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**大学MOOC《机器人操作系统入门》课程代码示例

CMake 65.20% Python 16.64% C++ 15.23% Lua 1.42% Shell 1.50%

ros robotics robot mooc iscas

ros-academy-for-beginners's Introduction

《机器人操作系统入门》课程代码示例

前言

欢迎来到**大学MOOC---《机器人操作系统入门》课程，本ROS软件包是课程的代码示例，课程中使用的例子均出自本代码包。除了代码包，课程还提供讲义，欢迎各位朋友下载、学习和分享。

本示例包含了XBot机器人和中科院软件博物馆仿真、ROS通信示例程序、导航与SLAM功能演示，在每个软件包下都有相应的功能介绍。

如果你遇到任何问题，可以在Github上方的issues栏目中提问，我们课程团队会耐心回答。本示例将长期维护，不断更新，如果你认可我们的工作，请点击右上角的star按钮，您的鼓励是我们的动力。

示例介绍

本仓库为ROS入门教程的代码示例，包括以下ROS软件包:

软件包	内容
robot_sim_demo	机器人仿真程序，大部分示例会用到这个软件包
topic_demo	topic通信，自定义msg，包括C++和python两个版本实现
service_demo	service通信，自定义srv，分别以C++和python两种语言实现
action_demo	action通信，自定义action，C++和python两种语言实现
param_demo	param操作，分别以C++和python两种语言实现
msgs_demo	演示msg、srv、action文件的格式规范
tf_demo	tf相关API操作演示，tf示例包括C++和python两个版本
name_demo	演示全局命名空间和局部命名空间下参数的提取
tf_follower	制作mybot机器人实现mybot跟随xbot的功能
urdf_demo	创建机器人urdf模型，在RViz中显示
navigation_sim_demo	导航演示工具包，包括AMCL, Odometry Navigation等演示
slam_sim_demo	同步定位与建图演示，包括Gmapping, Karto, Hector等SLAM演示
robot_orbslam2_demo	ORB_SLAM2的演示
ros_academy_for_beginners	Metapacakge示例，依赖了本仓库所有的pacakge

下载和编译

克隆或下载ROS-Academy-for-Beginners教学包到工作空间的/src目录下，例如 ~/catkin_ws/src

$ cd ~/catkin_ws/src
$ git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git

安装教学包所需的依赖

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

编译并刷新环境

$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

运行示例

运行须知

建议在本地Ubuntu 16.04下运行仿真程序。目前Gazebo模拟器的兼容性是一大问题，在虚拟机或配置较低的电脑上可能无法运行。如果你的显卡是N卡，建议安装Ubuntu下的显卡驱动。
运行Gazebo仿真程序robot_sim_demo前，请将Gazebo升级到7.x版本以上（推荐7.9版本）。

查看Gazebo版本方法

$ gazebo -v   #确认7.0以上，推荐7.9

升级方法

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7

确保所有依赖都已安装，如gazebo_ros, gmapping, slam_karto, amcl。

Copyright

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ros-academy-for-beginners's Issues

关于您们做的博物馆模型

我也想给实验室做一个模型利用gazebo crtl+b编辑了一个简单的模型保存后会生成一个.config文件和一个.sdf文件利用这个模型模仿你们的.world 文件写了一个world模型但是打开是空的请问您们是怎么做的呢?一个大概就行谢谢

在仿真程序中关于传感器建立的问题

在目前仿真程序中能看到的传感器有激光雷达传感器，RGB-D传感器，里程计，IMU，我想问下有超声波传感器的数据接口么。
看到官网上面机器人是自带超声波传感器的

melodic hector_mapping cmake 出现问题

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by “hector_mapping”
with any of the following names:

hector_mappingConfig.cmake
hector_mapping-config.cmake

Add the installation prefix of “hector_mapping” to CMAKE_PREFIX_PATH or set
“hector_mapping_DIR” to a directory containing one of the above files. If
“hector_mapping” provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
ROS-Academy-for-Beginners/slam_sim_demo/CMakeLists.txt:3 (find_package)

– Configuring incomplete, errors occurred!
See also “/home/mt/tutorial_ws/build/CMakeFiles/CMakeOutput.log”.
See also “/home/mt/tutorial_ws/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed

刚开始是没有没有gmapping和hector_mapping这两个依赖，安装之后cmake编译的时候，找不到hector_mapping的配置文件

Melodic launch robot_sim_demo successfully,but ISCAS_Museum not shown

There is a ISCAS_Museum in my Models list ,and I can see the outline of ISCAS_Museum via collision in View
But nothing shows in normal model ,and I run " rosrun image_view image_view image:=/camera/rgb/image_raw" ,only ground and sky show up.
Is there any one to help?

用键盘无法控制机器人的移动

运行一切顺利，无error，鼠标也聚焦在了终端，就是无法控制移动

catkin_make时出错

Base path: /home/maoyijun/ws
Source space: /home/maoyijun/ws/src
Build space: /home/maoyijun/ws/build
Devel space: /home/maoyijun/ws/devel
Install space: /home/maoyijun/ws/install

Running command: "make cmake_check_build_system" in "/home/maoyijun/ws/build"

Running command: "make -j8 -l8" in "/home/maoyijun/ws/build"

[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_nodejs
[ 0%] Built target rosgraph_msgs_generate_messages_eus
[ 0%] Built target roscpp_generate_messages_cpp
[ 0%] Built target roscpp_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Linking CXX executable /home/maoyijun/ws/devel/lib/param_demo/param_demo
[ 0%] Built target rosgraph_msgs_generate_messages_py
[ 0%] Built target roscpp_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target roscpp_generate_messages_nodejs
[ 0%] Built target roscpp_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target _service_demo_generate_messages_check_deps_Greeting
[ 0%] Built target actionlib_msgs_generate_messages_eus
[ 0%] Built target _topic_demo_generate_messages_check_deps_gps
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesResult
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesFeedback
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesActionResult
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesActionFeedback
CMakeFiles/param_demo.dir/src/param_demo.cpp.o：在函数‘main’中：
param_demo.cpp:(.text+0x70)：对‘ros::init(int&, char**, std::string const&, unsigned int)’未定义的引用
param_demo.cpp:(.text+0xcc)：对‘ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::lessstd::string, [ 0%] Built target actionlib_msgs_generate_messages_lisp
std::allocator<std::pair<std::string const, std::string> > > const&)’未定义的引用
param_demo.cpp:(.text+0x12d)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x19b)：对‘ros::NodeHandle::getParam(std::string const&, int&) const’未定义的引用
param_demo.cpp:(.text+0x2ae)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string[ 0%] Built target actionlib_msgs_generate_messages_nodejs
const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x3c8)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x4e2)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x5fc)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x6e0)：对‘ros::NodeHandle::hasParam(std::string const&) const’未定义的引用
param_demo.cpp:(.text+0x774)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x88e)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x97a)：对‘ros::param::set(std::string const&, int)’未定义的引用
param_demo.cpp:(.text+0x9eb)：对‘ros::NodeHandle::setParam(std::string const&, int) const’未定义的引用
param_demo.cpp:(.text+0xa75)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0xb85)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0xc6c)：对‘ros::NodeHandle::hasParam(std::string const&) const’未定义的引用
param_demo.cpp:(.text+0xcc9)：对‘ros::param::has(std::string const&)’未定义的引用
param_demo.cpp:(.text+0xd66)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0xe7d)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0xf97)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x10ae)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1192)：对‘ros::NodeHandle::deleteParam(std::string const&) const’未定义的引用
param_demo.cpp:(.text+0x11ef)：对‘ros::param::del(std::string const&)’未定义的引用
param_demo.cpp:(.text+0x128c)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x13a3)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x14bd)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x15d4)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1718)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x17fc)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x1890)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1979)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x1a0d)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1af6)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x1b8a)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1c73)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x1d07)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1df0)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x1e84)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
param_demo.cpp:(.text+0x1f6d)：对‘ros::param::get(std::string const&, int&)’未定义的引用
param_demo.cpp:(.text+0x2001)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用
CMakeFiles/param_demo.dir/src/param_demo.cpp.o：在函数‘bool ros::NodeHandle::param(std::string const&, int&, int const&) const’中：
param_demo.cpp:(.text.ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4[ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4]+0x27)：对‘ros::NodeHandle::hasParam(std::string const&) const’未定义的引用
param_demo.cpp:(.text.ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4[ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4]+0x42)：对‘ros::NodeHandle::getParam(std::string const&, int&) const’未定义的引用
collect2: error: ld returned 1 exit status
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesAction
[ 0%] Built target actionlib_msgs_generate_messages_cpp
ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/build.make:113: recipe for target '/home/maoyijun/ws/devel/lib/param_demo/param_demo' failed
make[2]: *** [/home/maoyijun/ws/devel/lib/param_demo/param_demo] Error 1
CMakeFiles/Makefile2:975: recipe for target 'ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesActionGoal
[ 0%] Built target _action_demo_generate_messages_check_deps_DoDishesGoal
[ 0%] Built target _msgs_demo_generate_messages_check_deps_AutoDockingFeedback
[ 0%] Built target _msgs_demo_generate_messages_check_deps_Trigger
[ 0%] Built target _msgs_demo_generate_messages_check_deps_Empty
[ 0%] Built target _msgs_demo_generate_messages_check_deps_SetBool
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

——————————————————————————————————————————————
我安装的是kinetic版本，按照README进行操作，在catkin_make后出现这些报错，请问这是怎么回事？

如何学习

您好，我是初学者，下载以后不知道如何学习您的代码，请问有教程么？

运行robot_sim_demo没有地图，只有地板

roslaunch robot_sim_demo robot_spawn.launch

melodic依赖问题：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
slam_sim_demo: Cannot locate rosdep definition for [hector_mapping]
已经换了melodic分支了啊

我先装的anaconda，然后编译出错怎么解决啊

关闭正在运行robot_sim_demo的终端后，重新运行会报错

运行robot_sim_demo然后弹出gazebo，用键盘控制机器人运动，开启摄像头都没问题，但是如果直接关闭终端结束demo后，再一次想运行这个demo就会报错。

我试过几种方法，一是直接关掉终端，二是ctrl+c再关闭终端，三是关闭gazebo再关闭终端，然而下一次运行都会报错，内容基本就是 [gazebo-2] process has died...... [gazebo-gui] process has died......之类的，如果有需要我再贴详细的内容。

然后我自己找到了个不是办法的办法，一是重启Ubuntu，二是打开终端运行demo，遇到报错就ctrl+c，然后不关闭终端接着运行demo，此时报错的内容变了，再次ctrl+c，不关闭终端又一次运行demo，这一次就成功了。

不知道正确的关闭方法是什么，我感觉是正常运行的时候重新开一个终端输入相关的指令，关闭master或者某个进程，然后demo就正确地结束运行了。（我暂时没有看完视频教程，看完的部分也没有提如何结束demo，所以我有这个疑问）

Ubuntu16.04，显卡GTX1070，没有装驱动

roslaunch robot_sim_demp robot_spawn.launch 无法运行问题

tianhao@tianhao-VirtualBox:~$ roslaunch robot_sim_demp robot_spawn.launch
[robot_spawn.launch] is neither a launch file in package [robot_sim_demp] nor is [robot_sim_demp] a launch file name
The traceback for the exception was written to the log file
老师您好请问运行时出现这个报错是什么意思？
是我在虚拟机上运行的问题吗？

运行robot_sim_demo出现问题

问题见图


尝试了几种方法都还是这样，之前在虚拟机运行的时候还能出个图，现在装了双系统之后直接黑屏了。
请老师指导

用melodic版本ros运行报错

用melodic版本的ros运行rosdep安装配置会报错, 很多包无法正常下载

rosrun cpp文件的时候会报错说出现未预期的符号'('

