Can not move the spot

[lichenchen1205]

Thank you very much for your help. I can run this command according to your method, but when I start it, the robot will always lie there, as shown in the picture.and I useroslaunch champ_teleop teleop.launch，but I can’t use the keyboard to move it.

You're right, that is an error in the models. I sent a fix for this to the master branch (#1045). With this fix, I can launch the command you mentioned correctly.

Originally posted by @lichenchen1205 in #1044 (comment)

[lichenchen1205]

As shown in the figure, the robot has been lying there after the simulation is started, not knowing how to move it.

[peci1]

Can you post the launch output? When I run the command you mentioned in #1044, the robot is standing. Are you sure you built the subt_spot package correctly?

[lichenchen1205]

LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/explorer_spot_sensor_config_1/launch/example.ign robotName:=X1 ros:=true champ:=true
WARNING: disk usage in log directory [/home/lichenchen/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
WARNING: disk usage in log directory [/home/lichenchen/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
WARNING: disk usage in log directory [/home/lichenchen/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
[Dbg] [Manager.cc:818] Forked a process for [ros] command[roslaunchsubt_roscompetition_init.launchworld_name:=examplevehicle_topics:=0enable_ground_truth:=0robot_names:=X1]
[Dbg] [Manager.cc:818] Forked a process for [topics] command[roslaunch--waitexplorer_spot_sensor_config_1vehicle_topics.launchworld_name:=examplename:=X1breadcrumbs:=0]
[Dbg] [Manager.cc:818] Forked a process for [champ] command[roslaunch--waitsubt_spotchamp.launchname:=X1]
[Dbg] [Manager.cc:1137] Loading plugin. Name[ignition::launch::GazeboServer] File[ignition-launch-gazebo]
[Msg] Logging to [/home/lichenchen/.ignition/gazebo/log/2021-12-01T20:08:49.724941525]
[Msg] Loading SDF world file[/home/lichenchen/subt_ws/install/share/bosdyn_spot/worlds/example.sdf].
[Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [4]
[Msg] Loaded level [3]
[Dbg] [Physics.cc:774] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Dbg] [Sensors.cc:397] Configuring Sensors system
[Dbg] [Sensors.cc:327] SensorsPrivate::Run
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:307] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:196] Waiting for init
[Msg] Create service on [/world/example/create]
[Msg] Remove service on [/world/example/remove]
[Msg] Pose service on [/world/example/set_pose]
[Msg] Light configuration service on [/world/example/light_config]
[Msg] Physics service on [/world/example/set_physics]
[Msg] SphericalCoordinates service on [/world/example/set_spherical_coordinates]
[Msg] Enable collision service on [/world/example/enable_collision]
[Msg] Disable collision service on [/world/example/disable_collision]
[Msg] Material service on [/world/example/visual_config]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::Imu] for entity [1]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignmaster has started, initiating launch
... logging to /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/roslaunch-lichenchen-MS-7C82-10663.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt

started roslaunch server http://lichenchen-MS-7C82:34567/

SUMMARY

PARAMETERS

• /X1/base_to_footprint_ekf/base_link_frame: root
• /X1/base_to_footprint_ekf/frequency: 50
• /X1/base_to_footprint_ekf/odom_frame: base_footprint
• /X1/base_to_footprint_ekf/pose0: base_to_footprint...
• /X1/base_to_footprint_ekf/pose0_config: [True, True, True...
• /X1/base_to_footprint_ekf/tf_prefix: X1
• /X1/base_to_footprint_ekf/transform_time_offset: 0.045
• /X1/base_to_footprint_ekf/transform_timeout: 0.01
• /X1/base_to_footprint_ekf/two_d_mode: False
• /X1/base_to_footprint_ekf/world_frame: base_footprint
• /X1/champ_controller/gazebo: True
• /X1/champ_controller/joint_controller_topic: joint_group_posit...
• /X1/champ_controller/loop_rate: 250
• /X1/champ_controller/publish_foot_contacts: False
• /X1/champ_controller/publish_joint_control: True
• /X1/champ_controller/publish_joint_states: False
• /X1/footprint_to_odom_ekf/base_link_frame: base_footprint
• /X1/footprint_to_odom_ekf/frequency: 50
• /X1/footprint_to_odom_ekf/imu0: imu/data
• /X1/footprint_to_odom_ekf/imu0_config: [False, False, Fa...
• /X1/footprint_to_odom_ekf/odom0: odom/raw
• /X1/footprint_to_odom_ekf/odom0_config: [False, False, Fa...
• /X1/footprint_to_odom_ekf/odom_frame: odom
• /X1/footprint_to_odom_ekf/tf_prefix: X1
• /X1/footprint_to_odom_ekf/transform_timeout: 0.01
• /X1/footprint_to_odom_ekf/two_d_mode: True
• /X1/footprint_to_odom_ekf/world_frame: odom
• /X1/gait/com_x_translation: -0.1
• /X1/gait/knee_orientation: >>
• /X1/gait/max_angular_velocity_z: 0.5
• /X1/gait/max_linear_velocity_x: 1.5
• /X1/gait/max_linear_velocity_y: 0.25
• /X1/gait/nominal_height: 0.48
• /X1/gait/odom_scaler: 1.0
• /X1/gait/pantograph_leg: False
• /X1/gait/stance_depth: -0.01
• /X1/gait/stance_duration: 0.3
• /X1/gait/swing_height: 0.08
• /X1/joints_map/left_front: ['front_left_hip_...
• /X1/joints_map/left_hind: ['rear_left_hip_x...
• /X1/joints_map/right_front: ['front_right_hip...
• /X1/joints_map/right_hind: ['rear_right_hip_...
• /X1/links_map/base: body
• /X1/links_map/left_front: ['X1/front_left_h...
• /X1/links_map/left_hind: ['X1/rear_left_hi...
• /X1/links_map/right_front: ['X1/front_right_...
• /X1/links_map/right_hind: ['X1/rear_right_h...
• /X1/state_estimator/close_loop_odom: 0
• /X1/state_estimator/orientation_from_imu: True
• /X1/tf_prefix: X1
• /X1/velocity_smoother/accel_lim_v: 1.0
• /X1/velocity_smoother/accel_lim_w: 2.0
• /X1/velocity_smoother/decel_factor: 1.0
• /X1/velocity_smoother/frequency: 10.0
• /X1/velocity_smoother/quiet: True
• /X1/velocity_smoother/robot_feedback: 2
• /X1/velocity_smoother/speed_lim_v_x: 0.5
• /X1/velocity_smoother/speed_lim_v_y: 0.35
• /X1/velocity_smoother/speed_lim_w: 0.4
• /rosdistro: melodic
• /rosversion: 1.14.12
• /use_sim_time: True

