roscore/master is not yet running, will wait for it to start
roscore/master is not yet running, will wait for it to start
roscore/master is not yet running, will wait for it to start
roscore/master is not yet running, will wait for it to start
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[GUI] [Dbg] [Gui.cc:151] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
started roslaunch server http://femust:40599/

SUMMARY
========

PARAMETERS
 * /enable_statistics: True
 * /robot_names: X1,X2,X3,X4
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True
 * /world_name: simple_cave_01

NODES
  /
    bridge_logger (subt_ros/bridge_logger)
    ros_ign_bridge_femust_19864_2272755160098042935 (ros_ign_bridge/parameter_bridge)
    rostopic_stats_logger (subt_ros/rostopic_stats_logger.sh)
    subt_ros_relay (subt_ros/subt_ros_relay)
    tf_world_static (tf2_ros/static_transform_publisher)

auto-starting new master
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
process[master]: started with pid [20068]
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
master has started, initiating launch
master has started, initiating launch
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8553d504-f6ae-11ec-8d9e-b42e9944804c
master has started, initiating launch
master has started, initiating launch
master has started, initiating launch
master has started, initiating launch
master has started, initiating launch
... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19865.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19866.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
process[rosout-1]: started with pid [20118]
started core service [/rosout]
Done checking log file disk usage. Usage is <1GB.

Done checking log file disk usage. Usage is <1GB.

process[ros_ign_bridge_femust_19864_2272755160098042935-2]: started with pid [20125]
process[subt_ros_relay-3]: started with pid [20129]
process[bridge_logger-4]: started with pid [20131]
... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19871.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
process[rostopic_stats_logger-5]: started with pid [20132]
Done checking log file disk usage. Usage is <1GB.

... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19870.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
master has started, initiating launch
process[tf_world_static-6]: started with pid [20137]
Done checking log file disk usage. Usage is <1GB.

... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19867.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19872.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Done checking log file disk usage. Usage is <1GB.

... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19868.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
... logging to /home/andrzej/.ros/log/8553d504-f6ae-11ec-8d9e-b42e9944804c/roslaunch-femust-19869.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
started roslaunch server http://femust:34165/

SUMMARY
========

PARAMETERS
 * /X1/ros_ign_bridge_camera_set_rate/service: /world/simple_cav...
 * /X1/ros_ign_bridge_front_laser_set_rate/service: /world/simple_cav...
 * /X1/use_sim_time: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /X1/
    cloud_downsampler (subt_ros/cloud_downsampler)
    mapping_server_cloud_throttle (topic_tools/throttle)
    mapping_server_grid_throttle (topic_tools/throttle)
    mapping_server_markers_throttle (topic_tools/throttle)
    mapping_server_poses_throttle (topic_tools/throttle)
    optical_frame_publisher (subt_ros/optical_frame_publisher)
    pose_tf_broadcaster (subt_ros/pose_tf_broadcaster)
    ros_ign_bridge_battery_state (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera_set_rate (subt_ros/set_rate_relay)
    ros_ign_bridge_front_laser_set_rate (subt_ros/set_rate_relay)
    ros_ign_bridge_gas (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gas_ppm (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gpu_lidar (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_imu (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud_size (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_grid (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_markers (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_poses (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_odom (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose_static (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_twist (ros_ign_bridge/parameter_bridge)
    ros_ign_image_camera (ros_ign_image/image_bridge)

ROS_MASTER_URI=http://localhost:11311

started roslaunch server http://femust:34643/

SUMMARY
========

PARAMETERS
 * /X2/ros_ign_bridge_camera_set_rate/service: /world/simple_cav...
 * /X2/ros_ign_bridge_front_laser_set_rate/service: /world/simple_cav...
 * /X2/use_sim_time: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /X2/
    cloud_downsampler (subt_ros/cloud_downsampler)
    mapping_server_cloud_throttle (topic_tools/throttle)
    mapping_server_grid_throttle (topic_tools/throttle)
    mapping_server_markers_throttle (topic_tools/throttle)
    mapping_server_poses_throttle (topic_tools/throttle)
    optical_frame_publisher (subt_ros/optical_frame_publisher)
    pose_tf_broadcaster (subt_ros/pose_tf_broadcaster)
    ros_ign_bridge_battery_state (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera_set_rate (subt_ros/set_rate_relay)
    ros_ign_bridge_front_laser_set_rate (subt_ros/set_rate_relay)
    ros_ign_bridge_gas (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gas_ppm (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gpu_lidar (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_imu (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud_size (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_grid (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_markers (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_poses (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_odom (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose_static (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_twist (ros_ign_bridge/parameter_bridge)
    ros_ign_image_camera (ros_ign_image/image_bridge)

ROS_MASTER_URI=http://localhost:11311

WARNING: topic [/statistics] does not appear to be published yet
process[X1/ros_ign_bridge_imu-1]: started with pid [20283]
process[X1/ros_ign_bridge_pose-2]: started with pid [20287]
process[X2/ros_ign_bridge_imu-1]: started with pid [20286]
process[X1/ros_ign_bridge_pose_static-3]: started with pid [20288]
process[X2/ros_ign_bridge_pose-2]: started with pid [20289]
process[X1/ros_ign_bridge_twist-4]: started with pid [20291]
process[X2/ros_ign_bridge_pose_static-3]: started with pid [20292]
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
process[X1/ros_ign_bridge_gas-5]: started with pid [20294]
process[X2/ros_ign_bridge_twist-4]: started with pid [20295]
process[X1/ros_ign_bridge_gas_ppm-6]: started with pid [20303]
process[X2/ros_ign_bridge_gas-5]: started with pid [20309]
process[X2/ros_ign_bridge_gas_ppm-6]: started with pid [20336]
process[X1/ros_ign_bridge_camera-7]: started with pid [20325]
process[X1/ros_ign_image_camera-8]: started with pid [20378]
started roslaunch server http://femust:45277/