在terminal运行 rosrun package_name cpp文件的时候会报错说出现未预期的符号'('

py文件就可以，到底为什么呀

在Melodic上安装依赖时出现的问题该怎么解决

环境是Ubuntu18.04，ros Melodic，将ROS-Academy-for-Beginners克隆到src后，再在catkin_ws中安装依赖时出现了以下问题

abc@ubuntu:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=melodic -y ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: navigation_sim_demo: Cannot locate rosdep definition for [gmapping] slam_sim_demo: Cannot locate rosdep definition for [hector_mapping]

catkin_make时出错

-- +++ processing catkin metapackage: 'ros_academy_for_beginners'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/ros_academy_for_beginners)
-- +++ processing catkin package: 'test1'
-- ==> add_subdirectory(test1)
-- +++ processing catkin package: 'orbslam2_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/orbslam2_demo)
-- +++ processing catkin package: 'param_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/param_demo)
-- +++ processing catkin package: 'rtabmap_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/rtabmap_demo)
-- +++ processing catkin package: 'service_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/service_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- service_demo: 0 messages, 1 services
-- +++ processing catkin package: 'test2'
-- ==> add_subdirectory(test2)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'topic_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/topic_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- topic_demo: 1 messages, 0 services
-- +++ processing catkin package: 'action_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/action_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- Generating .msg files for action action_demo/DoDishes /home/bonjour/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/action/DoDishes.action
-- action_demo: 7 messages, 0 services
-- +++ processing catkin package: 'msgs_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/msgs_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action msgs_demo/AutoDocking /home/bonjour/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/AutoDocking.action
-- Generating .msg files for action msgs_demo/AddTwoInts /home/bonjour/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/AddTwoInts.action
-- Generating .msg files for action msgs_demo/GetMap /home/bonjour/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/GetMap.action
-- Generating .msg files for action msgs_demo/MoveBase /home/bonjour/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/MoveBase.action
-- msgs_demo: 42 messages, 9 services
-- +++ processing catkin package: 'navigation_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/navigation_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'robot_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/robot_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'slam_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/slam_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'tf_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/tf_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'tf_follower'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/tf_follower)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'urdf_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/urdf_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/bonjour/catkin_ws/build

Running command: "make -j4 -l4" in "/home/bonjour/catkin_ws/build"

Scanning dependencies of target param_demo
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target roscpp_generate_messages_py
[ 0%] Building CXX object ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/src/param_demo.cpp.o
[ 0%] Built target rosgraph_msgs_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_nodejs
[ 0%] Built target roscpp_generate_messages_cpp
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target _service_demo_generate_messages_check_deps_Greeting
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target roscpp_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target roscpp_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target roscpp_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
[ 1%] Built target service_demo_generate_messages_py
[ 1%] Generating C++ code from service_demo/Greeting.srv
[ 1%] Built target service_demo_generate_messages_lisp
[ 2%] Built target service_demo_generate_messages_eus
Traceback (most recent call last):
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in
import genmsg.template_tools
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in
import em
ModuleNotFoundError: No module named 'em'
ROS-Academy-for-Beginners/service_demo/CMakeFiles/service_demo_generate_messages_cpp.dir/build.make:63: recipe for target '/home/bonjour/catkin_ws/devel/include/service_demo/Greeting.h' failed
make[2]: *** [/home/bonjour/catkin_ws/devel/include/service_demo/Greeting.h] Error 1
CMakeFiles/Makefile2:1289: recipe for target 'ROS-Academy-for-Beginners/service_demo/CMakeFiles/service_demo_generate_messages_cpp.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/service_demo/CMakeFiles/service_demo_generate_messages_cpp.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 2%] Built target _topic_demo_generate_messages_check_deps_gps
[ 2%] Built target _action_demo_generate_messages_check_deps_DoDishesResult
[ 2%] Linking CXX executable /home/bonjour/catkin_ws/devel/lib/param_demo/param_demo
[ 2%] Built target param_demo
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

请求老师指教～～

安装依赖时出错

~# cd catkin_ws/
~/catkin_ws# rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

ERROR: Rosdep experienced an error: [/opt/ros/kinetic/share/roslisp/manifest.xml] invalid XML: 'ascii' codec can't encode character u'\xf6' in position 213: ordinal not in range(128)
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.12.2

Traceback (most recent call last):
File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 141, in rosdep_main
exit_code = _rosdep_main(args)
File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 389, in _rosdep_main
return _package_args_handler(command, parser, options, args)
File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 485, in _package_args_handler
return command_handlers[command](lookup, packages, options)
File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 683, in command_install
uninstalled, errors = installer.get_uninstalled(packages, implicit=options.recursive, verbose=options.verbose)
File "/usr/lib/python2.7/dist-packages/rosdep2/installers.py", line 445, in get_uninstalled
resolutions, errors = self.lookup.resolve_all(resources, installer_context, implicit=implicit)
File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 393, in resolve_all
rosdep_keys = self.get_rosdeps(resource_name, implicit=implicit)
File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 315, in get_rosdeps
return self.loader.get_rosdeps(resource_name, implicit=implicit)
File "/usr/lib/python2.7/dist-packages/rosdep2/rospkg_loader.py", line 138, in get_rosdeps
if resource_name in self.get_catkin_paths():
File "/usr/lib/python2.7/dist-packages/rosdep2/rospkg_loader.py", line 127, in get_catkin_paths
self._catkin_packages_cache = dict(find_catkin_paths(self._rospack))
File "/usr/lib/python2.7/dist-packages/rosdep2/rospkg_loader.py", line 126, in find_catkin_paths
filter(lambda x: src.get_manifest(x).is_catkin, src.list()))
File "/usr/lib/python2.7/dist-packages/rosdep2/rospkg_loader.py", line 126, in
filter(lambda x: src.get_manifest(x).is_catkin, src.list()))
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 167, in get_manifest
return self._load_manifest(name)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 211, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 434, in parse_manifest_file
return parse_manifest(manifest_name, f.read().decode('utf-8'), filename)
File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 454, in parse_manifest
raise InvalidManifest("[%s] invalid XML: %s" % (filename, e))
InvalidManifest: [/opt/ros/kinetic/share/roslisp/manifest.xml] invalid XML: 'ascii' codec can't encode character u'\xf6' in position 213: ordinal not in range(128)

下载速度太慢了！！！！怎么办

5kb每秒

The problem of rosdep

administator@administator-Lenovo:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:

roch_concert: Cannot locate rosdep definition for [concert_service_indoor_2d_map_prep]

When I run the 'rosdep' order , It will show the above error . Please help me to solve the problem , Thanks !

Zdzn.yaml里面的参数是对应相机模型的吗？

您好。学习了ros课程，我有以下疑问：
一、我在此仿真环境下跑ORBSLAM2误差都在1-5米以上，我觉得是参数文件设置问题和一部分环境问题。这个yaml文件是对应里面相机文件的真实参数吧？
二、在跑orbslam2时相机坐标应该和里程计坐标系转换过了吧？那视觉里程计和轮式里程计最终绝对位姿应该是接近重合吧？
谢谢

运行第二条，安装教学所需的依赖包报错

rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
slam_sim_demo: No definition of [hector_mapping] for OS [debian]

编译报错
ROS-Academy-for-Beginners/slam_sim_demo/CMakeLists.txt:3 (find_package)

-- Could not find the required component 'slam_karto'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "slam_karto" with
any of the following names:

slam_kartoConfig.cmake
slam_karto-config.cmake

Add the installation prefix of "slam_karto" to CMAKE_PREFIX_PATH or set
"slam_karto_DIR" to a directory containing one of the above files. If
"slam_karto" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
ROS-Academy-for-Beginners/slam_sim_demo/CMakeLists.txt:3 (find_package)

在运行sim的demo时出现错误

在运行sim的demo时出现错误：

Failed to load nodelet [/cmd_vel_mux] of type [yocs_cmd_vel_mux/CmdVelMuxNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1550987188.132054967, 0.022000000]: The error before refreshing the cache was: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2
[FATAL] [1550987188.132280639, 0.022000000]: Failed to load nodelet '/cmd_vel_muxof typeyocs_cmd_vel_mux/CmdVelMuxNodeletto managermobile_base_nodelet_manager'

运行robot_sim_demo只加载出了地板和一个台子

实际上这个台子也没有加载完全
不知道是不是因为是在虚拟机里运行的缘故
请问老师这个问题要怎么解决呢?
在不装双系统的前提下能否解决呢？

运行robot_spawn.launch后，打开rviz显示机器人模型，机器人的轮子不能显示

机器人的其他部分都能在rviz中显示，就是轮子不能显示，终端的错误提示如下：
[ERROR] [1542793096.776233993, 28.352000000]: Could not load resource [package://robot_sim_demo/models/meshes/wheel.dae]: Collada: package://robot_sim_demo/models/meshes/wheel.dae - Expected attribute "texcoord" at element "texture".

[ WARN] [1542793096.776405852, 28.352000000]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ERROR] [1542793096.776546322, 28.352000000]: Could not load model 'package://robot_sim_demo/models/meshes/wheel.dae' for link 'left_wheel': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ WARN] [1542793096.776633340, 28.352000000]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ERROR] [1542793096.776710549, 28.352000000]: Could not load model 'package://robot_sim_demo/models/meshes/wheel.dae' for link 'left_wheel': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ WARN] [1542793096.780322955, 28.355000000]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ERROR] [1542793096.780604428, 28.355000000]: Could not load model 'package://robot_sim_demo/models/meshes/wheel.dae' for link 'right_wheel': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ WARN] [1542793096.781081756, 28.355000000]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ERROR] [1542793096.781439652, 28.355000000]: Could not load model 'package://robot_sim_demo/models/meshes/wheel.dae' for link 'right_wheel': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://robot_sim_demo/models/meshes/wheel.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

不知道是什么原因，希望有遇到同样问题的朋友解答一下。

安装依赖后,编译时报错

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"controller_manager" with any of the following names:

controller_managerConfig.cmake
controller_manager-config.cmake

-- Could not find the required component 'controller_manager'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"controller_manager" with any of the following names:

controller_managerConfig.cmake
controller_manager-config.cmake

Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
set "controller_manager_DIR" to a directory containing one of the above
files. If "controller_manager" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
ROS-Academy-for-Beginners/navigation_sim_demo/CMakeLists.txt:3 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/zju/catkin_test/build/CMakeFiles/CMakeOutput.log".
See also "/home/zju/catkin_test/build/CMakeFiles/CMakeError.log".
Makefile:682: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

运行robot_sim_demo时出错

ERROR: cannot launch node of type [controller_manager/spawner]: controller_manager
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/laijiahong/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