NODES
/X1/
base_to_footprint_ekf (robot_localization/ekf_localization_node)
champ_controller (champ_base/quadruped_controller_node)
contact_sensor (nodelet/nodelet)
footprint_to_odom_ekf (robot_localization/ekf_localization_node)
root_pub (tf2_ros/static_transform_publisher)
rviz (rviz/rviz)
state_estimator (champ_base/state_estimation_node)
velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[X1/velocity_smoother-1]: started with pid [10787]
process[X1/champ_controller-2]: started with pid [10788]
process[X1/contact_sensor-3]: started with pid [10789]
process[X1/state_estimator-4]: started with pid [10795]
process[X1/root_pub-5]: started with pid [10801]
process[X1/base_to_footprint_ekf-6]: started Rendering URDF of explorer_spot_sensor_config_1 with the following Xacro arguments:
leg_kp:=1e+7 leg_kd:=100.0 leg_mu1:=0.8 leg_mu2:=0.8 max_knee_effort:=80 max_knee_velocity:=15 max_hip_x_effort:=80 max_hip_x_velocity:=15 max_hip_y_effort:=80 max_hip_y_velocity:=15 rendering_target:=urdf name:=X1
[GUI] [Wrn] [Scene3D.cc:2913] The GzScene3D plugin is deprecated on v6 and will be removed on v7. Use MinimalScene together with other plugins as needed.
[Dbg] [Manager.cc:818] Forked a process for [ros] command[roslaunchsubt_roscompetition_init.launchworld_name:=examplevehicle_topics:=0enable_ground_truth:=0robot_names:=X1]
[Dbg] [Manager.cc:818] Forked a process for [topics] command[roslaunch--waitexplorer_spot_sensor_config_1vehicle_topics.launchworld_name:=examplename:=X1breadcrumbs:=0]
[Dbg] [Manager.cc:818] Forked a process for [champ] command[roslaunch--waitsubt_spotchamp.launchname:=X1]
[Dbg] [Manager.cc:1137] Loading plugin. Name[ignition::launch::GazeboGui] File[ignition-launch-gazebogui]
[Msg] Ignition Gazebo GUI v6.2.0
[Dbg] [Application.cc:87] Initializing application.
[GUI] [Dbg] [Application.cc:427] Create main window
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Dbg] [Gui.cc:156] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [GuiRunner.cc:114] Requesting initial state from [/world/example/state]...
[GUI] [Msg] Loading config [/home/lichenchen/.ignition/launch/gui.config]
[GUI] [Dbg] [Application.cc:260] Loading window config
[GUI] [Dbg] [Application.cc:441] Applying config
[GUI] [Msg] Loading config [/home/lichenchen/.ignition/launch/gui.config]
[GUI] [Dbg] [Application.cc:260] Loading window config
[GUI] [Dbg] [Application.cc:441] Applying config
[GUI] [Dbg] [Application.cc:307] 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 as transparent service on [/gui/view/transparent]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View wireframes service on [/gui/view/wireframes]�[1;32[X1/champ_controller-2] process has died [pid 10788, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2*.log
[X1/state_estimator-4] process has died [pid 10795, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4*.log
[X1/champ_controller-2] process has died [pid 10988, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2*.log
[X1/state_estimator-4] process has died [pid 10990, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4*.log
WARNING: topic [/statistics] does not appear to be published yet
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::GasDetector] : system not found in library [libGasEmitterDetectorPlugin.so] from path [/home/lichenchen/subt_ws/install/lib/libGasEmitterDetectorPlugin.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
ition::gazebo::systems::Magnetometer] for entity [1]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::AirPressure] for entity [1]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::Contact] for entity [1]
[Msg] Serving world controls on [/world/example/control], [/world/example/control/state] and [/world/example/playback/control]
[Msg] Serving GUI information on [/world/example/gui/info]
[Msg] World [example] initialized with [4ms] physics profile.
[Msg] Serving world SDF generation service on [/world/example/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.
[Dbg] [Manager.cc:1137] Loading plugin. Name[ignition::launch::GazeboFactory] File[ignition-launch-gazebo-factory]
[Dbg] [GazeboFactory.cc:165] Factory service call succeeded.
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:522] Creating PostUpdate worker threads: 8
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (6)
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [201]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [201]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::JointStatePublisher] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/front_left_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joi[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::MultiJointCommandSystem] : system not found in library [libmulti-joint-command-system.so] from path [/home/lichenchen/subt_ws/install/lib/libmulti-joint-command-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::LogicalContactSystem] : system not found in library [logical-contact-system] from path [/home/lichenchen/subt_ws/install/lib/liblogical-contact-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::MonoCameraSystem] : system not found in library [mono-camera-system] from path [/home/lichenchen/subt_ws/install/lib/libmono-camera-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::MonoCameraSystem] : system not found in library [mono-camera-system] from path [/home/lichenchen/subt_ws/install/lib/libmono-camera-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::MonoCameraSystem] : system not found in library [mono-camera-system] from path [/home/lichenchen/subt_ws/install/lib/libmono-camera-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::MonoCameraSystem] : system not found in library [mono-camera-system] from path [/home/lichenchen/subt_ws/install/lib/libmono-camera-system.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::MonoCameraSystem] : system not found in library [mono-camera-system] from path [/home/lichenchen/subt_ws/install/lib/libmono-camera-system.so].
nt/front_left_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/front_left_knee/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/front_right_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/front_right_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/front_right_knee/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/rear_left_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/rear_left_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/rear_left_knee/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/rear_right_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/rear_right_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/X1/joint/rear_right_knee/cmd_force]
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Msg] LinearBatteryPlugin configured. Battery name: linear_battery
[Dbg] [LinearBatteryPlugin.cc:345] Battery initial voltage: 12.694
[Dbg] [SimulationRunner.cc:891] Loaded system [ignition::gazebo::systems::LinearBatteryPlugin] for entity [201]
[Dbg] [UserCommands.cc:1127] �[X1/champ_controller-2] process has died [pid 11047, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2*.log
[X1/state_estimator-4] process has died [pid 11048, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4*.log
libEGL warning: DRI2: failed to create dri screen
libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
libEGL warning: DRI2: failed to create dri screen
[X1/champ_controller-2] process has died [pid 11127, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2*.log
[X1/state_estimator-4] process has died [pid 11128, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4*.log
warning: Deprecated: xacro tag 'rgbd_camera' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when instantiating macro: front_depth_camera_and_mount (/home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/scripts/../urdf/spot.urdf.xacro)
in file: /home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/scripts/../urdf/spot.urdf.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<([/]?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g'