SUMMARY
========

PARAMETERS
 * /X4/ros_ign_bridge_camera_set_rate/service: /world/simple_cav...
 * /X4/use_sim_time: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /X4/
    cloud_downsampler (subt_ros/cloud_downsampler)
    mapping_server_cloud_throttle (topic_tools/throttle)
    mapping_server_grid_throttle (topic_tools/throttle)
    mapping_server_markers_throttle (topic_tools/throttle)
    mapping_server_poses_throttle (topic_tools/throttle)
    optical_frame_publisher (subt_ros/optical_frame_publisher)
    pose_tf_broadcaster (subt_ros/pose_tf_broadcaster)
    ros_ign_bridge_battery_state (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera_set_rate (subt_ros/set_rate_relay)
    ros_ign_bridge_fluid_pressure (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gas (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gas_ppm (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_imu (ros_ign_bridge/parameter_bridge)
    ros_igprocess[X1/optical_frame_publisher-9]: started with pid [20420]
n_bridge_magnetometer (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud_size (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_grid (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_markers (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_poses (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose_static (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_twist (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_velocity_control_enable (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_velocity_control_twist (ros_ign_bridge/parameter_bridge)
    ros_ign_image_camera (ros_ign_image/image_bridge)

process[X1/ros_ign_bridge_camera_set_rate-10]: started with pid [20427]
started roslaunch server http://femust:36747/
ROS_MASTER_URI=http://localhost:11311


SUMMARY
========

PARAMETERS
 * /X3/ros_ign_bridge_camera_set_rate/service: /world/simple_cav...
 * /X3/use_sim_time: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /X3/
    cloud_downsampler (subt_ros/cloud_downsampler)
    mapping_server_cloud_throttle (topic_tools/throttle)
    mapping_server_grid_throttle (topic_tools/throttle)
    mapping_server_markers_throttle (topic_tools/throttle)
    mapping_server_poses_throttle (topic_tools/throttle)
    optical_frame_publisher (subt_ros/optical_frame_publisher)
    pose_tf_broadcaster (subt_ros/pose_tf_broadcaster)
    ros_ign_bridge_battery_state (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_camera_set_rate (subt_ros/set_rate_relay)
    ros_ign_bridge_fluid_pressure (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gas (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_gas_ppm (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_imu (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_magnetometer (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_cloud_size (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_grid (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_markers (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_mapping_server_poses (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_pose_static (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_twist (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_velocity_control_enable (ros_ign_bridge/parameter_bridge)
    ros_ign_bridge_velocity_control_twist (ros_ign_bridge/parameter_bridge)
    ros_ign_image_camera (ros_ign_image/image_bridge)

ROS_MASTER_URI=http://localhost:11311

process[X1/ros_ign_bridge_gpu_lidar-11]: started with pid [20452]
process[X2/ros_ign_bridge_camera-7]: started with pid [20368]
process[X2/ros_ign_image_camera-8]: started with pid [20478]
process[X2/optical_frame_publisher-9]: started with pid [20493]
process[X2/ros_ign_bridge_camera_set_rate-10]: started with pid [20517]
process[X2/ros_ign_bridge_gpu_lidar-11]: started with pid [20534]
process[X1/ros_ign_bridge_front_laser_set_rate-12]: started with pid [20491]
process[X1/ros_ign_bridge_odom-13]: started with pid [20560]
process[X2/ros_ign_bridge_front_laser_set_rate-12]: started with pid [20535]
process[X1/ros_ign_bridge_battery_state-14]: started with pid [20572]
process[X2/ros_ign_bridge_odom-13]: started with pid [20579]
process[X4/ros_ign_bridge_imu-1]: started with pid [20607]
process[X2/ros_ign_bridge_battery_state-14]: started with pid [20627]
process[X1/pose_tf_broadcaster-15]: started with pid [20606]
process[X4/ros_ign_bridge_pose-2]: started with pid [20629]
process[X2/pose_tf_broadcaster-15]: started with pid [20648]
process[X3/ros_ign_bridge_imu-1]: started with pid [20618]
process[X2/cloud_downsampler-16]: started with pid [20679]
process[X1/cloud_downsampler-16]: started with pid [20662]
process[X4/ros_ign_bridge_pose_static-3]: started with pid [20681]
process[X1/mapping_server_cloud_throttle-17]: started with pid [20737]
process[X4/ros_ign_bridge_twist-4]: started with pid [20736]
started roslaunch server http://femust:37263/

SUMMARY
========

PARAMETERS
 * /X2/robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES

process[X4/ros_ign_bridge_gas-5]: started with pid [20758]
ROS_MASTER_URI=http://localhost:11311

process[X2/mapping_server_cloud_throttle-17]: started with pid [20734]
process[X4/ros_ign_bridge_gas_ppm-6]: started with pid [20766]
process[X2/ros_ign_bridge_mapping_server_cloud-18]: started with pid [20784]
No processes to monitor
process[X3/ros_ign_bridge_pose-2]: started with pid [20693]
shutting down processing monitor...
started roslaunch server http://femust:45081/

SUMMARY
========

PARAMETERS
 * /X1/robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES

process[X2/ros_ign_bridge_mapping_server_cloud_size-19]: started with pid [20798]
process[X4/ros_ign_bridge_camera-7]: started with pid [20786]
ROS_MASTER_URI=http://localhost:11311

process[X4/ros_ign_image_camera-8]: started with pid [20824]
process[X4/optical_frame_publisher-9]: started with pid [20828]
process[X3/ros_ign_bridge_pose_static-3]: started with pid [20816]
process[X4/ros_ign_bridge_camera_set_rate-10]: started with pid [20834]
process[X2/mapping_server_grid_throttle-20]: started with pid [20822]
process[X2/ros_ign_bridge_mapping_server_grid-21]: started with pid [20876]
No processes to monitor
shutting down processing monitor...
process[X1/ros_ign_bridge_mapping_server_cloud-18]: started with pid [20757]
process[X4/ros_ign_bridge_velocity_control_twist-11]: started with pid [20853]
process[X2/mapping_server_poses_throttle-22]: started with pid [20879]
process[X1/ros_ign_bridge_mapping_server_cloud_size-19]: started with pid [20884]
process[X3/ros_ign_bridge_twist-4]: started with pid [20844]
process[X4/ros_ign_bridge_velocity_control_enable-12]: started with pid [20885]
started roslaunch server http://femust:46825/