编译时出错

以下是编译时终端的报错。

[ 98%] Building CXX object ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/src/dishes_Client.cpp.o
In file included from /opt/ros/kinetic/include/actionlib/managed_list.h:38:0,
                 from /opt/ros/kinetic/include/actionlib/client/client_helpers.h:47,
                 from /opt/ros/kinetic/include/actionlib/client/action_client.h:38,
                 from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:47,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/opt/ros/kinetic/include/actionlib/destruction_guard.h: In member function ‘void actionlib::DestructionGuard::destruct()’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(float)’
       count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
                                                                                ^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*)
     explicit subsecond_duration(T const& ss,
              ^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note:   template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*) [with T = float]’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80:   required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral<float>, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
   class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
                              ^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note:   no known conversion for argument 1 from ‘float’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
In file included from /opt/ros/kinetic/include/actionlib/server/handle_tracker_deleter.h:42:0,
                 from /opt/ros/kinetic/include/actionlib/server/action_server.h:51,
                 from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:42,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/opt/ros/kinetic/include/actionlib/destruction_guard.h: In member function ‘void actionlib::DestructionGuard::destruct()’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(float)’
       count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
                                                                                ^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*)
     explicit subsecond_duration(T const& ss,
              ^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note:   template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*) [with T = float]’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80:   required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral<float>, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
   class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
                              ^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note:   no known conversion for argument 1 from ‘float’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
In file included from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:0:
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h: In instantiation of ‘bool actionlib::SimpleActionClient<ActionSpec>::waitForResult(const ros::Duration&) [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >]’:
/home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:14:43:   required from here
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h:604:31: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(double)’
     done_condition_.timed_wait(lock, boost::posix_time::milliseconds(time_left.toSec() * 1000.0f));
                               ^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*)
     explicit subsecond_duration(T const& ss,
              ^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note:   template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*) [with T = double]’:
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h:604:31:   required from ‘bool actionlib::SimpleActionClient<ActionSpec>::waitForResult(const ros::Duration&) [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >]’
/home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:14:43:   required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral<double>, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h: In instantiation of ‘bool actionlib::SimpleActionClient<ActionSpec>::waitForResult(const ros::Duration&) [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >]’:
/home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:14:43:   required from here
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
   class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
                              ^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note:   no known conversion for argument 1 from ‘double’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
In file included from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:256:0,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h: In instantiation of ‘void actionlib::SimpleActionServer<ActionSpec>::executeLoop() [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >]’:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:111:53:   required from ‘actionlib::SimpleActionServer<ActionSpec>::SimpleActionServer(ros::NodeHandle, std::__cxx11::string, actionlib::SimpleActionServer<ActionSpec>::ExecuteCallback, bool) [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >; std::__cxx11::string = std::__cxx11::basic_string<char>; actionlib::SimpleActionServer<ActionSpec>::ExecuteCallback = boost::function<void(const boost::shared_ptr<const action_demo::DoDishesGoal_<std::allocator<void> > >&)>; typename ActionSpec::_action_goal_type::_goal_type = action_demo::DoDishesGoal_<std::allocator<void> >]’
/home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:16:74:   required from here
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:396:36: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(double)’
       execute_condition_.timed_wait(lock,
                                    ^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*)
     explicit subsecond_duration(T const& ss,
              ^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note:   template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template<class T> boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral<T>, void>::type*) [with T = double]’:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:396:36:   required from ‘void actionlib::SimpleActionServer<ActionSpec>::executeLoop() [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >]’
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:111:53:   required from ‘actionlib::SimpleActionServer<ActionSpec>::SimpleActionServer(ros::NodeHandle, std::__cxx11::string, actionlib::SimpleActionServer<ActionSpec>::ExecuteCallback, bool) [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >; std::__cxx11::string = std::__cxx11::basic_string<char>; actionlib::SimpleActionServer<ActionSpec>::ExecuteCallback = boost::function<void(const boost::shared_ptr<const action_demo::DoDishesGoal_<std::allocator<void> > >&)>; typename ActionSpec::_action_goal_type::_goal_type = action_demo::DoDishesGoal_<std::allocator<void> >]’
/home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:16:74:   required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral<double>, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
                 from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
                 from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
                 from /usr/local/include/boost/thread/thread_time.hpp:11,
                 from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
                 from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
                 from /usr/local/include/boost/thread/condition_variable.hpp:16,
                 from /usr/local/include/boost/thread/condition.hpp:13,
                 from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
                 from /home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h: In instantiation of ‘void actionlib::SimpleActionServer<ActionSpec>::executeLoop() [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >]’:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:111:53:   required from ‘actionlib::SimpleActionServer<ActionSpec>::SimpleActionServer(ros::NodeHandle, std::__cxx11::string, actionlib::SimpleActionServer<ActionSpec>::ExecuteCallback, bool) [with ActionSpec = action_demo::DoDishesAction_<std::allocator<void> >; std::__cxx11::string = std::__cxx11::basic_string<char>; actionlib::SimpleActionServer<ActionSpec>::ExecuteCallback = boost::function<void(const boost::shared_ptr<const action_demo::DoDishesGoal_<std::allocator<void> > >&)>; typename ActionSpec::_action_goal_type::_goal_type = action_demo::DoDishesGoal_<std::allocator<void> >]’
/home/wangtianfu/catkin_ws_wtf/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:16:74:   required from here
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
   class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
                              ^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note:   no known conversion for argument 1 from ‘double’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/build.make:62: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/src/dishes_Server.cpp.o' failed
make[2]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/src/dishes_Server.cpp.o] Error 1
CMakeFiles/Makefile2:6999: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/build.make:62: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/src/dishes_Client.cpp.o' failed
make[2]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/src/dishes_Client.cpp.o] Error 1
CMakeFiles/Makefile2:7273: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

运行调用机器人摄像头画面时报错

老师您好，我在跟随您的课程使用Gazebo进行仿真时，到开启键盘控制机器人都没有问题，等到运行：
rosrun image_view image_view image:=/camera/rgb/image_raw时，就会出现机器人摄像头视角的画面一闪就关闭，错误提示为：ASSERT:false in file qasciikey.cpp,line495
请问老师如何解决呢？

无法得到模型

环境：ubuntu16.04
ros：kinetic
gazebo：8.6.0
程序都已经编译好了，运行roslaunch robot_sim_demo robot_spawn.launch
无法得到正确的模型，如图

log如下：

... logging to /home/ubuntu/.ros/log/36ae25a6-5c03-11e9-b72e-00117f13914c/roslaunch-ubuntu-OptiPlex-960-24353.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ubuntu-OptiPlex-960:35975/

SUMMARY
========

PARAMETERS
 * /cmd_vel_mux/yaml_cfg_file: /home/ubuntu/test...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True
 * /xbot/joint_state_controller/publish_rate: 50
 * /xbot/joint_state_controller/type: joint_state_contr...
 * /xbot/pitch_platform_position_controller/joint: yaw_to_pitch_plat...
 * /xbot/pitch_platform_position_controller/pid/d: 10.0
 * /xbot/pitch_platform_position_controller/pid/i: 0.01
 * /xbot/pitch_platform_position_controller/pid/p: 100.0
 * /xbot/pitch_platform_position_controller/type: effort_controller...
 * /xbot/robot_state_publisher/publish_frequency: 20.0
 * /xbot/yaw_platform_position_controller/joint: base_to_yaw_platform
 * /xbot/yaw_platform_position_controller/pid/d: 10.0
 * /xbot/yaw_platform_position_controller/pid/i: 0.01
 * /xbot/yaw_platform_position_controller/pid/p: 100.0
 * /xbot/yaw_platform_position_controller/type: effort_controller...

NODES
  /xbot/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawner (controller_manager/spawner)
  /
    cmd_vel_mux (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mobile_base_nodelet_manager (nodelet/nodelet)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [24366]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 36ae25a6-5c03-11e9-b72e-00117f13914c
process[rosout-1]: started with pid [24379]
started core service [/rosout]
process[gazebo-2]: started with pid [24399]
process[gazebo_gui-3]: started with pid [24408]
process[urdf_spawner-4]: started with pid [24413]
process[xbot/spawner-5]: started with pid [24414]
process[xbot/robot_state_publisher-6]: started with pid [24415]
process[mobile_base_nodelet_manager-7]: started with pid [24416]
process[cmd_vel_mux-8]: started with pid [24426]
[INFO] [1554950450.420971, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1554950450.494971468]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554950450.496213075]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1554950450.603158936]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554950450.604651437]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1554950450.984909, 0.000000]: Loading model XML from ros parameter
[INFO] [1554950450.989013, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1554950451.594650, 0.000000]: Calling service /gazebo/spawn_urdf_model
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[INFO] [1554950453.757049, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1554950453.907029952, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1554950453.907467380, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /xbot
[ INFO] [1554950453.909376902, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[urdf_spawner-4] process has finished cleanly
log file: /home/ubuntu/.ros/log/36ae25a6-5c03-11e9-b72e-00117f13914c/urdf_spawner-4*.log
[ WARN] [1554950454.031958429, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'base_to_yaw_platform'.
[ WARN] [1554950454.033772617, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'yaw_to_pitch_platform'.
[INFO] [1554950454.046065, 0.001000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[ INFO] [1554950454.048094734, 0.001000000]: Loaded gazebo_ros_control.
[INFO] [1554950454.049199, 0.001000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1554950454.051939, 0.002000]: Loading controller: joint_state_controller
[INFO] [1554950454.069773, 0.012000]: Loading controller: yaw_platform_position_controller
[ INFO] [1554950454.084982113, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554950454.086037083, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554950454.273298212, 0.161000000]: Physics dynamic reconfigure ready.
[ INFO] [1554950454.322919869, 0.203000000]: Physics dynamic reconfigure ready.
[INFO] [1554950454.355930, 0.230000]: Loading controller: pitch_platform_position_controller
[INFO] [1554950454.455358, 0.315000]: Controller Spawner: Loaded controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller
[INFO] [1554950454.459460, 0.317000]: Started controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller
^C[cmd_vel_mux-8] killing on exit
[mobile_base_nodelet_manager-7] killing on exit
[xbot/spawner-5] killing on exit
[xbot/robot_state_publisher-6] killing on exit
[gazebo-2] killing on exit
[gazebo_gui-3] killing on exit
[INFO] [1554950673.869067, 216.056000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1554950673.870748, 216.058000]: Stopping all controllers...
[INFO] [1554950673.880746, 216.063000]: Unloading all loaded controllers...
[INFO] [1554950673.881388, 216.064000]: Trying to unload pitch_platform_position_controller
[INFO] [1554950673.900128, 216.074000]: Succeeded in unloading pitch_platform_position_controller
[INFO] [1554950673.900967, 216.076000]: Trying to unload yaw_platform_position_controller
[INFO] [1554950673.921978, 216.083000]: Succeeded in unloading yaw_platform_position_controller
[INFO] [1554950673.922512, 216.083000]: Trying to unload joint_state_controller
[INFO] [1554950673.928146, 216.087000]: Succeeded in unloading joint_state_controller

运行仿真程序时出错

bbb@ubuntu:~$ rospack profile
Full tree crawl took 1.718104 seconds.
Directories marked with (*) contain no manifest. You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only

1.588017 /opt/ros/kinetic/share
0.128410 /home/bbb/tutorial_ws/src
0.128268 /home/bbb/tutorial_ws/src/ROS-Academy-for-Beginners
0.003235 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev
0.000887 * /opt/ros/kinetic/share/doc
0.000158 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/haarcascades
0.000069 * /opt/ros/kinetic/share/OpenCV-3.3.1-dev/lbpcascades
0.000028 * /opt/ros/kinetic/share/doc/liborocos-kdl
bbb@ubuntu:~$ roslaunch robot_sim_demo robot_spawn.launch
... logging to /home/bbb/.ros/log/a562eb50-b508-11e8-8c14-000c295ac99e/roslaunch-ubuntu-14387.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ubuntu:44121/

SUMMARY

PARAMETERS

/cmd_vel_mux/yaml_cfg_file: /home/bbb/tutoria...
/robot_description: <?xml version="1....
/rosdistro: kinetic
/rosversion: 1.12.14
/use_sim_time: True
/xbot/joint_state_controller/publish_rate: 50
/xbot/joint_state_controller/type: joint_state_contr...
/xbot/pitch_platform_position_controller/joint: yaw_to_pitch_plat...
/xbot/pitch_platform_position_controller/pid/d: 10.0
/xbot/pitch_platform_position_controller/pid/i: 0.01
/xbot/pitch_platform_position_controller/pid/p: 100.0
/xbot/pitch_platform_position_controller/type: effort_controller...
/xbot/robot_state_publisher/publish_frequency: 20.0
/xbot/yaw_platform_position_controller/joint: base_to_yaw_platform
/xbot/yaw_platform_position_controller/pid/d: 10.0
/xbot/yaw_platform_position_controller/pid/i: 0.01
/xbot/yaw_platform_position_controller/pid/p: 100.0
/xbot/yaw_platform_position_controller/type: effort_controller...