[0mCreated entity [201] named [X1]
[Dbg] [ImuSensor.cc:131] IMU data for [X1::imu_vras::imu] advertised on [world/example/model/X1/link/imu_vras/sensor/imu/imu]
[Dbg] [ImuSensor.cc:131] IMU data for [X1::imu::imu] advertised on [world/example/model/X1/link/imu/sensor/imu/imu]
[Msg] Contact system publishing on world/example/model/X1/link/front_left_lower_leg/sensor/contact/contact
[Msg] Contact system publishing on world/example/model/X1/link/front_right_lower_leg/sensor/contact/contact
[Msg] Contact system publishing on world/example/model/X1/link/rear_left_lower_leg/sensor/contact/contact
[Msg] Contact system publishing on world/example/model/X1/link/rear_right_lower_leg/sensor/contact/contact
Warning [GenericJoint.hpp:1473] [GenericJoint::setRestPosition] Value of _q0 [0], is out of the limit range [-2.7929, -0.254801] for index [0] of Joint [Joint].
Warning [GenericJoint.hpp:1473] [GenericJoint::setRestPosition] Value of _q0 [0], is out of the limit range [-2.7929, -0.254801] for index [0] of Joint [Joint].
Warning [GenericJoint.hpp:1473] [GenericJoint::setRestPosition] Value of _q0 [0], is out of the limit range [-2.7929, -0.254801] for index [0] of Joint [Joint].
Warning [GenericJoint.hpp:1473] [GenericJoint::setRestPosition] Value of _q0 [0], is out of the limit range [-2.7929, -0.254801] for index [0] of Joint [Joint].
warning: redefining global symbol: range
when instantiating macro: led_stripe (/home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/urdf/lights.xacro)
in file: /home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/scripts/../urdf/spot.urdf.xacro
warning: redefining global symbol: range
when instantiating macro: led_stripe (/home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/urdf/lights.xacro)
in file: /home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/scripts/../urdf/spot.urdf.xacro
warning: redefining global symbol: range
when instantiating macro: led_stripe (/home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/urdf/lights.xacro)
in file: /home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/scripts/../urdf/spot.urdf.xacro
warning: redefining global symbol: range
when instantiating macro: led_stripe (/home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/urdf/lights.xacro)
in file: /home/lichenchen/subt_ws/install/share/explorer_spot_sensor_config_1/scripts/../urdf/spot.urdf.xacro
[X1/champ_controller-2] process has died [pid 11209, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2*.log
[X1/state_estimator-4] process has died [pid 11210, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4*.log
master has started, initiating launch
... logging to /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/roslaunch-lichenchen-MS-7C82-10662.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt

started roslaunch server http://lichenchen-MS-7C82:46331/

SUMMARY

PARAMETERS

• /X1/joint_group_position_controller/gains/front_left_hip_x/d: 5.0
• /X1/joint_group_position_controller/gains/front_left_hip_x/i: 0.2
• /X1/joint_group_position_controller/gains/front_left_hip_x/ign_topic: /model/X1/joint/f...
• /X1/joint_group_position_controller/gains/front_left_hip_x/p: 250
• /X1/joint_group_position_controller/gains/front_left_hip_y/d: 5.0
• /X1/joint_group_position_controller/gains/front_left_hip_y/i: 0.2
• /X1/joint_group_position_controller/gains/front_left_hip_y/ign_topic: /model/X1/joint/f...
• /X1/joint_group_position_controller/gains/front_left_hip_y/p: 250
• /X1/joint_group_position_controller/gains/front_left_knee/d: 5.0
• /X1/joint_group_position_controller/gains/front_left_knee/i: 0.2
• /X1/joint_group_position_controller/gains/front_left_knee/ign_topic: /model/X1/joint/f...
• /X1/joint_group_position_controller/gains/front_left_knee/p: 250
• /X1/joint_group_position_controller/gains/front_right_hip_x/d: 5.0
• /X1/joint_group_position_controller/gains/front_right_hip_x/i: 0.2
• /X1/joint_group_position_controller/gains/front_right_hip_x/ign_topic: /model/X1/joint/f...
• /X1/joint_group_position_controller/gains/front_right_hip_x/p: 250
• /X1/joint_group_position_controller/gains/front_right_hip_y/d: 5.0
• /X1/joint_group_position_controller/gains/front_right_hip_y/i: 0.2
• /X1/joint_group_position_controller/gains/front_right_hip_y/ign_topic: /model/X1/joint/f...
• /X1/joint_group_position_controller/gains/front_right_hip_y/p: 250
• /X1/joint_group_position_controller/gains/front_right_knee/d: 5.0
• /X1/joint_group_position_controller/gains/front_right_knee/i: 0.2
• /X1/joint_group_position_controller/gains/front_right_knee/ign_topic: /model/X1/joint/f...
• /X1/joint_group_position_controller/gains/front_right_knee/p: 250
• /X1/joint_group_position_controller/gains/rear_left_hip_x/d: 5.0
• /X1/joint_group_position_controller/gains/rear_left_hip_x/i: 0.2
• /X1/joint_group_position_controller/gains/rear_left_hip_x/ign_topic: /model/X1/joint/r...
• /X1/joint_group_position_controller/gains/rear_left_hip_x/p: 250
• /X1/joint_group_position_controller/gains/rear_left_hip_y/d: 5.0
• /X1/joint_group_position_controller/gains/rear_left_hip_y/i: 0.2
• /X1/joint_group_position_controller/gains/rear_left_hip_y/ign_topic: /model/X1/joint/r...
• /X1/joint_group_position_controller/gains/rear_left_hip_y/p: 250
• /X1/joint_group_position_controller/gains/rear_left_knee/d: 5.0
• /X1/joint_group_position_controller/gains/rear_left_knee/i: 0.2
• /X1/joint_group_position_controller/gains/rear_left_knee/ign_topic: /model/X1/joint/r...
• /X1/joint_group_position_controller/gains/rear_left_knee/p: 250
• /X1/joint_group_position_controller/gains/rear_right_hip_x/d: 5.0
• /X1/joint_group_position_controller/gains/rear_right_hip_x/i: 0.2
• /X1/joint_group_position_controller/gains/rear_right_hip_x/ign_topic: /model/X1/joint/r...
• /X1/joint_group_position_controller/gains/rear_right_hip_x/p: 250
• /X1/joint_group_position_controller/gains/rear_right_hip_y/d: 5.0
• /X1/joint_group_position_controller/gains/rear_right_hip_y/i: 0.2
• /X1/joint_group_position_controller/gains/rear_right_hip_y/ign_topic: /model/X1/joint/r...
• /X1/joint_group_position_controller/gains/rear_right_hip_y/p: 250
• /X1/joint_group_position_controller/gains/rear_right_knee/d: 5.0
• /X1/joint_group_position_controller/gains/rear_right_knee/i: 0.2
• /X1/joint_group_position_controller/gains/rear_right_knee/ign_topic: /model/X1/joint/r...
• /X1/joint_group_position_controller/gains/rear_right_knee/p: 250
• /X1/robot_description: <?xml version="1....
• /X1/ros_ign_bridge_camera_back_depth_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_back_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_frontleft_depth_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_frontleft_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_frontright_depth_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_frontright_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_left_depth_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_left_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_right_depth_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_camera_right_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_front_camera_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_front_left_leg_contact/ign_topic: /world/example/mo...
• /X1/ros_ign_bridge_front_right_leg_contact/ign_topic: /world/example/mo...
• /X1/ros_ign_bridge_joint_trajectory_command/ign_topic: /model/X1/joint_t...
• /X1/ros_ign_bridge_left_camera_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_leg_contact/ign_topic: /model/X1/leg_col...
• /X1/ros_ign_bridge_lidar3d_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_rear_camera_set_rate/service: /world/example/mo...
• /X1/ros_ign_bridge_rear_left_leg_contact/ign_topic: /world/example/mo...
• /X1/ros_ign_bridge_rear_right_leg_contact/ign_topic: /world/example/mo...
• /X1/ros_ign_bridge_right_camera_set_rate/service: /world/example/mo...
• /X1/use_sim_time: True
• /rosdistro: melodic
• /rosversion: 1.14.12