SUMMARY
========

PARAMETERS
 * /X3/robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES

process[X2/ros_ign_bridge_mapping_server_poses-23]: started with pid [20887]
process[X3/ros_ign_bridge_gas-5]: started with pid [20896]
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
process[X1/mapping_server_grid_throttle-20]: started with pid [20895]
... shutting down processing monitor complete
process[X4/ros_ign_bridge_magnetometer-13]: started with pid [20917]
process[X2/mapping_server_markers_throttle-24]: started with pid [20936]
process[X3/ros_ign_bridge_gas_ppm-6]: started with pid [20911]
process[X1/ros_ign_bridge_mapping_server_grid-21]: started with pid [20939]
process[X3/ros_ign_bridge_camera-7]: started with pid [20943]
started roslaunch server http://femust:45875/

SUMMARY
========

PARAMETERS
 * /X4/robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES

process[X1/mapping_server_poses_throttle-22]: started with pid [20948]
process[X2/ros_ign_bridge_mapping_server_markers-25]: started with pid [20956]
process[X3/ros_ign_image_camera-8]: started with pid [20958]
process[X1/ros_ign_bridge_mapping_server_poses-23]: started with pid [20960]
process[X4/ros_ign_bridge_fluid_pressure-14]: started with pid [20941]
process[X3/optical_frame_publisher-9]: started with pid [20964]
process[X4/ros_ign_bridge_battery_state-15]: started with pid [20965]
process[X1/mapping_server_markers_throttle-24]: started with pid [20968]
process[X1/ros_ign_bridge_mapping_server_markers-25]: started with pid [20984]
process[X4/pose_tf_broadcaster-16]: started with pid [20985]
process[X3/ros_ign_bridge_camera_set_rate-10]: started with pid [20978]
... shutting down processing monitor complete
process[X4/cloud_downsampler-17]: started with pid [21008]
process[X3/ros_ign_bridge_velocity_control_twist-11]: started with pid [21009]
process[X4/mapping_server_cloud_throttle-18]: started with pid [21014]
process[X3/ros_ign_bridge_velocity_control_enable-12]: started with pid [21015]
process[X4/ros_ign_bridge_mapping_server_cloud-19]: started with pid [21016]
process[X4/ros_ign_bridge_mapping_server_cloud_size-20]: started with pid [21029]
process[X3/ros_ign_bridge_magnetometer-13]: started with pid [21030]
process[X4/mapping_server_grid_throttle-21]: started with pid [21046]
process[X3/ros_ign_bridge_fluid_pressure-14]: started with pid [21047]
process[X4/ros_ign_bridge_mapping_server_grid-22]: started with pid [21061]
ROS_MASTER_URI=http://localhost:11311

process[X4/mapping_server_poses_throttle-23]: started with pid [21076]
process[X3/ros_ign_bridge_battery_state-15]: started with pid [21072]
process[X4/ros_ign_bridge_mapping_server_poses-24]: started with pid [21088]
process[X3/pose_tf_broadcaster-16]: started with pid [21093]
process[X3/cloud_downsampler-17]: started with pid [21117]
ROS_MASTER_URI=http://localhost:11311