NODES
/xbot/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawner (controller_manager/spawner)
/
cmd_vel_mux (nodelet/nodelet)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mobile_base_nodelet_manager (nodelet/nodelet)
urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [14402]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a562eb50-b508-11e8-8c14-000c295ac99e
process[rosout-1]: started with pid [14415]
started core service [/rosout]
process[gazebo-2]: started with pid [14418]
process[gazebo_gui-3]: started with pid [14423]
process[urdf_spawner-4]: started with pid [14428]
process[xbot/spawner-5]: started with pid [14429]
process[xbot/robot_state_publisher-6]: started with pid [14430]
process[mobile_base_nodelet_manager-7]: started with pid [14431]
process[cmd_vel_mux-8]: started with pid [14432]
[INFO] [1536590941.498258, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
SpawnModel script started
[INFO] [1536590946.510365, 0.000000]: Loading model XML from ros parameter
[INFO] [1536590946.520019, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1536590947.313284554]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536590947.318089888]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536590947.322619470]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1536590947.335357311]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1536590950.470529, 0.000000]: Calling service /gazebo/spawn_urdf_model
Warning [parser.cc:778] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1536590952.477228937, 0.001000000]: set to: //
[ INFO] [1536590952.477546522, 0.001000000]: set to: //imu
[ INFO] [1536590952.477706155, 0.001000000]: set to: imu_link
[ INFO] [1536590952.477860851, 0.001000000]: set to: 10
[ INFO] [1536590952.478000701, 0.001000000]: set to: 0
[ INFO] [1536590952.478204419, 0.001000000]: set to: 0 0 0
[ INFO] [1536590952.478363523, 0.001000000]: set to: 0 -0 0
[INFO] [1536590952.518810, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[urdf_spawner-4] process has finished cleanly
log file: /home/bbb/.ros/log/a562eb50-b508-11e8-8c14-000c295ac99e/urdf_spawner-4*.log
[ INFO] [1536590953.125823836, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1536590953.126166524, 0.001000000]: Starting GazeboRosLaser Plugin (ns = /)
[ INFO] [1536590953.217981049, 0.001000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1536590953.219203700, 0.001000000]: LoadThread function completed
[ INFO] [1536590953.257691606, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1536590953.291715410, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1536590953.685209394, 0.001000000]: Starting plugin DiffDrive(ns = //)
[ WARN] [1536590953.685355433, 0.001000000]: DiffDrive(ns = //): missing default is na
[ INFO] [1536590953.686585585, 0.001000000]: DiffDrive(ns = //): <tf_prefix> =
[ WARN] [1536590953.687016064, 0.001000000]: DiffDrive(ns = //): missing default is ture
[ WARN] [1536590953.687134326, 0.001000000]: DiffDrive(ns = //): missing default is 5
[ WARN] [1536590953.690178236, 0.001000000]: DiffDrive(ns = //): missing default is 1
[ INFO] [1536590953.692240324, 0.001000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1536590953.694856759, 0.001000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1536590953.712755582, 0.001000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1536590953.716938612, 0.001000000]: DiffDrive(ns = //): Advertise odom on odom
[ INFO] [1536590953.862291655, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1536590953.862505226, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /xbot
[ INFO] [1536590953.863654989, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1536590954.072101571, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'base_to_yaw_platform'.
[ WARN] [1536590954.074140768, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'yaw_to_pitch_platform'.
[ INFO] [1536590954.091793080, 0.001000000]: Loaded gazebo_ros_control.
[ INFO] [1536590954.151134094, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1536590954.153255156, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1536590954.235731, 0.047000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1536590954.241772, 0.049000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1536590954.246240, 0.049000]: Loading controller: joint_state_controller
[INFO] [1536590954.330414, 0.066000]: Loading controller: yaw_platform_position_controller
[ INFO] [1536590954.479945682, 0.108000000]: Physics dynamic reconfigure ready.
[ INFO] [1536590954.496309231, 0.111000000]: Physics dynamic reconfigure ready.
[INFO] [1536590954.576465, 0.132000]: Loading controller: pitch_platform_position_controller
[INFO] [1536590954.688976, 0.161000]: Controller Spawner: Loaded controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller
[INFO] [1536590954.694475, 0.162000]: Started controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller
VMware: vmw_ioctl_command error Invalid argument.
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 14423, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/bbb/.ros/log/a562eb50-b508-11e8-8c14-000c295ac99e/gazebo_gui-3.log].
log file: /home/bbb/.ros/log/a562eb50-b508-11e8-8c14-000c295ac99e/gazebo_gui-3*.log

Gazebo7.14 启动robot_sim_demo失败

[gazebo_gui-3] process has died [pid 23180, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/gazebo_gui-3.log].
log file: /home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/gazebo_gui-3*.log