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_camera_back (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_back_depth (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_frontleft (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_frontleft_depth (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_frontright (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_frontright_depth (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_left (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_left_depth (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_right (subt_ros/optical_frame_publisher)
optical_frame_publisher_camera_right_depth (subt_ros/optical_frame_publisher)
optical_frame_publisher_depth_front_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_depth_left_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_depth_rear_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_depth_right_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_front_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_left_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_rear_camera (subt_ros/optical_frame_publisher)
optical_frame_publisher_right_camera (subt_ros/optical_frame_publisher)
pid_multituner (bosdyn_spot/pid_multituner)
pose_tf_broadcaster (subt_ros/pose_tf_broadcaster)
ros_ign_bridge_battery_state (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_back (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_back_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_back_depth_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_back_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_frontleft (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_frontleft_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_frontleft_depth_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_frontleft_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_frontright (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_frontright_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_frontright_depth_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_frontright_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_left (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_left_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_left_depth_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_left_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_right (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_right_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_camera_right_depth_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_camera_right_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_front_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_camera_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_front_left_hip_x_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_left_hip_x_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_left_hip_y_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_left_hip_y_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_left_knee_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_left_knee_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_left_leg_contact (nodelet/nodelet)
ros_ign_bridge_front_right_hip_x_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_right_hip_x_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_right_hip_y_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_right_hip_y_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_right_knee_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_right_knee_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_front_right_leg_contact (nodelet/nodelet)
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_imu_vras (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_joint_state_publisher (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_joint_trajectory_command (nodelet/nodelet)
ros_ign_bridge_left_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_left_camera_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_leg_contact (nodelet/nodelet)
ros_ign_bridge_lidar3d (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_lidar3d_set_rate (subt_ros/set_rate_relay)
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_multi_joint_command (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_odom (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_points_camera_back_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_points_camera_frontleft_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_points_camera_frontright_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_points_camera_left_depth (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_points_camera_right_depth (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_rear_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_camera_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_rear_left_hip_x_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_left_hip_x_position_contr[X1/champ_controller-2] process has died [pid 11235, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-champ_controller-2*.log
[X1/state_estimator-4] process has died [pid 11236, exit code -11, cmd /home/lichenchen/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4.log].
log file: /home/lichenchen/.ros/log/6ec346be-529c-11ec-9b0b-0013ef1000bd/X1-state_estimator-4*.log
oller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_left_hip_y_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_left_hip_y_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_left_knee_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_left_knee_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_left_leg_contact (nodelet/nodelet)
ros_ign_bridge_rear_right_hip_x_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_right_hip_x_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_right_hip_y_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_right_hip_y_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_right_knee_motor (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_right_knee_position_controller (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rear_right_leg_contact (nodelet/nodelet)
ros_ign_bridge_rgbd_front_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rgbd_left_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rgbd_rear_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_rgbd_right_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_right_camera (ros_ign_bridge/parameter_bridge)
ros_ign_bridge_right_camera_set_rate (subt_ros/set_rate_relay)
ros_ign_bridge_twist (ros_ign_bridge/parameter_bridge)
ros_ign_image_camera_back (ros_ign_image/image_bridge)
ros_ign_image_camera_back_depth (ros_ign_image/image_bridge)
ros_ign_image_camera_frontleft (ros_ign_image/image_bridge)
ros_ign_image_camera_frontleft_depth (ros_ign_image/image_bridge)
ros_ign_image_camera_frontright (ros_ign_image/image_bridge)
ros_ign_image_camera_frontright_depth (ros_ign_image/image_bridge)
ros_ign_image_camera_left (ros_ign_image/image_bridge)
ros_ign_image_camera_left_depth (ros_ign_image/image_bridge)
ros_ign_image_camera_right (ros_ign_image/image_bridge)
ros_ign_image_camera_right_depth (ros_ign_image/image_bridge)
ros_ign_image_depth_front_camera (ros_ign_image/image_bridge)
ros_ign_image_depth_left_camera (ros_ign_image/image_bridge)
ros_ign_image_depth_rear_camera (ros_ign_image/image_bridge)
ros_ign_image_depth_right_camera (ros_ign_image/image_bridge)
ros_ign_image_front_camera (ros_ign_image/image_bridge)
ros_ign_image_left_camera (ros_ign_image/image_bridge)
ros_ign_image_rear_camera (ros_ign_image/image_bridge)
ros_ign_image_right_camera (ros_ign_image/image_bridge)
/X1/joint_group_position_controller/gains/
front_left_hip_x (nodelet/nodelet)
front_left_hip_y (nodelet/nodelet)
front_left_knee (nodelet/nodelet)
front_right_hip_x (nodelet/nodelet)