process[X3/mapping_server_cloud_throttle-18]: started with pid [21131]
process[X4/mapping_server_markers_throttle-25]: started with pid [21132]
process[X4/ros_ign_bridge_mapping_server_markers-26]: started with pid [21141]
process[X3/ros_ign_bridge_mapping_server_cloud-19]: started with pid [21144]
process[X3/ros_ign_bridge_mapping_server_cloud_size-20]: started with pid [21162]
process[X3/mapping_server_grid_throttle-21]: started with pid [21171]
process[X3/ros_ign_bridge_mapping_server_grid-22]: started with pid [21177]
process[X3/mapping_server_poses_throttle-23]: started with pid [21187]
process[X3/ros_ign_bridge_mapping_server_poses-24]: started with pid [21207]
process[X3/mapping_server_markers_throttle-25]: started with pid [21216]
process[X3/ros_ign_bridge_mapping_server_markers-26]: started with pid [21228]
No processes to monitor
shutting down processing monitor...
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete
... shutting down processing monitor complete
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:863] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[Dbg] [EntityComponentManager.cc:767] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[Dbg] [EntityComponentManager.cc:767] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[Dbg] [EntityComponentManager.cc:767] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[Dbg] [EntityComponentManager.cc:767] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
[Dbg] [EntityComponentManager.cc:767] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[Dbg] [EntityComponentManager.cc:767] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
[Dbg] [EntityComponentManager.cc:767] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
[Dbg] [EntityComponentManager.cc:767] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[Dbg] [EntityComponentManager.cc:767] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[Dbg] [EntityComponentManager.cc:767] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[Dbg] [EntityComponentManager.cc:767] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
[Dbg] [EntityComponentManager.cc:767] Using components of type [8064491505919932473] / [ign_gazebo_components.Level].
[Dbg] [EntityComponentManager.cc:767] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
[Dbg] [EntityComponentManager.cc:767] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::WindEffects] for entity [1]
[Dbg] [EntityComponentManager.cc:767] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
[Dbg] [EntityComponentManager.cc:767] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
[Dbg] [EntityComponentManager.cc:767] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
[Dbg] [EntityComponentManager.cc:767] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
[Dbg] [EntityComponentManager.cc:767] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
[Dbg] [EntityComponentManager.cc:767] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
[Dbg] [EntityComponentManager.cc:767] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
[Dbg] [EntityComponentManager.cc:767] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
[Dbg] [EntityComponentManager.cc:767] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
[Dbg] [EntityComponentManager.cc:767] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement].
[Dbg] [EntityComponentManager.cc:767] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink].
[Dbg] [EntityComponentManager.cc:767] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
[Dbg] [EntityComponentManager.cc:767] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
[Dbg] [EntityComponentManager.cc:767] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
[Dbg] [EntityComponentManager.cc:767] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
[Dbg] [EntityComponentManager.cc:767] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
[Dbg] [EntityComponentManager.cc:767] Using components of type [3866641186784191835] / [ign_gazebo_components.Light].
[Dbg] [EntityComponentManager.cc:767] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [4]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [45]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 305 kelvin.
[Dbg] [EntityComponentManager.cc:767] Using components of type [14688978457936108958] / [ign_gazebo_components.TemperatureRange].
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [47]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [49]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [67]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [97]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 305 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [99]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [101]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [107]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [119]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 298.75 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [121]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [123]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [129]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [159]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [193]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 298.75 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [195]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [209]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [237]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 305 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [239]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [265]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [269]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [287]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 298.75 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [289]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [333]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 298.75 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [335]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [343]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [361]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [373]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [379]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [383]
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [395]
[Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288 kelvin, and a max temperature of 305 kelvin.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Thermal] for entity [397]
[Msg] Loaded level [3]
[Dbg] [Physics.cc:643] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-3/engine-plugins/libignition-physics-dartsim-plugin.so]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Dbg] [Sensors.cc:381] Configuring Sensors system
[Dbg] [Sensors.cc:311] SensorsPrivate::Run
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:291] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:190] Waiting for init
[Msg] Create service on [/world/simple_cave_01/create]
[Msg] Remove service on [/world/simple_cave_01/remove]
[Msg] Pose service on [/world/simple_cave_01/set_pose]
[Msg] Light configuration service on [/world/simple_cave_01/light_config]
[Msg] Physics service on [/world/simple_cave_01/set_physics]
[Msg] Enable collision service on [/world/simple_cave_01/enable_collision]
[Msg] Disable collision service on [/world/simple_cave_01/disable_collision]
[Msg] Material service on [/world/simple_cave_01/visual_config]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Imu] for entity [1]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Magnetometer] for entity [1]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::AirPressure] for entity [1]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Contact] for entity [1]
[Msg] Serving particle emitter information on [/world/simple_cave_01/particle_emitters]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::ParticleEmitter2] for entity [1]
[Msg] Run duration set to 0 seconds.
[Msg] Starting SubT
[Dbg] [SimulationRunner.cc:873] Loaded system [subt::GameLogicPlugin] for entity [1]
[Dbg] [ServerConfig.cc:603] Generating LogRecord SDF:
[Dbg] [ServerConfig.cc:653] <plugin>
  <record_path>/tmp/ign/logs/gazebo</record_path>
  <record_resources>0</record_resources>
</plugin>

[Msg] Recording to log file [/tmp/ign/logs/gazebo/state.tlog]
[Dbg] [LogRecord.cc:325] Recording default topic[/world/simple_cave_01/dynamic_pose/info].
[Dbg] [LogRecord.cc:326] Recording default topic[/gazebo/sdf].
[Dbg] [LogRecord.cc:327] Recording default topic[/world/simple_cave_01/changed_state].
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::LogRecord] for entity [1]
[Msg] Serving world controls on [/world/simple_cave_01/control] and [/world/simple_cave_01/playback/control]
[Msg] Serving GUI information on [/world/simple_cave_01/gui/info]
[Msg] World [simple_cave_01] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/simple_cave_01/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Dbg] [GazeboServer.cc:341] Loaded GazeboServer plugin.
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:521] Creating PostUpdate worker threads: 33
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (6)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (7)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (8)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (9)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (10)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (11)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (12)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (13)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (14)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (15)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (16)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (17)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (18)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (19)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (20)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (21)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (22)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (23)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (24)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (25)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (26)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (27)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (28)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (29)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (30)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (31)
[Dbg] [Manager.cc:839] Loading plugin. Name[subt::CommsBrokerPlugin] File[libCommsBrokerPlugin.so]
[Dbg] [CommsBrokerPlugin.cc:66] Loading visibility_config from SDF: 
RF Configuration (visibility-based)
-- visibilityCostToFadingExponent: 0.2
-- commsCostMax: 10

[Dbg] [CommsBrokerPlugin.cc:98] Loading range_config from SDF: 
RF Configuration (range-based)
-- max_range: 500
-- fading_exponent: 1.5
-- L0: 40
-- sigma: 10
-- scaling_factor: 0.55
-- range_per_hop: 2

[Dbg] [CommsBrokerPlugin.cc:123] Loading radio_config from SDF: 
Radio Configuration
-- capacity: 1e+06
-- default_tx_power: 20
-- noise_floor: -90
-- modulation: QPSK