cat roslaunch-xin-virtual-machine-23125.log：
SION_TYPE': 'x11', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_MASTER_URI': 'http://localhost:11311', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}
[roslaunch][INFO] 2018-12-19 23:09:37,720: starting in server mode
[roslaunch.parent][INFO] 2018-12-19 23:09:37,720: starting roslaunch parent run
[roslaunch][INFO] 2018-12-19 23:09:37,720: loading roscore config file /opt/ros/kinetic/etc/ros/roscore.xml
[roslaunch][INFO] 2018-12-19 23:09:38,020: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2018-12-19 23:09:38,020: loading config file /home/xin/tutorial_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/launch/robot_spawn.launch
[roslaunch][INFO] 2018-12-19 23:09:38,072: Added node of type [gazebo_ros/gzserver] in namespace [/]
[roslaunch][INFO] 2018-12-19 23:09:38,073: Added node of type [gazebo_ros/gzclient] in namespace [/]
[roslaunch][INFO] 2018-12-19 23:09:38,315: Added node of type [gazebo_ros/spawn_model] in namespace [/]
[roslaunch][INFO] 2018-12-19 23:09:38,324: Added node of type [controller_manager/spawner] in namespace [/xbot/]
[roslaunch][INFO] 2018-12-19 23:09:38,324: Added node of type [robot_state_publisher/robot_state_publisher] in namespace [/xbot/]
[roslaunch][INFO] 2018-12-19 23:09:38,325: Added node of type [nodelet/nodelet] in namespace [/]
[roslaunch][INFO] 2018-12-19 23:09:38,326: Added node of type [nodelet/nodelet] in namespace [/]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [gazebo_ros/gzserver]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [gazebo_ros/gzclient]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [gazebo_ros/spawn_model]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [controller_manager/spawner]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch][INFO] 2018-12-19 23:09:38,326: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,327: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,328: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,328: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2018-12-19 23:09:38,328: starting parent XML-RPC server
[roslaunch.server][INFO] 2018-12-19 23:09:38,328: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2018-12-19 23:09:38,328: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2018-12-19 23:09:38,329: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2018-12-19 23:09:38,329: Started XML-RPC server [http://xin-virtual-machine:46183/]
[xmlrpc][INFO] 2018-12-19 23:09:38,329: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2018-12-19 23:09:38,341: started roslaunch server http://xin-virtual-machine:46183/
[roslaunch.parent][INFO] 2018-12-19 23:09:38,341: ... parent XML-RPC server started
[roslaunch][INFO] 2018-12-19 23:09:38,342: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,343: auto-starting new master
[roslaunch][INFO] 2018-12-19 23:09:38,343: create_master_process: rosmaster, /opt/ros/kinetic/share/ros, 11311, 3, None
[roslaunch][INFO] 2018-12-19 23:09:38,343: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,343: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,343: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2018-12-19 23:09:38,343: process[master]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,343: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/master.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,343: process[master]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,346: process[master]: started with pid [23138]
[roslaunch][INFO] 2018-12-19 23:09:38,346: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,447: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,548: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,552: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,553: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2018-12-19 23:09:38,555: setting /run_id to 19f7a3ee-03a0-11e9-9a66-000c296fd04e
[roslaunch][INFO] 2018-12-19 23:09:38,556: setting /roslaunch/uris/host_xin_virtual_machine__46183' to http://xin-virtual-machine:46183/
[roslaunch][INFO] 2018-12-19 23:09:38,559: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2018-12-19 23:09:38,559: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,559: process[rosout-1]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'kinetic', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'UPSTART_EVENTS': 'started starting', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c1', 'LC_PAPER': 'zh_CN.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'USER': 'xin', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'INSTANCE': 'Unity', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'QT_ACCESSIBILITY': '1', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'WINDOWID': '60817412', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'HOME': '/home/xin', 'QT4_IM_MODULE': 'xim', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_SESSION_DESKTOP': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'IBUS_DISABLE_SNOOPER': '1', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', '': '/opt/ros/kinetic/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GNOME_KEYRING_PID': '', 'XDG_SESSION_TYPE': 'x11', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'COLORTERM': 'gnome-terminal', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2018-12-19 23:09:38,612: process[rosout-1]: args[[u'/opt/ros/kinetic/lib/rosout/rosout', u'__name:=rosout']]
[roslaunch][INFO] 2018-12-19 23:09:38,612: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,612: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,612: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2018-12-19 23:09:38,612: ... registered process [rosout-1]
[roslaunch][INFO] 2018-12-19 23:09:38,612: process[rosout-1]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,613: process[rosout-1]: start w/ args [[u'/opt/ros/kinetic/lib/rosout/rosout', u'__name:=rosout', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/rosout-1.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,613: process[rosout-1]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,618: process[rosout-1]: started with pid [23151]
[roslaunch][INFO] 2018-12-19 23:09:38,618: ... successfully launched [rosout-1]
[roslaunch][INFO] 2018-12-19 23:09:38,619: load_parameters starting ...
[roslaunch][INFO] 2018-12-19 23:09:38,628: ... load_parameters complete
[roslaunch][INFO] 2018-12-19 23:09:38,629: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2018-12-19 23:09:38,629: ... preparing to launch node of type [gazebo_ros/gzserver]
[roslaunch][INFO] 2018-12-19 23:09:38,633: create_node_process: package[gazebo_ros] type[gzserver] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,634: process[gazebo-2]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'kinetic', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'UPSTART_EVENTS': 'started starting', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c1', 'LC_PAPER': 'zh_CN.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'USER': 'xin', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'INSTANCE': 'Unity', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'QT_ACCESSIBILITY': '1', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'WINDOWID': '60817412', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'HOME': '/home/xin', 'QT4_IM_MODULE': 'xim', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_SESSION_DESKTOP': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'IBUS_DISABLE_SNOOPER': '1', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', '': '/opt/ros/kinetic/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GNOME_KEYRING_PID': '', 'XDG_SESSION_TYPE': 'x11', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'COLORTERM': 'gnome-terminal', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2018-12-19 23:09:38,635: process[gazebo-2]: args[[u'/opt/ros/kinetic/lib/gazebo_ros/gzserver', '-e', 'ode', '/home/xin/tutorial_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/worlds/ROS-Academy.world', u'__name:=gazebo']]
[roslaunch][INFO] 2018-12-19 23:09:38,636: ... created process [gazebo-2]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,636: ProcessMonitor.register[gazebo-2]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,636: ProcessMonitor.register[gazebo-2] complete
[roslaunch][INFO] 2018-12-19 23:09:38,636: ... registered process [gazebo-2]
[roslaunch][INFO] 2018-12-19 23:09:38,636: process[gazebo-2]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,636: process[gazebo-2]: start w/ args [[u'/opt/ros/kinetic/lib/gazebo_ros/gzserver', '-e', 'ode', '/home/xin/tutorial_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/worlds/ROS-Academy.world', u'__name:=gazebo', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/gazebo-2.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,636: process[gazebo-2]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,639: process[gazebo-2]: started with pid [23159]
[roslaunch][INFO] 2018-12-19 23:09:38,643: ... successfully launched [gazebo-2]
[roslaunch][INFO] 2018-12-19 23:09:38,643: ... preparing to launch node of type [gazebo_ros/gzclient]
[roslaunch][INFO] 2018-12-19 23:09:38,643: create_node_process: package[gazebo_ros] type[gzclient] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,644: process[gazebo_gui-3]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'kinetic', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'UPSTART_EVENTS': 'started starting', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c1', 'LC_PAPER': 'zh_CN.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'USER': 'xin', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'INSTANCE': 'Unity', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'QT_ACCESSIBILITY': '1', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'WINDOWID': '60817412', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'HOME': '/home/xin', 'QT4_IM_MODULE': 'xim', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_SESSION_DESKTOP': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'IBUS_DISABLE_SNOOPER': '1', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', '': '/opt/ros/kinetic/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GNOME_KEYRING_PID': '', 'XDG_SESSION_TYPE': 'x11', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'COLORTERM': 'gnome-terminal', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2018-12-19 23:09:38,644: process[gazebo_gui-3]: args[[u'/opt/ros/kinetic/lib/gazebo_ros/gzclient', u'__name:=gazebo_gui']]
[roslaunch][INFO] 2018-12-19 23:09:38,645: ... created process [gazebo_gui-3]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,645: ProcessMonitor.register[gazebo_gui-3]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,645: ProcessMonitor.register[gazebo_gui-3] complete
[roslaunch][INFO] 2018-12-19 23:09:38,645: ... registered process [gazebo_gui-3]
[roslaunch][INFO] 2018-12-19 23:09:38,645: process[gazebo_gui-3]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,645: process[gazebo_gui-3]: start w/ args [[u'/opt/ros/kinetic/lib/gazebo_ros/gzclient', u'__name:=gazebo_gui', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/gazebo_gui-3.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,645: process[gazebo_gui-3]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,655: process[gazebo_gui-3]: started with pid [23180]
[roslaunch][INFO] 2018-12-19 23:09:38,655: ... successfully launched [gazebo_gui-3]
[roslaunch][INFO] 2018-12-19 23:09:38,655: ... preparing to launch node of type [gazebo_ros/spawn_model]
[roslaunch][INFO] 2018-12-19 23:09:38,655: create_node_process: package[gazebo_ros] type[spawn_model] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,655: process[urdf_spawner-4]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'kinetic', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'UPSTART_EVENTS': 'started starting', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c1', 'LC_PAPER': 'zh_CN.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'USER': 'xin', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'INSTANCE': 'Unity', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'QT_ACCESSIBILITY': '1', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'WINDOWID': '60817412', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'HOME': '/home/xin', 'QT4_IM_MODULE': 'xim', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_SESSION_DESKTOP': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'IBUS_DISABLE_SNOOPER': '1', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', '': '/opt/ros/kinetic/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GNOME_KEYRING_PID': '', 'XDG_SESSION_TYPE': 'x11', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'COLORTERM': 'gnome-terminal', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2018-12-19 23:09:38,656: process[urdf_spawner-4]: args[[u'/opt/ros/kinetic/lib/gazebo_ros/spawn_model', '-urdf', '-x', '5.0', '-y', '.0', '-z', '0.0', '-Y', '-2.0', '-model', 'xbot-u', '-param', 'robot_description', u'__name:=urdf_spawner']]
[roslaunch][INFO] 2018-12-19 23:09:38,656: ... created process [urdf_spawner-4]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,656: ProcessMonitor.register[urdf_spawner-4]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,656: ProcessMonitor.register[urdf_spawner-4] complete
[roslaunch][INFO] 2018-12-19 23:09:38,656: ... registered process [urdf_spawner-4]
[roslaunch][INFO] 2018-12-19 23:09:38,656: process[urdf_spawner-4]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,657: process[urdf_spawner-4]: start w/ args [[u'/opt/ros/kinetic/lib/gazebo_ros/spawn_model', '-urdf', '-x', '5.0', '-y', '.0', '-z', '0.0', '-Y', '-2.0', '-model', 'xbot-u', '-param', 'robot_description', u'__name:=urdf_spawner', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/urdf_spawner-4.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,657: process[urdf_spawner-4]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,659: process[urdf_spawner-4]: started with pid [23185]
[roslaunch][INFO] 2018-12-19 23:09:38,660: ... successfully launched [urdf_spawner-4]
[roslaunch][INFO] 2018-12-19 23:09:38,660: ... preparing to launch node of type [controller_manager/spawner]
[roslaunch][INFO] 2018-12-19 23:09:38,660: create_node_process: package[controller_manager] type[spawner] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,660: process[xbot/spawner-5]: env[{'UPSTART_EVENTS': 'started starting', 'XDG_SESSION_TYPE': 'x11', 'LC_PAPER': 'zh_CN.UTF-8', 'SHELL': '/bin/bash', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', 'UPSTART_INSTANCE': '', 'JOB': 'gnome-session', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'XDG_SESSION_ID': 'c1', 'ROS_NAMESPACE': u'/xbot', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'GNOME_KEYRING_PID': '', 'DESKTOP_SESSION': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'INSTANCE': 'Unity', 'LC_NAME': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LC_NUMERIC': 'zh_CN.UTF-8', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'XDG_CURRENT_DESKTOP': 'Unity', 'USER': 'xin', 'XDG_VTNR': '7', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'QT_ACCESSIBILITY': '1', 'WINDOWID': '60817412', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'XDG_SESSION_DESKTOP': 'ubuntu', 'GDMSESSION': 'ubuntu', 'UPSTART_JOB': 'unity-settings-daemon', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'ROS_MASTER_URI': 'http://localhost:11311', 'COLORTERM': 'gnome-terminal', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'QT4_IM_MODULE': 'xim', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'HOME': '/home/xin', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'GTK_IM_MODULE': 'ibus', 'IBUS_DISABLE_SNOOPER': '1', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'PAPERSIZE': 'a4', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_DISTRO': 'kinetic', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'XDG_SEAT': 'seat0', 'GNOME_KEYRING_CONTROL': '', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'TERM': 'xterm', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'SESSIONTYPE': 'gnome-session', 'IM_CONFIG_PHASE': '1', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'SHLVL': '1', 'PWD': '/home/xin', 'ROS_VERSION': '1'}]
[roslaunch][INFO] 2018-12-19 23:09:38,661: process[xbot/spawner-5]: args[[u'/opt/ros/kinetic/lib/controller_manager/spawner', 'joint_state_controller', 'yaw_platform_position_controller', 'pitch_platform_position_controller', u'__name:=spawner']]
[roslaunch][INFO] 2018-12-19 23:09:38,661: ... created process [xbot/spawner-5]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,661: ProcessMonitor.register[xbot/spawner-5]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,661: ProcessMonitor.register[xbot/spawner-5] complete
[roslaunch][INFO] 2018-12-19 23:09:38,661: ... registered process [xbot/spawner-5]
[roslaunch][INFO] 2018-12-19 23:09:38,661: process[xbot/spawner-5]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,661: process[xbot/spawner-5]: start w/ args [[u'/opt/ros/kinetic/lib/controller_manager/spawner', 'joint_state_controller', 'yaw_platform_position_controller', 'pitch_platform_position_controller', u'__name:=spawner', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/xbot-spawner-5.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,661: process[xbot/spawner-5]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,667: process[xbot/spawner-5]: started with pid [23186]