front_right_hip_y (nodelet/nodelet)
front_right_knee (nodelet/nodelet)
rear_left_hip_x (nodelet/nodelet)
rear_left_hip_y (nodelet/nodelet)
rear_left_knee (nodelet/nodelet)
rear_right_hip_x (nodelet/nodelet)
rear_right_hip_y (nodelet/nodelet)
rear_right_knee (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[X1/ros_ign_bridge_pose-1]: started with pid [11262]
process[X1/ros_ign_bridge_pose_static-2]: started with pid [11263]
process[X1/pose_tf_broadcaster-3]: started with pid [11264]
process[X1/ros_ign_bridge_joint_state_publisher-4]: started with pid [11267]
process[X1/ros_ign_bridge_battery_state-5]: started with pid [11272]
process[X1/ros_ign_bridge_twist-6]: started with pid [11275]
process[X1/ros_ign_bridge_gas-7]: started with pid [11278]
process[X1/ros_ign_bridge_gas_ppm-8]: started with pid [11294]
process[X1/ros_ign_bridge_odom-9]: started with pid [11306]
process[X1/cloud_downsampler-10]: started with pid [11326]
process[X1/mapping_server_cloud_throttle-11]: started with pid [11336]
process[X1/ros_ig[Wrn] [Component.hh:127] Trying to serialize component with data type [St10shared_ptrIN3sdf3v127ElementEE], which doesn't have operator<<. Component will not be serialized.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have operator<<. Component will not be serialized.
[Dbg] [SimulationFeatures.cc:63] Simulation timestep set to: 0.004
[Dbg] [Sensors.cc:496] Initialization needed
[Dbg] [Sensors.cc:208] Initializing render context
[Msg] Loading plugin [ignition-rendering-ogre2]
[Msg] Serving scene information on [/world/example/scene/info]
[Msg] Serving graph information on [/world/example/scene/graph]
[Msg] Serving full state on [/world/example/state]
[Msg] Serving full state (async) on [/world/example/state_async]
[Msg] Publishing scene information on [/world/example/scene/info]
[Msg] Publishing entity deletions on [/world/example/scene/deletion]
[Msg] Publishing state changes on [/world/example/state]
[Msg] Publishing pose messages on [/world/example/pose/info]
[Msg] Publishing dynamic pose messages on [/world/example/dynamic_pose/info]
[Dbg] [EntityComponentManager.cc:1508] Updated state thread iterators: 12 threads processing around 27 entities each.
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (6)
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:551] Exiting postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:522] Creating PostUpdate worker threads: 12
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (6)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (7)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (8)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (9)
[Dbg] [SimulationRunner.cc:535] Creating postupdate worker thread (_bridge_mapping_server_cloud-12]: started with pid [11341]
process[X1/ros_ign_bridge_mapping_server_cloud_size-13]: started with pid [11353]
process[X1/mapping_server_grid_throttle-14]: started with pid [11369]
process[X1/ros_ign_bridge_mapping_server_grid-15]: started with pid [11377]
process[X1/mapping_server_poses_throttle-16]: started with pid [11388]
process[X1/ros_ign_bridge_mapping_server_poses-17]: started with pid [11400]
process[X1/mapping_server_markers_throttle-18]: started with pid [11405]
process[X1/ros_ign_bridge_mapping_server_markers-19]: started with pid [11411]
process[X1/ros_ign_bridge_multi_joint_command-20]: started with pid [11434]
process[X1/ros_ign_bridge_camera_frontleft-21]: started with pid [11442]
process[X1/ros_ign_image_camera_frontleft-22]: started with pid [11465]
process[X1/optical_frame_publisher_camera_frontleft-23]: started with pid [11487]
process[X1/ros_ign_bridge_camera_frontleft_set_rate-24]: started with pid [11493]
process[X1/ros_ign_bridge_camera_frontleft_depth-25]: started with pid [11510]
process[X1/ros_ign_image_camera_frontleft_depth-26]: started with pid [11513]
process[X1/optical_frame_publisher_camera_frontleft_depth-27]: started with pid [11523]
process[X1/ros_ign_bridge_points_camera_frontleft_depth-28]: started with pid [11524]
process[X1/ros_ign_bridge_camera_frontleft_depth_set_rate-29]: started with pid [11543]
process[X1/ros_ign_bridge_camera_frontright-30]: started with pid [11548]
process[X1/ros_ign_image_camera_frontright-31]: started with pid [11558]
process[X1/optical_frame_publisher_camera_frontright-32]: started with pid [11573]
process[X1/ros_ign_bridge_camera_frontright_set_rate-33]: started with pid [11587]
process[X1/ros_ign_bridge_camera_frontright_depth-34]: started with pid [11599]
process[X1/ros_ign_image_camera_frontright_depth-35]: started with pid [11611]
process[X1/optical_frame_publisher_camera_frontright_depth-36]: started with pid [11617]
process[X1/ros_ign_bridge_points_camera_frontright_depth-37]: started with pid [11644]
process[X1/ros_ign_bridge_camera_frontright_depth_set_rate-38]: started with pid [11655]
process[X1/ros_ign_bridge_camera_left-39]: started with pid [11675]
process[X1/ros_ign_image_camera_left-40]: started with pid [11677]
process[X1/optical_frame_publisher_camera_left-41]: started with pid [11680]
process[X1/ros_ign_bridge_camera_left_set_rate-42]: started with pid [11712]
process[X1/ros_ign_bridge_camera_left_depth-43]: started with pid [11716]
process[X1/ros_ign_image_camera_left_depth-44]: started with pid [11725]
process[X1/optical_frame_publisher_camera_left_depth-45]: started with pid [11753]
process[X1/ros_ign_bridge_points_camera_left_depth-46]: started with pid [11763]
process[X1/ros_ign_bridge_camera_left_depth_set_rate-47]: started with pid [11772]
process[X1/ros_ign_bridge_camera_right-48]: started with pid [11794]
process[X1/ros_ign_image_camera_right-49]: started with pid [11800]
process[X1/optical_frame_publisher_camera_right-50]: started with pid [11815]
process[X1/ros_ign_bridge_camera_right_set_rate-51]: started with pid [11825]
process[X1/ros_ign_bridge_camera_right_depth-52]: started with pid [11861]
process[X1/ros_ign_image_camera_right_depth-53]: started with pid [11877]
process[X1/optical_frame_publisher_camera_right_depth-54]: started with pid [11892]
process[X1/ros_ign_bridge_points_camera_right_depth-55]: started with pid [11914]
process[X1/ros_ign_bridge_camera_right_depth_set_rate-56]: started with pid [11923]
process[X1/ros_ign_bridge_camera_back-57]: started with pid [11948]
process[X1/ros_ign_image_camera_back-58]: started with pid [11949]
process[X1/optical_frame_publisher_camera_back-59]: started with pid [11952]
libEGL warning: DRI2: failed to create dri screen
libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
libEGL warning: DRI2: failed to create dri screen
[Wrn] [Component.hh:144] Trying to serialize component with data type [St6vectorIdSaIdEE], which doesn't have operator<<. Component will not be serialized.
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have operator>>. Component will not be deserialized.
[GUI] [Wrn] [Component.hh:172] Trying to deserialize component with data type [St10shared_ptrIN3sdf3v127ElementEE], which doesn't have operator>>. Component will not be deserialized.
process[X1/ros_ign_bridge_camera_back_set_rate-60]: started with pid [11991]
process[X1/ros_ign_bridge_camera_back_depth-61]: started with pid [11996]
process[X1/ros_ign_image_camera_back_depth-62]: started with pid [12000]
process[X1/optical_frame_publisher_camera_back_depth-63]: started with pid [12023]
process[X1/ros_ign_bridge_points_camera_back_depth-64]: started with pid [12031]
process[X1/ros_ign_bridge_camera_back_depth_set_rate-65]: started with pid [12042]
process[X1/ros_ign_bridge_imu-66]: started with pid [12047]
process[X1/ros_ign_bridge_front_left_leg_contact-67]: started with pid [12059]
process[X1/ros_ign_bridge_front_left_hip_x_position_controller-68]: started with pid [12064]
process[X1/ros_ign_bridge_front_left_hip_x_motor-69]: started with pid [12074]
process[X1/joint_group_position_controller/gains/front_left_hip_x-70]: started with pid [12089]