[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [GuiRunner.cc:63] Requesting initial state from [/world/simple_cave_01/state]...
[GUI] [Msg] Loading config [/home/andrzej/.ignition/launch/gui.config]
[GUI] [Dbg] [Application.cc:262] Loading window config
[GUI] [Dbg] [Application.cc:446] Applying config
[GUI] [Msg] Loading config [/home/andrzej/.ignition/launch/gui.config]
[GUI] [Dbg] [Application.cc:262] Loading window config
[GUI] [Dbg] [Application.cc:446] Applying config
[GUI] [Dbg] [Application.cc:309] Loading plugin [GzScene3D]
[GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[GUI] [Msg] Transform mode service on [/gui/transform_mode]
[GUI] [Msg] Record video service on [/gui/record_video]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] View angle service on [/gui/view_angle]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-4/plugins/gui/libGzScene3D.so]
[GUI] [Dbg] [Application.cc:309] Loading plugin [WorldControl]
[GUI] [Msg] Using world control service [/world/simple_cave_01/control]
[GUI] [Msg] Listening to stats on [/world/simple_cave_01/stats]
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-4/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:309] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/simple_cave_01/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-4/plugins/libWorldStats.so]
[GUI] [Dbg] [GazeboGui.cc:144] Running the GazeboGui plugin.
[Dbg] [CommsBrokerPlugin.cc:219] Using [visibility_range] comms model
[Msg] Starting SubT comms broker
[Dbg] [Manager.cc:839] Loading plugin. Name[subt::BaseStationPlugin] File[libBaseStationPlugin.so]
[Msg] Base station plugin loaded
[Msg] Storing callback for base_station:4000
[Msg] Storing callback for broadcast:4000
[Msg] Storing callback for base_station:4100
[Msg] Storing callback for broadcast:4100
[Dbg] [Manager.cc:839] Loading plugin. Name[ignition::launch::GazeboFactory] File[libignition-launch-gazebo-factory.so]
[Dbg] [GazeboFactory.cc:165] Factory service call succeeded.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [RenderUtil.cc:1761] Create scene [scene]
[ WARN] [1656398998.984639542]: /use_sim_time set to true and no clock published.  Still waiting for valid time...
[Dbg] [SimulationFeatures.cc:57] Simulation timestep set to: 0.004
[Dbg] [Manager.cc:474] Death of process[19867] with name[x2_description].
[Dbg] [Manager.cc:474] Death of process[19865] with name[x1_description].
[Dbg] [Manager.cc:474] Death of process[19869] with name[x3_description].
[Dbg] [Manager.cc:474] Death of process[19871] with name[x4_description].
[Msg] Serving scene information on [/world/simple_cave_01/scene/info]
[Msg] Serving graph information on [/world/simple_cave_01/scene/graph]
[Msg] Serving full state on [/world/simple_cave_01/state]
[Msg] Serving full state (async) on [/world/simple_cave_01/state_async]
[Msg] Publishing scene information on [/world/simple_cave_01/scene/info]
[Msg] Publishing entity deletions on [/world/simple_cave_01/scene/deletion]
[Msg] Publishing state changes on [/world/simple_cave_01/state]
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v105ModelE], which doesn't have `operator<<`. Component will not be serialized.
[Msg] Publishing pose messages on [/world/simple_cave_01/pose/info]
[Msg] Publishing dynamic pose messages on [/world/simple_cave_01/dynamic_pose/info]
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v105WorldE], which doesn't have `operator<<`. Component will not be serialized.
[Dbg] [EntityComponentManager.cc:1170] Updated state thread iterators: 16 threads processing around 26 components each.
[Msg] Adding artifact name[rescue_randy_1] type string[TYPE_RESCUE_RANDY] typeid[7]
[Msg] Adding artifact name[rescue_randy_2] type string[TYPE_RESCUE_RANDY] typeid[7]
[Msg] Adding artifact name[phone_1] type string[TYPE_PHONE] typeid[5]
[Msg] Adding artifact name[backpack_1] type string[TYPE_BACKPACK] typeid[0]
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9712747055438129860] / [ign_gazebo_components.WindMode].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6612894081701502240] / [ign_gazebo_components.Pose].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [10522242218202596205] / [ign_gazebo_components.CanonicalLink].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8112400427272910195] / [ign_gazebo_components.Inertial].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5081358965268446661] / [ign_gazebo_components.Link].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6687176221774458630] / [ign_gazebo_components.Model].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5661073481138181711] / [ign_gazebo_components.SelfCollide].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11683062252779233161] / [ign_gazebo_components.SourceFilePath].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8546580419506082455] / [ign_gazebo_components.Static].
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v105ModelE], which doesn't have `operator>>`. Component will not be deserialized.
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11536476718181283925] / [ign_gazebo_components.ModelSdf].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13440282432131634483] / [ign_gazebo_components.Transparency].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [16454635107327670381] / [ign_gazebo_components.Visual].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5453622280849253520] / [ign_gazebo_components.VisibilityFlags].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13011964647677164955] / [ign_gazebo_components.CastShadows].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17121648710877364109] / [ign_gazebo_components.Geometry].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9225962031573086509] / [ign_gazebo_components.CollisionElement].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17938588655714334139] / [ign_gazebo_components.Collision].
[Msg] Adding artifact name[phone_2] type string[TYPE_PHONE] typeid[5]
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [14688978457936108958] / [ign_gazebo_components.TemperatureRange].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3866641186784191835] / [ign_gazebo_components.Light].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8064491505919932473] / [ign_gazebo_components.Level].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11371360182141354106] / [ign_gazebo_components.LevelEntityNames].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2668898242563798256] / [ign_gazebo_components.DefaultLevel].