[roslaunch][INFO] 2018-12-19 23:09:38,667: ... successfully launched [xbot/spawner-5]
[roslaunch][INFO] 2018-12-19 23:09:38,667: ... preparing to launch node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2018-12-19 23:09:38,667: create_node_process: package[robot_state_publisher] type[robot_state_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,667: process[xbot/robot_state_publisher-6]: env[{'UPSTART_EVENTS': 'started starting', 'XDG_SESSION_TYPE': 'x11', 'LC_PAPER': 'zh_CN.UTF-8', 'SHELL': '/bin/bash', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', 'UPSTART_INSTANCE': '', 'JOB': 'gnome-session', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'XDG_SESSION_ID': 'c1', 'ROS_NAMESPACE': u'/xbot', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'GNOME_KEYRING_PID': '', 'DESKTOP_SESSION': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'INSTANCE': 'Unity', 'LC_NAME': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LC_NUMERIC': 'zh_CN.UTF-8', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'XDG_CURRENT_DESKTOP': 'Unity', 'USER': 'xin', 'XDG_VTNR': '7', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'QT_ACCESSIBILITY': '1', 'WINDOWID': '60817412', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'XDG_SESSION_DESKTOP': 'ubuntu', 'GDMSESSION': 'ubuntu', 'UPSTART_JOB': 'unity-settings-daemon', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'ROS_MASTER_URI': 'http://localhost:11311', 'COLORTERM': 'gnome-terminal', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'QT4_IM_MODULE': 'xim', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'HOME': '/home/xin', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'GTK_IM_MODULE': 'ibus', 'IBUS_DISABLE_SNOOPER': '1', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'PAPERSIZE': 'a4', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_DISTRO': 'kinetic', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'XDG_SEAT': 'seat0', 'GNOME_KEYRING_CONTROL': '', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'TERM': 'xterm', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'SESSIONTYPE': 'gnome-session', 'IM_CONFIG_PHASE': '1', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'SHLVL': '1', 'PWD': '/home/xin', 'ROS_VERSION': '1'}]
[roslaunch][INFO] 2018-12-19 23:09:38,668: process[xbot/robot_state_publisher-6]: args[[u'/opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher', u'__name:=robot_state_publisher']]
[roslaunch][INFO] 2018-12-19 23:09:38,668: ... created process [xbot/robot_state_publisher-6]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,668: ProcessMonitor.register[xbot/robot_state_publisher-6]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,668: ProcessMonitor.register[xbot/robot_state_publisher-6] complete
[roslaunch][INFO] 2018-12-19 23:09:38,668: ... registered process [xbot/robot_state_publisher-6]
[roslaunch][INFO] 2018-12-19 23:09:38,669: process[xbot/robot_state_publisher-6]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,669: process[xbot/robot_state_publisher-6]: start w/ args [[u'/opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher', u'__name:=robot_state_publisher', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/xbot-robot_state_publisher-6.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,669: process[xbot/robot_state_publisher-6]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,675: process[xbot/robot_state_publisher-6]: started with pid [23187]
[roslaunch][INFO] 2018-12-19 23:09:38,675: ... successfully launched [xbot/robot_state_publisher-6]
[roslaunch][INFO] 2018-12-19 23:09:38,675: ... preparing to launch node of type [nodelet/nodelet]
[roslaunch][INFO] 2018-12-19 23:09:38,675: create_node_process: package[nodelet] type[nodelet] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,675: process[mobile_base_nodelet_manager-7]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'kinetic', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'UPSTART_EVENTS': 'started starting', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c1', 'LC_PAPER': 'zh_CN.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'USER': 'xin', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'INSTANCE': 'Unity', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'QT_ACCESSIBILITY': '1', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'WINDOWID': '60817412', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'HOME': '/home/xin', 'QT4_IM_MODULE': 'xim', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_SESSION_DESKTOP': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'IBUS_DISABLE_SNOOPER': '1', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', '': '/opt/ros/kinetic/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GNOME_KEYRING_PID': '', 'XDG_SESSION_TYPE': 'x11', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'COLORTERM': 'gnome-terminal', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2018-12-19 23:09:38,676: process[mobile_base_nodelet_manager-7]: args[[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'manager', u'__name:=mobile_base_nodelet_manager']]
[roslaunch][INFO] 2018-12-19 23:09:38,676: ... created process [mobile_base_nodelet_manager-7]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,676: ProcessMonitor.register[mobile_base_nodelet_manager-7]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,676: ProcessMonitor.register[mobile_base_nodelet_manager-7] complete
[roslaunch][INFO] 2018-12-19 23:09:38,676: ... registered process [mobile_base_nodelet_manager-7]
[roslaunch][INFO] 2018-12-19 23:09:38,682: process[mobile_base_nodelet_manager-7]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,682: process[mobile_base_nodelet_manager-7]: start w/ args [[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'manager', u'__name:=mobile_base_nodelet_manager', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/mobile_base_nodelet_manager-7.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,682: process[mobile_base_nodelet_manager-7]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,695: process[mobile_base_nodelet_manager-7]: started with pid [23188]
[roslaunch][INFO] 2018-12-19 23:09:38,695: ... successfully launched [mobile_base_nodelet_manager-7]
[roslaunch][INFO] 2018-12-19 23:09:38,695: ... preparing to launch node of type [nodelet/nodelet]
[roslaunch][INFO] 2018-12-19 23:09:38,695: create_node_process: package[nodelet] type[nodelet] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2018-12-19 23:09:38,695: process[cmd_vel_mux-8]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'kinetic', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/xin', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'ROS_VERSION': '1', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'UPSTART_EVENTS': 'started starting', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c1', 'LC_PAPER': 'zh_CN.UTF-8', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/xin/tutorial_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'xin', 'USER': 'xin', 'PATH': '/opt/ros/kinetic/bin:/home/xin/bin:/home/xin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ctools/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '', 'ROS_PACKAGE_PATH': '/home/xin/tutorial_ws/src:/opt/ros/kinetic/share', 'CMAKE_PREFIX_PATH': '/home/xin/tutorial_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/xin/tutorial_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/xin/.Xauthority', 'LANGUAGE': 'zh_CN:en_US:en', 'INSTANCE': 'Unity', 'LC_MONETARY': 'zh_CN.UTF-8', 'QT_LINUX_ACCESSIBILITY_ALWAYS_ON': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'TERMINATOR_UUID': 'urn:uuid:f63ad86a-dada-4c2b-9a51-a54d53cba8a6', 'QT_ACCESSIBILITY': '1', 'ROS_LOG_FILENAME': '/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/roslaunch-xin-virtual-machine-23125.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'WINDOWID': '60817412', 'ORBIT_SOCKETDIR': '/tmp/orbit-xin', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/home/xin/.gnupg/S.gpg-agent:0:1', 'HOME': '/home/xin', 'QT4_IM_MODULE': 'xim', 'GTK2_MODULES': 'overlay-scrollbar', 'XDG_SESSION_DESKTOP': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/xin/tutorial_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'IBUS_DISABLE_SNOOPER': '1', 'PKG_CONFIG_PATH': '/home/xin/tutorial_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-pBv4hOXOMx', '': '/opt/ros/kinetic/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1200', 'DISPLAY': ':0', 'GNOME_KEYRING_PID': '', 'XDG_SESSION_TYPE': 'x11', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'GTK_MODULES': 'gail:atk-bridge:unity-gtk-module', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/xin', 'JOB': 'gnome-session', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'COLORTERM': 'gnome-terminal', 'LC_NAME': 'zh_CN.UTF-8', 'LC_TIME': 'zh_CN.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2018-12-19 23:09:38,696: process[cmd_vel_mux-8]: args[[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'load', 'yocs_cmd_vel_mux/CmdVelMuxNodelet', 'mobile_base_nodelet_manager', u'cmd_vel_mux/output/cmd_vel:=cmd_vel', u'__name:=cmd_vel_mux']]
[roslaunch][INFO] 2018-12-19 23:09:38,696: ... created process [cmd_vel_mux-8]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,696: ProcessMonitor.register[cmd_vel_mux-8]
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,696: ProcessMonitor.register[cmd_vel_mux-8] complete
[roslaunch][INFO] 2018-12-19 23:09:38,697: ... registered process [cmd_vel_mux-8]
[roslaunch][INFO] 2018-12-19 23:09:38,697: process[cmd_vel_mux-8]: starting os process
[roslaunch][INFO] 2018-12-19 23:09:38,697: process[cmd_vel_mux-8]: start w/ args [[u'/opt/ros/kinetic/lib/nodelet/nodelet', 'load', 'yocs_cmd_vel_mux/CmdVelMuxNodelet', 'mobile_base_nodelet_manager', u'cmd_vel_mux/output/cmd_vel:=cmd_vel', u'__name:=cmd_vel_mux', u'__log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/cmd_vel_mux-8.log']]
[roslaunch][INFO] 2018-12-19 23:09:38,697: process[cmd_vel_mux-8]: cwd will be [/home/xin/.ros]
[roslaunch][INFO] 2018-12-19 23:09:38,713: process[cmd_vel_mux-8]: started with pid [23189]
[roslaunch][INFO] 2018-12-19 23:09:38,717: ... successfully launched [cmd_vel_mux-8]
[roslaunch][INFO] 2018-12-19 23:09:38,718: ... launch_nodes complete
[roslaunch.pmon][INFO] 2018-12-19 23:09:38,718: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140501528225536)>
[roslaunch.parent][INFO] 2018-12-19 23:09:38,719: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2018-12-19 23:09:38,719: spin
[roslaunch][INFO] 2018-12-19 23:09:41,447: [urdf_spawner-4] process has finished cleanly
log file: /home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/urdf_spawner-4*.log
[roslaunch.pmon][INFO] 2018-12-19 23:09:41,447: ProcessMonitor.unregister[urdf_spawner-4] starting
[roslaunch.pmon][INFO] 2018-12-19 23:09:41,447: ProcessMonitor.unregister[urdf_spawner-4] complete
[roslaunch][ERROR] 2018-12-19 23:10:01,761: [gazebo_gui-3] process has died [pid 23180, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/gazebo_gui-3.log].
log file: /home/xin/.ros/log/19f7a3ee-03a0-11e9-9a66-000c296fd04e/gazebo_gui-3*.log
[roslaunch.pmon][INFO] 2018-12-19 23:10:01,761: ProcessMonitor.unregister[gazebo_gui-3] starting
[roslaunch.pmon][INFO] 2018-12-19 23:10:01,761: ProcessMonitor.unregister[gazebo_gui-3] complete
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,396: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon 140501528225536)>
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,456: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140501528225536)>
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,456: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140501528225536)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcf38d0>, <roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcf3c50>, <roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcfec50>, <roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcfe6d0>, <roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcfeed0>, <roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcf3a10>, <roslaunch.nodeprocess.LocalProcess object at 0x7fc90fcf3a90>]
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,457: ProcessMonitor exit: killing mobile_base_nodelet_manager-7
[roslaunch][INFO] 2018-12-19 23:15:07,458: [mobile_base_nodelet_manager-7] killing on exit
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,458: ProcessMonitor exit: killing xbot/robot_state_publisher-6
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,457: ProcessMonitor exit: killing cmd_vel_mux-8
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,459: ProcessMonitor exit: killing xbot/spawner-5
[roslaunch][INFO] 2018-12-19 23:15:07,460: [xbot/spawner-5] killing on exit
[roslaunch][INFO] 2018-12-19 23:15:07,459: [cmd_vel_mux-8] killing on exit
[roslaunch][INFO] 2018-12-19 23:15:07,461: process[cmd_vel_mux-8]: killing os process with pid[23189] pgid[23189]
[roslaunch][INFO] 2018-12-19 23:15:07,459: process[mobile_base_nodelet_manager-7]: killing os process with pid[23188] pgid[23188]
[roslaunch][INFO] 2018-12-19 23:15:07,462: [mobile_base_nodelet_manager-7] sending SIGINT to pgid [23188]
[roslaunch][INFO] 2018-12-19 23:15:07,460: process[xbot/spawner-5]: killing os process with pid[23186] pgid[23186]
[roslaunch][INFO] 2018-12-19 23:15:07,462: [xbot/spawner-5] sending SIGINT to pgid [23186]
[roslaunch][INFO] 2018-12-19 23:15:07,460: [xbot/robot_state_publisher-6] killing on exit
[roslaunch][INFO] 2018-12-19 23:15:07,463: process[xbot/robot_state_publisher-6]: killing os process with pid[23187] pgid[23187]
[roslaunch][INFO] 2018-12-19 23:15:07,462: [cmd_vel_mux-8] sending SIGINT to pgid [23189]
[roslaunch][INFO] 2018-12-19 23:15:07,464: [cmd_vel_mux-8] sent SIGINT to pgid [23189]
[roslaunch][INFO] 2018-12-19 23:15:07,464: [xbot/robot_state_publisher-6] sending SIGINT to pgid [23187]
[roslaunch][INFO] 2018-12-19 23:15:07,464: [xbot/robot_state_publisher-6] sent SIGINT to pgid [23187]
[roslaunch.pmon][INFO] 2018-12-19 23:15:07,462: ProcessMonitor exit: killing gazebo-2
[roslaunch][INFO] 2018-12-19 23:15:07,465: [gazebo-2] killing on exit
[roslaunch][INFO] 2018-12-19 23:15:07,465: process[gazebo-2]: killing os process with pid[23159] pgid[23159]
[roslaunch][INFO] 2018-12-19 23:15:07,465: [gazebo-2] sending SIGINT to pgid [23159]
[roslaunch][INFO] 2018-12-19 23:15:07,465: [gazebo-2] sent SIGINT to pgid [23159]
[roslaunch][INFO] 2018-12-19 23:15:07,463: [xbot/spawner-5] sent SIGINT to pgid [23186]
[roslaunch][INFO] 2018-12-19 23:15:07,462: [mobile_base_nodelet_manager-7] sent SIGINT to pgid [23188]
[roslaunch][INFO] 2018-12-19 23:15:07,664: process[xbot/robot_state_publisher-6]: SIGINT killed with return value 0
[roslaunch][INFO] 2018-12-19 23:15:07,865: process[cmd_vel_mux-8]: SIGINT killed with return value 0
[roslaunch][INFO] 2018-12-19 23:15:07,983: process[mobile_base_nodelet_manager-7]: SIGINT killed with return value 0
[roslaunch][ERROR] 2018-12-19 23:15:22,530: [gazebo-2] escalating to SIGTERM
[roslaunch][INFO] 2018-12-19 23:15:22,531: [gazebo-2] sent SIGTERM to pgid [23159]
[roslaunch][ERROR] 2018-12-19 23:15:22,548: [xbot/spawner-5] escalating to SIGTERM
[roslaunch][INFO] 2018-12-19 23:15:22,548: [xbot/spawner-5] sent SIGTERM to pgid [23186]
[roslaunch][INFO] 2018-12-19 23:15:22,732: process[gazebo-2]: SIGTERM killed with return value -15
[roslaunch][INFO] 2018-12-19 23:15:22,749: process[xbot/spawner-5]: SIGTERM killed with return value 0
[roslaunch.pmon][INFO] 2018-12-19 23:15:22,750: ProcessMonitor exit: killing rosout-1
[roslaunch][INFO] 2018-12-19 23:15:22,750: [rosout-1] killing on exit
[roslaunch][INFO] 2018-12-19 23:15:22,750: process[rosout-1]: killing os process with pid[23151] pgid[23151]
[roslaunch][INFO] 2018-12-19 23:15:22,750: [rosout-1] sending SIGINT to pgid [23151]
[roslaunch][INFO] 2018-12-19 23:15:22,750: [rosout-1] sent SIGINT to pgid [23151]
[roslaunch][INFO] 2018-12-19 23:15:22,951: process[rosout-1]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2018-12-19 23:15:22,952: ProcessMonitor exit: killing master
[roslaunch][INFO] 2018-12-19 23:15:22,952: [master] killing on exit
[roslaunch][INFO] 2018-12-19 23:15:22,952: process[master]: killing os process with pid[23138] pgid[23138]
[roslaunch][INFO] 2018-12-19 23:15:22,952: [master] sending SIGINT to pgid [23138]
[roslaunch][INFO] 2018-12-19 23:15:22,952: [master] sent SIGINT to pgid [23138]
[roslaunch][INFO] 2018-12-19 23:15:23,153: process[master]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2018-12-19 23:15:23,153: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2018-12-19 23:15:23,154: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2018-12-19 23:15:23,201: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2018-12-19 23:15:23,202: runner.stop()
[roslaunch][INFO] 2018-12-19 23:15:23,202: shutting down processing monitor...
[roslaunch][INFO] 2018-12-19 23:15:23,202: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 140501528225536)>
[roslaunch.pmon][INFO] 2018-12-19 23:15:23,202: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140501528225536)>
[roslaunch][INFO] 2018-12-19 23:15:23,202: ... shutting down processing monitor complete
[roslaunch][INFO] 2018-12-19 23:15:23,202: done
[roslaunch.pmon][INFO] 2018-12-19 23:15:23,203: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140501528225536)>
[rospy.core][INFO] 2018-12-19 23:15:23,203: signal_shutdown [atexit]