process[X1/ros_ign_bridge_front_left_hip_y_position_controller-71]: started with pid [12108]
process[X1/ros_ign_bridge_front_left_hip_y_motor-72]: started with pid [12149]
process[X1/joint_group_position_controller/gains/front_left_hip_y-73]: started with pid [12150]
process[X1/ros_ign_bridge_front_left_knee_position_controller-74]: started with pid [12160]
process[X1/ros_ign_bridge_front_left_knee_motor-75]: started with pid [12168]
process[X1/joint_group_position_controller/gains/front_left_knee-76]: started with pid [12192]
process[X1/ros_ign_bridge_front_right_leg_contact-77]: started with pid [12200]
process[X1/ros_ign_bridge_front_right_hip_x_position_controller-78]: started with pid [12222]
process[X1/ros_ign_bridge_front_right_hip_x_motor-79]: started with pid [12248]
process[X1/joint_group_position_controller/gains/front_right_hip_x-80]: started with pid [12254]
process[X1/ros_ign_bridge_front_right_hip_y_position_controller-81]: started with pid [12265]
process[X1/ros_ign_bridge_front_right_hip_y_motor-82]: started with pid [12279]
process[X1/joint_group_position_controller/gains/front_right_hip_y-83]: started with pid [12348]
process[X1/ros_ign_bridge_front_right_knee_position_controller-84]: started with pid [12352]
process[X1/ros_ign_bridge_front_right_knee_motor-85]: started with pid [12394]
process[X1/joint_group_position_controller/gains/front_right_knee-86]: started with pid [12400]
process[X1/ros_ign_bridge_rear_left_leg_contact-87]: started with pid [12403]
process[X1/ros_ign_bridge_rear_left_hip_x_position_controller-88]: started with pid [12413]
process[X1/ros_ign_bridge_rear_left_hip_x_motor-89]: started with pid [12420]
process[X1/joint_group_position_controller/gains/rear_left_hip_x-90]: started with pid [12452]
process[X1/ros_ign_bridge_rear_left_hip_y_position_controller-91]: started with pid [12464]
process[X1/ros_ign_bridge_rear_left_hip_y_motor-92]: started with pid [12496]
process[X1/joint_group_position_controller/gains/rear_left_hip_y-93]: started with pid [12505]
process[X1/ros_ign_bridge_rear_left_knee_position_controller-94]: started with pid [12529]
process[X1/ros_ign_bridge_rear_left_knee_motor-95]: started with pid [12556]
process[X1/joint_group_position_controller/gains/rear_left_knee-96]: started with pid [12572]
process[X1/ros_ign_bridge_rear_right_leg_contact-97]: started with pid [12592]
process[X1/ros_ign_bridge_rear_right_hip_x_position_controller-98]: started with pid [12618]
process[X1/ros_ign_bridge_rear_right_hip_x_motor-99]: started with pid [12628]
process[X1/joint_group_position_controller/gains/rear_right_hip_x-100]: started with pid [12642]
process[X1/ros_ign_bridge_rear_right_hip_y_position_controller-101]: started with pid [12648]
process[X1/ros_ign_bridge_rear_right_hip_y_motor-102]: started with pid [12659]
process[X1/joint_group_position_controller/gains/rear_r;36m10)
[Dbg] [RenderUtil.cc:2557] Create scene [scene]
[Dbg] [Sensors.cc:222] Rendering Thread initialized
[Dbg] [EntityComponentManager.cc:1508] Updated state thread iterators: 12 threads processing around 27 entities each.
[Dbg] [CameraSensor.cc:271] Camera images for [X1::camera_back::back_fisheye_image] advertised on [world/example/model/X1/link/camera_back/sensor/back_fisheye_image/image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_back::back_fisheye_image] advertised on [/world/example/model/X1/link/camera_back/sensor/back_fisheye_image/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X1::camera_frontleft::frontleft_fisheye_image] advertised on [world/example/model/X1/link/camera_frontleft/sensor/frontleft_fisheye_image/image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_frontleft::frontleft_fisheye_image] advertised on [/world/example/model/X1/link/camera_frontleft/sensor/frontleft_fisheye_image/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X1::camera_frontright::frontright_fisheye_image] advertised on [world/example/model/X1/link/camera_frontright/sensor/frontright_fisheye_image/image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_frontright::frontright_fisheye_image] advertised on [/world/example/model/X1/link/camera_frontright/sensor/frontright_fisheye_image/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X1::camera_left::left_fisheye_image] advertised on [world/example/model/X1/link/camera_left/sensor/left_fisheye_image/image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_left::left_fisheye_image] advertised on [/world/example/model/X1/link/camera_left/sensor/left_fisheye_image/camera_info]
[Dbg] [CameraSensor.cc:271] Camera images for [X1::camera_right::right_fisheye_image] advertised on [world/example/model/X1/link/camera_right/sensor/right_fisheye_image/image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_right::right_fisheye_image] advertised on [/world/example/model/X1/link/camera_right/sensor/right_fisheye_image/camera_info]
[Dbg] [DepthCameraSensor.cc:287] Depth images for [X1::camera_back::back_depth] advertised on [world/example/model/X1/link/camera_back/sensor/back_depth/depth_image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_back::back_depth] advertised on [/world/example/model/X1/link/camera_back/sensor/back_depth/camera_info]
[Dbg] [DepthCameraSensor.cc:304] Points for [X1::camera_back::back_depth] advertised on [world/example/model/X1/link/camera_back/sensor/back_depth/depth_image/points]
[Dbg] [DepthCameraSensor.cc:287] Depth images for [X1::camera_frontleft::frontleft_depth] advertised on [world/example/model/X1/link/camera_frontleft/sensor/frontleft_depth/depth_image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_frontleft::frontleft_depth] advertised on [/world/example/model/X1/link/camera_frontleft/sensor/frontleft_depth/camera_info]
[Dbg] [DepthCameraSensor.cc:304] Points for [X1::camera_frontleft::frontleft_depth] advertised on [world/example/model/X1/link/camera_frontleft/sensor/frontleft_depth/depth_image/points]
[Dbg] [DepthCameraSensor.cc:287] Depth images for [X1::camera_frontright::frontright_depth] advertised on [world/example/model/X1/link/camera_frontright/sensor/frontright_depth/depth_image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_frontright::frontright_depth] advertised on [/world/example/model/X1/link/camera_frontright/sensor/frontright_depth/camera_info]
[Dbg] [DepthCameraSensor.cc:304] Points for [X1::camera_frontright::frontright_depth] advertised on [world/example/model/X1/link/camera_frontright/sensor/frontright_depth/depth_image/points]
[Dbg] [DepthCameraSensor.cc:287] Depth images for [X1::camera_left::left_depth] advertised on [world/example/model/X1/link/camera_left/sensor/left_depth/depth_image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_left::left_depth] advertised on [/world/example/model/X1/link/camera_left/sensor/left_depth/camera_info]
[Dbg] [DepthCameraSensor.cc:304] Points for [X1::camera_left::left_depth] advertised on [world/example/model/X1/link/camera_left/sensor/left_depth/depth_image/points]
[Dbg] [DepthCameraSensor.cc:287] Depth images for [X1::camera_right::right_depth] advertised on [world/example/model/X1/link/camera_right/sensor/right_depth/depth_image]
[Dbg] [CameraSensor.cc:524] Camera info for [X1::camera_right::right_depth] advertised on [/world/example/model/X1/link/camera_right/sensor/right_depth/camera_info]
[Dbg] [DepthCameraSensor.cc:304] Points for [X1::camera_right::right_depth] advertised on [world/example/model/X1/link/camera_right/sensor/right_depth/depth_image/points]
[Dbg] [RgbdCameraSensor.cc:222] RGB images for [X1::body::front_camera] advertised on [world/example/model/X1/link/body/sensor/front_camera/image]
[Dbg] [RgbdCameraSensor.cc:236] Depth images for [X1::body::front_camera] advertised on [world/example/model/X1/link/body/sensor/front_camera/depth_image]
[Dbg] [RgbdCameraSensor.cc:250] Points for [X1::body::front_camera] advertised on [world/example/model/X1/link/body/sensor/front_camera/points]