[Msg] Adding artifact name[backpack_2] type string[TYPE_BACKPACK] typeid[0]
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8705992680619689917] / [ign_gazebo_components.RenderEngineGuiPlugin].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2188341333082264598] / [ign_gazebo_components.Physics].
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v105WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4981278897826323946] / [ign_gazebo_components.WorldSdf].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17459188283658606303] / [ign_gazebo_components.RenderEngineServerPlugin].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17605309075052480649] / [ign_gazebo_components.Atmosphere].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[Msg] Adding artifact name[rescue_randy_3] type string[TYPE_RESCUE_RANDY] typeid[7]
[Msg] Adding artifact name[backpack_3] type string[TYPE_BACKPACK] typeid[0]
[Msg] Adding artifact name[phone_3] type string[TYPE_PHONE] typeid[5]
[Msg] Adding artifact name[phone_4] type string[TYPE_PHONE] typeid[5]
[Msg] Adding artifact name[backpack_4] type string[TYPE_BACKPACK] typeid[0]
[Msg] Adding artifact name[rescue_randy_4] type string[TYPE_RESCUE_RANDY] typeid[7]
[Wrn] [LevelManager.cc:867] Attempting to set performer with name [X1] , but the entity could not be found. Another attempt will be made in the next iteration.
[Wrn] [LevelManager.cc:867] Attempting to set performer with name [X2] , but the entity could not be found. Another attempt will be made in the next iteration.
[Wrn] [LevelManager.cc:867] Attempting to set performer with name [X3] , but the entity could not be found. Another attempt will be made in the next iteration.
[Wrn] [LevelManager.cc:867] Attempting to set performer with name [X4] , but the entity could not be found. Another attempt will be made in the next iteration.
[GUI] [Dbg] [Scene3D.cc:2706] RenderEngineGuiPlugin component not found, render engine won't be set from the ECM 
[Dbg] [EntityComponentManager.cc:767] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17771214158902094494] / [ign_gazebo_components.Imu].
[Dbg] [EntityComponentManager.cc:767] Using components of type [10461520141335422054] / [ign_gazebo_components.WorldPose].
[Dbg] [EntityComponentManager.cc:767] Using components of type [9810498410555695050] / [ign_gazebo_components.AngularVelocity].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17373107141547024696] / [ign_gazebo_components.LinearAcceleration].
[Dbg] [EntityComponentManager.cc:767] Using components of type [14624144930658477562] / [ign_gazebo_components.Camera].
[Dbg] [EntityComponentManager.cc:767] Using components of type [1301926277928136113] / [ign_gazebo_components.GpuLidar].
[Dbg] [EntityComponentManager.cc:767] Using components of type [360894313363162387] / [ign_gazebo_components.Joint].
[Dbg] [EntityComponentManager.cc:767] Using components of type [4514298940308304267] / [ign_gazebo_components.JointType].
[Dbg] [EntityComponentManager.cc:767] Using components of type [16752981946841796574] / [ign_gazebo_components.JointAxis].
[Dbg] [EntityComponentManager.cc:767] Using components of type [6791213906290467105] / [ign_gazebo_components.ThreadPitch].
[Dbg] [EntityComponentManager.cc:767] Using components of type [14863055383328686534] / [ign_gazebo_components.ParentLinkName].
[Dbg] [EntityComponentManager.cc:767] Using components of type [3888602368311486678] / [ign_gazebo_components.ChildLinkName].
[Msg] DiffDrive subscribing to twist messages on [/model/X1/cmd_vel_relay]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::DiffDrive] for entity [405]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [405]
[Dbg] [EntityComponentManager.cc:767] Using components of type [4154590335585354845] / [ign_gazebo_components.BatterySoC].
[Msg] LinearBatteryPlugin configured. Battery name: linear_battery
[Dbg] [LinearBatteryPlugin.cc:374] Battery initial voltage: 12.694
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::LinearBatteryPlugin] for entity [405]
[Wrn] [GasEmitterDetectorPlugin.cc:217] Max concentration is lower than min concentration. Setting max to unbounded.
[Dbg] [SimulationRunner.cc:873] Loaded system [subt::GasDetector] for entity [405]
[Msg] Breadcrumbs max deployment is == 0. Breadcrumbs are disabled.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Breadcrumbs] for entity [405]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::WheelSlip] for entity [405]
[Dbg] [UserCommands.cc:954] Created entity [405] named [X1]
[Msg] DiffDrive subscribing to twist messages on [/model/X2/cmd_vel_relay]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::DiffDrive] for entity [450]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [450]
[Msg] LinearBatteryPlugin configured. Battery name: linear_battery
[Dbg] [LinearBatteryPlugin.cc:374] Battery initial voltage: 12.694
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::LinearBatteryPlugin] for entity [450]
[Wrn] [GasEmitterDetectorPlugin.cc:217] Max concentration is lower than min concentration. Setting max to unbounded.
[Dbg] [SimulationRunner.cc:873] Loaded system [subt::GasDetector] for entity [450]
[Msg] Breadcrumbs max deployment is == 0. Breadcrumbs are disabled.
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::Breadcrumbs] for entity [450]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::WheelSlip] for entity [450]
[Dbg] [UserCommands.cc:954] Created entity [450] named [X2]
[Dbg] [EntityComponentManager.cc:767] Using components of type [6155746414546082238] / [ign_gazebo_components.AirPressureSensor].
[Dbg] [EntityComponentManager.cc:767] Using components of type [17148290817080054765] / [ign_gazebo_components.Magnetometer].
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [485]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [485]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [485]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [485]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [485]
[Msg] MulticopterVelocityControl subscribing to Twist messages on [model/X3/cmd_vel]