关于源代码的修改

l老师你好我还是想问一下爱关于如何修改源代码的问题，在哪里可以获取全局局部路径规划的源代码呢，或者DWA之类的源代码，修改的如何放到ROS-Academy-for-Beginners下仿真呢，我看到ROS-Academy-for-Beginners下的文件都是一些参数文件不能找到算法的局部全局路径规划，amcl和dwa的算法

catkin_make错误

请老师指教

rosrun没有robot_sim_demo

想用键盘控制robot的运动，按照步骤都安装编译成功，但用rosrun并没有robot_sim_demo
如下安装成功的提示：

ubuntu@ubuntu:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
#All required rosdeps installed successfully

仿真出现error

输入 roslaunch robot_sim_demo robot_spawn.launch出现error和warn

Invoking "make -j4 -l4" failed

Base path: /home/gyh/catkin_ws2
Source space: /home/gyh/catkin_ws2/src
Build space: /home/gyh/catkin_ws2/build
Devel space: /home/gyh/catkin_ws2/devel
Install space: /home/gyh/catkin_ws2/install

Running command: "make cmake_check_build_system" in "/home/gyh/catkin_ws2/build"

Running command: "make -j4 -l4" in "/home/gyh/catkin_ws2/build"

make[2]: *** No rule to make target 'param_demo/CMakeFiles/param_demo.dir/build'. Stop.
CMakeFiles/Makefile2:907: recipe for target 'param_demo/CMakeFiles/param_demo.dir/all' failed
make[1]: *** [param_demo/CMakeFiles/param_demo.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

老师，您好。
在学习到service和param的程序编写时，编写工作完成进行caikin_make编译时，总是出现这样的错误。之前编译topic_demo时没有问题。我将在这里下载的包中的cpp\cmakelist\package等文件都复制过去我的workspace中进行编译，依旧是这样的错误提示。
困扰了很多天尝试解决均无果。希望可以得到老师的指点。
谢谢老师！

老师好，我把laserscan添加到rviz中，并且将topic设定为/scan但是得不到雷达数据的图像

gazebo已经更新到最新版本
使用rostopic info /scan看到该节点确实被rviz订阅了
把camera, pointcloud添加到rviz中显示是正常的
刚刚用rostopic echo看了看，ranges全部是-inf, intensities全部是1.0，应该是数据有问题？该怎么办呢？
谢谢

在哪里获取讲义的pdf文档

请问在哪里获取讲义PDF之前，有时候https://github.com/DroidAITech/ROS-Academy-for-Beginners这里获取不到pdf文档

关于里程计误差修正具体实现方法的疑问

老师，您好。我在做四个麦克纳姆轮的小车时，想通过四个电机的转速转换得到小车的位姿（具体是通过电机的霍尔传感器测得转速再通过运动学公式转换得到的，参见https://blog.csdn.net/banzhuan133/article/details/69229922 ）。从而不用imu了。但看到网上有人说轮子打滑会造成位姿的误差。您在mooc讲义180页提到“gmapping的做法是把里程计误差的修正发布到 map_frame 和 odom_frame 之间的tf上，也就是把误差补偿在了地图坐标系和里程计原点坐标系之间。通过这种方式来修正定位”。
我想问的是：1.作为初学者，想先不用imu，只用电机转速转换得到位姿。这样的话，不知道具体怎么用gmaping来修正误差？2.它是在调用gmaping的时候自动实现的吗？3.如果我的地图是用slam-gmaping建好保存了的，以后每次都是用这个地图，那么调用现有地图的情况下，gmaping还能修正里程计的误差吗？谢谢

robot_spawn.launch file 错误

您好！老师，最近我在跟进你在MOOC上的课程，现在已经能跑robot_sim_demo中的范例了，但是有时候能加载gazebo 材质，有时候不能，就会报[robot_spawn.launch] is not a launch file 错误，当我进入robot_sim_demo 文件夹后，运行roslaunch robot_spawn.launch 命令时，会报Invalidtag:robo_sim_demo之类的错误，尤其是我重启Ubuntu之后。

can not rosrun the file robot_keyboard_teleop.py

can not rosrun the file robot_keyboard_teleop.py,when i do "rosrun robot_sim_demo robot_keyboard_teleop.py",it show the error info below:
Couldn't find executable named robot_keyboard_teleop.py below /home/jimson/catkin_ws/src/ROS-Academy-for-Beginners/robot_sim_demo
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/jimson/catkin_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/scripts/robot_keyboard_teleop.py
but i have sourced the environment.
What should i do?

catkin_make中间报错，devel里面啥都没有

Are those packages availabe for all ROS versions?

some complicated problems occuured while running [Robot_sim_demo] package on Ros Indigo, are those packages available on the previous ROS versions like indigo?

Thx

关于ubuntu18.04上的melodic编译该项目的问题

因为自己原本的系统是ubuntu18.04，不想重装系统于是安装了melodic。

clone该项目到src里之后，安装依赖包时失败，可能是因为melodic不能自动安装这些包，需要手动安装。于是跳过该命令直接进行catkin_make，根据出错提示手动安装好几个依赖包之后，遇到了“hector-mapping”缺失的错误，找了一下apt没有这个包（早期包名叫ros-kinetic-hector-slam之类），于是直接clone该包hector-slam的源码到src，再catkin_make然并卵。。。最后得出结论：hector-mapping已经不适应新版本ros，老老实实用ubuntu16+kinetic吧

修改代码

想要测试DWA动态避障，没有看到DWA的源码呢只有dwa_local_planner_params.yaml文件的参数设置文件，如果有了源码文件并修改，如何测试呢

catkin_make时出错

Base path: /home/xwj/catkin_ws
Source space: /home/xwj/catkin_ws/src
Build space: /home/xwj/catkin_ws/build
Devel space: /home/xwj/catkin_ws/devel
Install space: /home/xwj/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/xwj/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/xwj/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/xwj/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/xwj/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/xwj/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 36 packages in topological order:
-- ~~ - rbx1 (metapackage)
-- ~~ - ros_academy_for_beginners (metapackage)
-- ~~ - turtlebot3 (metapackage)
-- ~~ - turtlebot3_msgs
-- ~~ - turtlebot3_navigation
-- ~~ - beginner_tutorials
-- ~~ - orbslam2_demo
-- ~~ - param_demo
-- ~~ - rbx1_speech
-- ~~ - rtabmap_demo
-- ~~ - service_demo
-- ~~ - test
-- ~~ - topic_demo
-- ~~ - action_demo
-- ~~ - msgs_demo
-- ~~ - rbx1_bringup
-- ~~ - rbx1_dynamixels
-- ~~ - rbx1_vision
-- ~~ - rplidar_ros
-- ~~ - navigation_sim_demo
-- ~~ - rbx1_apps
-- ~~ - rbx1_nav
-- ~~ - rf2o_laser_odometry
-- ~~ - robot_setup_tf
-- ~~ - robot_sim_demo
-- ~~ - slam_sim_demo
-- ~~ - tf_demo
-- ~~ - tf_follower
-- ~~ - turtlebot3_bringup
-- ~~ - turtlebot3_example
-- ~~ - turtlebot3_slam
-- ~~ - turtlebot3_teleop
-- ~~ - learning_tf
-- ~~ - rbx1_description
-- ~~ - urdf_demo
-- ~~ - turtlebot3_description
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'rbx1'
-- ==> add_subdirectory(rbx1/rbx1)
-- +++ processing catkin metapackage: 'ros_academy_for_beginners'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/ros_academy_for_beginners)
-- +++ processing catkin metapackage: 'turtlebot3'
-- ==> add_subdirectory(turtlebot3/turtlebot3)
-- +++ processing catkin package: 'turtlebot3_msgs'
-- ==> add_subdirectory(turtlebot3_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- turtlebot3_msgs: 3 messages, 0 services
-- +++ processing catkin package: 'turtlebot3_navigation'
-- ==> add_subdirectory(turtlebot3/turtlebot3_navigation)
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- beginner_tutorials: 1 messages, 1 services
-- +++ processing catkin package: 'orbslam2_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/orbslam2_demo)
-- +++ processing catkin package: 'param_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/param_demo)
-- +++ processing catkin package: 'rbx1_speech'
-- ==> add_subdirectory(rbx1/rbx1_speech)
-- +++ processing catkin package: 'rtabmap_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/rtabmap_demo)
-- +++ processing catkin package: 'service_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/service_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- service_demo: 0 messages, 1 services
-- +++ processing catkin package: 'test'
-- ==> add_subdirectory(test)
-- +++ processing catkin package: 'topic_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/topic_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- topic_demo: 1 messages, 0 services
CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:154 (add_executable):
add_executable cannot create target "talker" because another target with
the same name already exists. The existing target is an executable created
in source directory "/home/xwj/catkin_ws/src/beginner_tutorials". See
documentation for policy CMP0002 for more details.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libroscpp.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_filesystem.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_signals.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole_log4cxx.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/librosconsole_backend_interface.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/liblog4cxx.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_regex.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libxmlrpcpp.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/libroscpp_serialization.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librostime.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libcpp_common.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_system.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_thread.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_chrono.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_date_time.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_atomic.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libpthread.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:159 (add_executable):
add_executable cannot create target "listener" because another target with
the same name already exists. The existing target is an executable created
in source directory "/home/xwj/catkin_ws/src/beginner_tutorials". See
documentation for policy CMP0002 for more details.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libroscpp.so" to target
"listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_filesystem.so" to target "listener"
which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_signals.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole.so" to
target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole_log4cxx.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/librosconsole_backend_interface.so" to target
"listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/liblog4cxx.so" to
target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_regex.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libxmlrpcpp.so" to target
"listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/libroscpp_serialization.so" to target "listener"
which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librostime.so" to target
"listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libcpp_common.so" to
target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_system.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_thread.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_chrono.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_date_time.so" to target "listener"
which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_atomic.so"
to target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libpthread.so" to
target "listener" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/topic_demo/CMakeLists.txt:161 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "listener" which
is not built in this directory.