here is the output,i have built the subt_spot

[peci1]

I see two problems there:

[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::GasDetector] : system not found in library [libGasEmitterDetectorPlugin.so] from path [/home/lichenchen/subt_ws/install/lib/libGasEmitterDetectorPlugin.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].

This means that when you're launching the simulation, the libraries coming from the subt repository are not available. Did you correctly source the install/setup.bash of the subt simulator?

libEGL warning: DRI2: failed to create dri screen
libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
libEGL warning: DRI2: failed to create dri screen

This means you have problems with GPU. Is that something you are aware of?

[lichenchen1205]

I see two problems there:

[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::GasDetector] : system not found in library [libGasEmitterDetectorPlugin.so] from path [/home/lichenchen/subt_ws/install/lib/libGasEmitterDetectorPlugin.so].
[Err] [SystemLoader.cc:101] Failed to load system plugin [subt::ConfigurableJointPositionController] : system not found in library [configurable-joint-position-controller-system] from path [/home/lichenchen/subt_ws/install/lib/libconfigurable-joint-position-controller-system.so].

This means that when you're launching the simulation, the libraries coming from the subt repository are not available. Did you correctly source the install/setup.bash of the subt simulator?

libEGL warning: DRI2: failed to create dri screen
libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
libEGL warning: DRI2: failed to create dri screen

This means you have problems with GPU. Is that something you are aware of?

Thank you for your patient guidance and I have already recompile the wokspace and source the install/setup.bash But the problem still arises, even if it is implemented ign launch -v 4 competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
with output [Err] [SystemLoader.cc:101] Failed to load system plugin [subt::GameLogicPlugin] : system not found in library [libGameLogicPlugin.so] from path [/home/lichenchen/subt_ws/install/lib/libGameLogicPlugin.so] and i can found the libGameLogicPlugin.so in the path

[peci1]

Please post the output of echo $LD_LIBRARY_PATH and echo $IGN_GAZEBO_SYSTEM_PLUGIN_PATH.

[lichenchen1205]

Please post the output of echo $LD_LIBRARY_PATH and echo $IGN_GAZEBO_SYSTEM_PLUGIN_PATH.

The result is shown in the figure

[peci1]

That seems correct. Could you go once more through the setup guide and check that you did everything correctly? Did catkin_make report any errors?

Also, please, post the output of ldd ~/subt_ws/install/lib/libGameLogicPlugin.so.

[lichenchen1205]

That seems correct. Could you go once more through the setup guide and check that you did everything correctly? Did catkin_make report any errors?

Also, please, post the output of ldd ~/subt_ws/install/lib/libGameLogicPlugin.so.

Thank you very much for your help. I uninstalled gazebo and recompiled the program. Now I can move the robot, but it seems that the robot is easy to fall. Is this normal?

[peci1]

Yes, it is. The motion model is pretty simplistic (although CHAMP - the used model - has put a lot of effort into generating good motion patterns, it is nowhere near the motion controller Boston Dynamics provides for the real Spot).

One potentially easy way to improve the motion on inclined surfaces could be to add a whole-body motion controller that would try to level the body no matter what the inclination of the terrain is.

Share your improvements if you have some!

[lichenchen1205]

Okay, there is one more question, what level of accuracy can the robot's odometer reach?

[peci1]

On flat ground, the kinematic model is used to estimate the odometry, which could be precise enough until the robot starts slipping. On uneven ground or when slipping, I wouldn't trust it too much. It is always a good idea to combine the legged odometry with IMU.

[lichenchen1205]

okay，thank you for your help ，I have no questions