[Msg] MulticopterVelocityControl subscribing to Boolean messages on [model/X3/velocity_controller/enable]
[Dbg] [EntityComponentManager.cc:767] Using components of type [2636689467672638035] / [ign_gazebo_components.Actuators].
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterVelocityControl] for entity [485]
[Msg] LinearBatteryPlugin configured. Battery name: linear_battery
[Dbg] [LinearBatteryPlugin.cc:374] Battery initial voltage: 12.694
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::LinearBatteryPlugin] for entity [485]
[Wrn] [GasEmitterDetectorPlugin.cc:217] Max concentration is lower than min concentration. Setting max to unbounded.
[Dbg] [SimulationRunner.cc:873] Loaded system [subt::GasDetector] for entity [485]
[Dbg] [UserCommands.cc:954] Created entity [485] named [X3]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [520]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [520]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [520]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [520]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [520]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [520]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterMotorModel] for entity [520]
[Msg] MulticopterVelocityControl subscribing to Twist messages on [model/X4/cmd_vel]
[Msg] MulticopterVelocityControl subscribing to Boolean messages on [model/X4/velocity_controller/enable]
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::MulticopterVelocityControl] for entity [520]
[Msg] LinearBatteryPlugin configured. Battery name: linear_battery
[Dbg] [LinearBatteryPlugin.cc:374] Battery initial voltage: 12.694
[Dbg] [SimulationRunner.cc:873] Loaded system [ignition::gazebo::systems::LinearBatteryPlugin] for entity [520]
[Wrn] [GasEmitterDetectorPlugin.cc:217] Max concentration is lower than min concentration. Setting max to unbounded.
[Dbg] [SimulationRunner.cc:873] Loaded system [subt::GasDetector] for entity [520]
[Dbg] [UserCommands.cc:954] Created entity [520] named [X4]
[Dbg] [ImuSensor.cc:131] IMU data for [X1::base_link::imu_sensor] advertised on [world/simple_cave_01/model/X1/link/base_link/sensor/imu_sensor/imu]
[Dbg] [EntityComponentManager.cc:767] Using components of type [9986606447706164306] / [ign_gazebo_components.SensorTopic].
[Dbg] [ImuSensor.cc:131] IMU data for [X2::base_link::imu_sensor] advertised on [world/simple_cave_01/model/X2/link/base_link/sensor/imu_sensor/imu]
[Dbg] [ImuSensor.cc:131] IMU data for [X3::base_link::imu_sensor] advertised on [world/simple_cave_01/model/X3/link/base_link/sensor/imu_sensor/imu]
[Dbg] [ImuSensor.cc:131] IMU data for [X4::base_link::imu_sensor] advertised on [world/simple_cave_01/model/X4/link/base_link/sensor/imu_sensor/imu]
[Dbg] [MagnetometerSensor.cc:117] Magnetometer data for [X3::base_link::magnetometer] advertised on [world/simple_cave_01/model/X3/link/base_link/sensor/magnetometer/magnetometer]
[Dbg] [MagnetometerSensor.cc:117] Magnetometer data for [X4::base_link::magnetometer] advertised on [world/simple_cave_01/model/X4/link/base_link/sensor/magnetometer/magnetometer]
[Dbg] [AirPressureSensor.cc:125] Air pressure for [X3::base_link::air_pressure] advertised on [world/simple_cave_01/model/X3/link/base_link/sensor/air_pressure/air_pressure]
[Dbg] [AirPressureSensor.cc:125] Air pressure for [X4::base_link::air_pressure] advertised on [world/simple_cave_01/model/X4/link/base_link/sensor/air_pressure/air_pressure]
[Dbg] [EntityComponentManager.cc:767] Using components of type [12087573065360053324] / [ign_gazebo_components.WorldAngularVelocity].
[Dbg] [EntityComponentManager.cc:767] Using components of type [2810136738197387220] / [ign_gazebo_components.HaltMotion].
[Dbg] [Sensors.cc:469] Initialization needed
[Dbg] [Sensors.cc:202] Initializing render context
[Msg] Loading plugin [ignition-rendering-ogre2]
[Dbg] [EntityComponentManager.cc:1170] Updated state thread iterators: 16 threads processing around 36 components each.
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6791213906290467105] / [ign_gazebo_components.ThreadPitch].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [360894313363162387] / [ign_gazebo_components.Joint].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [16752981946841796574] / [ign_gazebo_components.JointAxis].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [3888602368311486678] / [ign_gazebo_components.ChildLinkName].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [14863055383328686534] / [ign_gazebo_components.ParentLinkName].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4514298940308304267] / [ign_gazebo_components.JointType].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4154590335585354845] / [ign_gazebo_components.BatterySoC].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [1301926277928136113] / [ign_gazebo_components.GpuLidar].
[Dbg] [EntityComponentManager.cc:767] Using components of type [4425034272867445569] / [ign_gazebo_components.Performer].
[Dbg] [EntityComponentManager.cc:767] Using components of type [11311330372155309806] / [ign_gazebo_components.PerformerLevels].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [14624144930658477562] / [ign_gazebo_components.Camera].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [10461520141335422054] / [ign_gazebo_components.WorldPose].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17373107141547024696] / [ign_gazebo_components.LinearAcceleration].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17771214158902094494] / [ign_gazebo_components.Imu].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9810498410555695050] / [ign_gazebo_components.AngularVelocity].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9986606447706164306] / [ign_gazebo_components.SensorTopic].
[Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread (Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread (16Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] 16[Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] 2727[Dbg] [SimulationRunner.cc:550] )Exiting postupdate worker thread (Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550]  ([Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] 
76
Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] 
Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread (2323Exiting postupdate worker thread ()13
)

[Dbg] [SimulationRunner.cc:550] 
Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550]  ([Dbg] [SimulationRunner.cc:550] )9)10)

[Dbg] [SimulationRunner.cc:550] 
[Dbg] [SimulationRunner.cc:550] 
[Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] )Exiting postupdate worker thread (Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread (Exiting postupdate worker thread (Exiting postupdate worker thread (Exiting postupdate worker thread (
[Dbg] [SimulationRunner.cc:550] 26Exiting postupdate worker thread (2Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] 28)Exiting postupdate worker thread ()Exiting postupdate worker thread (25Exiting postupdate worker thread (

[Dbg] [SimulationRunner.cc:550] 305
4)Exiting postupdate worker thread (

Exiting postupdate worker thread ()2224
))))
))))29


)

[Dbg] [SimulationRunner.cc:550] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] 2121)Exiting postupdate worker thread (Exiting postupdate worker thread (

1415)))[Dbg] [SimulationRunner.cc:550] 

Exiting postupdate worker thread (17[Dbg] [SimulationRunner.cc:550] )

Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] 8Exiting postupdate worker thread ())[Dbg] [SimulationRunner.cc:550] 18[Dbg] [SimulationRunner.cc:550] 1818[Dbg] [SimulationRunner.cc:550] [Dbg] [SimulationRunner.cc:550] 
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [17148290817080054765] / [ign_gazebo_components.Magnetometer].
Exiting postupdate worker thread (Exiting postupdate worker thread (Exiting postupdate worker thread (Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:550] 1119
Exiting postupdate worker thread (Exiting postupdate worker thread (0Exiting postupdate worker thread ())12Exiting postupdate worker thread ()1)

320))
)



[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [6155746414546082238] / [ign_gazebo_components.AirPressureSensor].
[Dbg] [SimulationRunner.cc:521] Creating PostUpdate worker threads: 47
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (6)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (7)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (8)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (9)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (10)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (11)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (12)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (13)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (14)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (15)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (16)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (17)
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [12087573065360053324] / [ign_gazebo_components.WorldAngularVelocity].
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (18)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (19)
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2810136738197387220] / [ign_gazebo_components.HaltMotion].
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (20)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (21)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (22)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (23)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (24)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (25)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (26)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (27)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (28)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (29)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (30)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (31)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (32)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (33)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (34)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (35)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (36)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (37)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (38)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (39)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (40)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (41)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (42)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (43)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (44)
[Dbg] [SimulationRunner.cc:534] Creating postupdate worker thread (45)
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [2636689467672638035] / [ign_gazebo_components.Actuators].
[Dbg] [EntityComponentManager.cc:767] Using components of type [7808403688689644833] / [ign_gazebo_components.ExternalWorldWrenchCmd].
[Dbg] [EntityComponentManager.cc:767] Using components of type [14423792621074650228] / [ign_gazebo_components.JointVelocityCmd].
[Dbg] [EntityComponentManager.cc:767] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[Dbg] [EntityComponentManager.cc:767] Using components of type [4068291309002341380] / [ign_gazebo_components.JointVelocity].
[Dbg] [RenderUtil.cc:1761] Create scene [scene]
[Dbg] [Sensors.cc:215] Rendering Thread initialized
[Dbg] [EntityComponentManager.cc:1170] Updated state thread iterators: 16 threads processing around 36 components each.
[Dbg] [EntityComponentManager.cc:767] Using components of type [5681045647686850796] / [ign_gazebo_components.SlipComplianceCmd ].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4068291309002341380] / [ign_gazebo_components.JointVelocity].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [14423792621074650228] / [ign_gazebo_components.JointVelocityCmd].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [7808403688689644833] / [ign_gazebo_components.ExternalWorldWrenchCmd].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [4425034272867445569] / [ign_gazebo_components.Performer].
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [11311330372155309806] / [ign_gazebo_components.PerformerLevels].
[Dbg] [CameraSensor.cc:271] Camera images for [X1::base_link::camera_front] advertised on [world/simple_cave_01/model/X1/link/base_link/sensor/camera_front/image]
[Dbg] [CameraSensor.cc:531] Camera info for [X1::base_link::camera_front] advertised on [/world/simple_cave_01/model/X1/link/base_link/sensor/camera_front/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X2::base_link::camera_front] advertised on [world/simple_cave_01/model/X2/link/base_link/sensor/camera_front/image]
[Dbg] [CameraSensor.cc:531] Camera info for [X2::base_link::camera_front] advertised on [/world/simple_cave_01/model/X2/link/base_link/sensor/camera_front/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X3::base_link::camera_front] advertised on [world/simple_cave_01/model/X3/link/base_link/sensor/camera_front/image]
[Dbg] [CameraSensor.cc:531] Camera info for [X3::base_link::camera_front] advertised on [/world/simple_cave_01/model/X3/link/base_link/sensor/camera_front/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X4::base_link::camera_front] advertised on [world/simple_cave_01/model/X4/link/base_link/sensor/camera_front/image]
[Dbg] [CameraSensor.cc:531] Camera info for [X4::base_link::camera_front] advertised on [/world/simple_cave_01/model/X4/link/base_link/sensor/camera_front/camera_info]
[Dbg] [Lidar.cc:122] Laser scans for [X1::base_link::front_laser] advertised on [world/simple_cave_01/model/X1/link/base_link/sensor/front_laser/scan]
[Dbg] [GpuLidarSensor.cc:149] Lidar points for [X1::base_link::front_laser] advertised on [world/simple_cave_01/model/X1/link/base_link/sensor/front_laser/scan/points]
[Dbg] [Lidar.cc:122] Laser scans for [X2::base_link::front_laser] advertised on [world/simple_cave_01/model/X2/link/base_link/sensor/front_laser/scan]
[Dbg] [GpuLidarSensor.cc:149] Lidar points for [X2::base_link::front_laser] advertised on [world/simple_cave_01/model/X2/link/base_link/sensor/front_laser/scan/points]
[Wrn] [Component.hh:144] Trying to serialize component with data type [St6vectorIdSaIdEE], which doesn't have `operator<<`. Component will not be serialized.
[Dbg] [EntityComponentManager.cc:1170] Updated state thread iterators: 16 threads processing around 36 components each.
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [St6vectorIdSaIdEE], which doesn't have `operator>>`. Component will not be deserialized.
[GUI] [Dbg] [EntityComponentManager.cc:767] Using components of type [5681045647686850796] / [ign_gazebo_components.SlipComplianceCmd ].
[Dbg] [CameraSensor.cc:364] Enabling camera sensor: 'X1::base_link::camera_front' data generation.
[Dbg] [CameraSensor.cc:364] Enabling camera sensor: 'X2::base_link::camera_front' data generation.
[Dbg] [CameraSensor.cc:364] Enabling camera sensor: 'X3::base_link::camera_front' data generation.
@femust femust changed the title screwed simulation (blue, red stuff) rendering issue in simulation (blue, red stuff) Jun 28, 2022
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