-- +++ processing catkin package: 'action_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/action_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- Generating .msg files for action action_demo/DoDishes /home/xwj/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/action/DoDishes.action
-- action_demo: 7 messages, 0 services
-- +++ processing catkin package: 'msgs_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/msgs_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action msgs_demo/AutoDocking /home/xwj/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/AutoDocking.action
-- Generating .msg files for action msgs_demo/AddTwoInts /home/xwj/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/AddTwoInts.action
-- Generating .msg files for action msgs_demo/GetMap /home/xwj/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/GetMap.action
-- Generating .msg files for action msgs_demo/MoveBase /home/xwj/catkin_ws/src/ROS-Academy-for-Beginners/msgs_demo/action/MoveBase.action
-- msgs_demo: 42 messages, 9 services
-- +++ processing catkin package: 'rbx1_bringup'
-- ==> add_subdirectory(rbx1/rbx1_bringup)
-- +++ processing catkin package: 'rbx1_dynamixels'
-- ==> add_subdirectory(rbx1/rbx1_dynamixels)
-- +++ processing catkin package: 'rbx1_vision'
-- ==> add_subdirectory(rbx1/rbx1_vision)
-- +++ processing catkin package: 'rplidar_ros'
-- ==> add_subdirectory(rplidar_ros)
-- +++ processing catkin package: 'navigation_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/navigation_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'rbx1_apps'
-- ==> add_subdirectory(rbx1/rbx1_apps)
-- +++ processing catkin package: 'rbx1_nav'
-- ==> add_subdirectory(rbx1/rbx1_nav)
-- +++ processing catkin package: 'rf2o_laser_odometry'
-- ==> add_subdirectory(rf2o_laser_odometry)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- +++ processing catkin package: 'robot_setup_tf'
-- ==> add_subdirectory(robot_setup_tf)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'robot_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/robot_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'slam_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/slam_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'tf_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/tf_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:130 (add_executable):
add_executable cannot create target "tf_broadcaster" because another target
with the same name already exists. The existing target is an executable
created in source directory "/home/xwj/catkin_ws/src/robot_setup_tf". See
documentation for policy CMP0002 for more details.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libtf.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libtf2_ros.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libactionlib.so" to
target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libmessage_filters.so" to
target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libroscpp.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_filesystem.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_signals.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libxmlrpcpp.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libtf2.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole.so" to
target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole_log4cxx.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/librosconsole_backend_interface.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/liblog4cxx.so" to
target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_regex.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/libroscpp_serialization.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librostime.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libcpp_common.so" to
target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_system.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_thread.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_chrono.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_date_time.so" to target
"tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_atomic.so"
to target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libpthread.so" to
target "tf_broadcaster" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners/tf_demo/CMakeLists.txt:146 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "tf_broadcaster"
which is not built in this directory.

-- +++ processing catkin package: 'tf_follower'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/tf_follower)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'turtlebot3_bringup'
-- ==> add_subdirectory(turtlebot3/turtlebot3_bringup)
-- +++ processing catkin package: 'turtlebot3_example'
-- ==> add_subdirectory(turtlebot3/turtlebot3_example)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action turtlebot3_example/Turtlebot3 /home/xwj/catkin_ws/src/turtlebot3/turtlebot3_example/action/Turtlebot3.action
-- turtlebot3_example: 7 messages, 0 services
-- +++ processing catkin package: 'turtlebot3_slam'
-- ==> add_subdirectory(turtlebot3/turtlebot3_slam)
-- +++ processing catkin package: 'turtlebot3_teleop'
-- ==> add_subdirectory(turtlebot3/turtlebot3_teleop)
-- +++ processing catkin package: 'learning_tf'
-- ==> add_subdirectory(learning_tf)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'rbx1_description'
-- ==> add_subdirectory(rbx1/rbx1_description)
-- +++ processing catkin package: 'urdf_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/urdf_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'turtlebot3_description'
-- ==> add_subdirectory(turtlebot3/turtlebot3_description)
-- Configuring incomplete, errors occurred!
See also "/home/xwj/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/xwj/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:2292: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

编译demo时报错

老师您好，我按照MOOC课程操作的时候，操作到编译github clone的代码的时候出现如下错误。之前的操作都和视频上您的一样，希望老师解答。

Traceback (most recent call last):
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 49, in
srv_template_map)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 213, in generate_from_command_line_options
generate_from_file(argv[1], options.package, options.outdir, options.emdir, options.includepath, msg_template_dict, srv_template_dict)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 156, in generate_from_file
_generate_srv_from_file(input_file, output_dir, template_dir, search_path, package_name, srv_template_dict, msg_template_dict)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 115, in _generate_srv_from_file
search_path)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 77, in generate_from_spec
interpreter = em.Interpreter(output=ofile, globals=g, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
AttributeError: 'module' object has no attribute 'Interpreter'
ROS-Academy-for-Beginners/service_demo/CMakeFiles/service_demo_generate_messages_cpp.dir/build.make:63: recipe for target '/home/jason/aaa_ws/devel/include/service_demo/Greeting.h' failed
make[2]: *** [/home/jason/aaa_ws/devel/include/service_demo/Greeting.h] Error 1
make[2]: *** Deleting file '/home/jason/aaa_ws/devel/include/service_demo/Greeting.h'
CMakeFiles/Makefile2:1271: recipe for target 'ROS-Academy-for-Beginners/service_demo/CMakeFiles/service_demo_generate_messages_cpp.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/service_demo/CMakeFiles/service_demo_generate_messages_cpp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 2%] Built target service_demo_generate_messages_py
[ 2%] Linking CXX executable /home/jason/aaa_ws/devel/lib/param_demo/param_demo
CMakeFiles/param_demo.dir/src/param_demo.cpp.o: In function main': param_demo.cpp:(.text+0x70): undefined reference to ros::init(int&, char**, std::string const&, unsigned int)'
param_demo.cpp:(.text+0xcc): undefined reference to ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)' param_demo.cpp:(.text+0x12d): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x19b): undefined reference to ros::NodeHandle::getParam(std::string const&, int&) const' param_demo.cpp:(.text+0x2ae): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0x3c8): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x4e2): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0x5fc): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x6e0): undefined reference to ros::NodeHandle::hasParam(std::string const&) const'
param_demo.cpp:(.text+0x774): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x88e): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0x97a): undefined reference to ros::param::set(std::string const&, int)' param_demo.cpp:(.text+0x9eb): undefined reference to ros::NodeHandle::setParam(std::string const&, int) const'
param_demo.cpp:(.text+0xa75): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0xb85): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0xc6c): undefined reference to ros::NodeHandle::hasParam(std::string const&) const' param_demo.cpp:(.text+0xcc9): undefined reference to ros::param::has(std::string const&)'
param_demo.cpp:(.text+0xd66): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0xe7d): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0xf97): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x10ae): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0x1192): undefined reference to ros::NodeHandle::deleteParam(std::string const&) const' param_demo.cpp:(.text+0x11ef): undefined reference to ros::param::del(std::string const&)'
param_demo.cpp:(.text+0x128c): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x13a3): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0x14bd): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x15d4): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
param_demo.cpp:(.text+0x1718): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x17fc): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x1890): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x1979): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x1a0d): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x1af6): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x1b8a): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x1c73): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x1d07): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x1df0): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x1e84): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' param_demo.cpp:(.text+0x1f6d): undefined reference to ros::param::get(std::string const&, int&)'
param_demo.cpp:(.text+0x2001): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' CMakeFiles/param_demo.dir/src/param_demo.cpp.o: In function bool ros::NodeHandle::param(std::string const&, int&, int const&) const':
param_demo.cpp:(.text.ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4[ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4]+0x27): undefined reference to ros::NodeHandle::hasParam(std::string const&) const' param_demo.cpp:(.text._ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4_[_ZNK3ros10NodeHandle5paramIiEEbRKSsRT_RKS4_]+0x42): undefined reference to ros::NodeHandle::getParam(std::string const&, int&) const'
collect2: error: ld returned 1 exit status
ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/build.make:113: recipe for target '/home/jason/aaa_ws/devel/lib/param_demo/param_demo' failed
make[2]: *** [/home/jason/aaa_ws/devel/lib/param_demo/param_demo] Error 1
CMakeFiles/Makefile2:975: recipe for target 'ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/param_demo/CMakeFiles/param_demo.dir/all] Error 2
[ 2%] Linking CXX executable /home/jason/aaa_ws/devel/lib/tf_demo/Euler2Quaternion
CMakeFiles/Euler2Quaternion.dir/src/Euler2Quaternion.cpp.o: In function tf::quaternionTFToMsg(tf::Quaternion const&, geometry_msgs::Quaternion_<std::allocator<void> >&)': Euler2Quaternion.cpp:(.text+0xbb): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
CMakeFiles/Euler2Quaternion.dir/src/Euler2Quaternion.cpp.o: In function main': Euler2Quaternion.cpp:(.text+0x3fb): undefined reference to ros::init(int&, char**, std::string const&, unsigned int)'
Euler2Quaternion.cpp:(.text+0x457): undefined reference to ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)' collect2: error: ld returned 1 exit status ROS-Academy-for-Beginners/tf_demo/CMakeFiles/Euler2Quaternion.dir/build.make:118: recipe for target '/home/jason/aaa_ws/devel/lib/tf_demo/Euler2Quaternion' failed make[2]: *** [/home/jason/aaa_ws/devel/lib/tf_demo/Euler2Quaternion] Error 1 CMakeFiles/Makefile2:8098: recipe for target 'ROS-Academy-for-Beginners/tf_demo/CMakeFiles/Euler2Quaternion.dir/all' failed make[1]: *** [ROS-Academy-for-Beginners/tf_demo/CMakeFiles/Euler2Quaternion.dir/all] Error 2 [ 2%] Linking CXX executable /home/jason/aaa_ws/devel/lib/tf_demo/tf_listerner [ 3%] Linking CXX executable /home/jason/aaa_ws/devel/lib/tf_demo/Quaternion2Euler CMakeFiles/tf_listerner.dir/src/tf_listerner.cpp.o: In function main':
tf_listerner.cpp:(.text+0x76): undefined reference to ros::init(int&, char**, std::string const&, unsigned int)' tf_listerner.cpp:(.text+0xd2): undefined reference to ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::lessstd::string, std::allocator<std::pair<std::string const, std::string> > > const&)'
tf_listerner.cpp:(.text+0x253): undefined reference to tf::Transformer::waitForTransform(std::string const&, std::string const&, ros::Time const&, ros::Duration const&, ros::Duration const&, std::string*) const' tf_listerner.cpp:(.text+0x39c): undefined reference to tf::Transformer::lookupTransform(std::string const&, std::string const&, ros::Time const&, tf::StampedTransform&) const'
tf_listerner.cpp:(.text+0x8a8): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' collect2: error: ld returned 1 exit status ROS-Academy-for-Beginners/tf_demo/CMakeFiles/tf_listerner.dir/build.make:118: recipe for target '/home/jason/aaa_ws/devel/lib/tf_demo/tf_listerner' failed make[2]: *** [/home/jason/aaa_ws/devel/lib/tf_demo/tf_listerner] Error 1 CMakeFiles/Makefile2:8209: recipe for target 'ROS-Academy-for-Beginners/tf_demo/CMakeFiles/tf_listerner.dir/all' failed make[1]: *** [ROS-Academy-for-Beginners/tf_demo/CMakeFiles/tf_listerner.dir/all] Error 2 CMakeFiles/Quaternion2Euler.dir/src/Quaternion2Euler.cpp.o: In function tf::quaternionMsgToTF(geometry_msgs::Quaternion<std::allocator > const&, tf::Quaternion&)':
Quaternion2Euler.cpp:(.text+0x109): undefined reference to ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' CMakeFiles/Quaternion2Euler.dir/src/Quaternion2Euler.cpp.o: In function main':
Quaternion2Euler.cpp:(.text+0x269): undefined reference to ros::init(int&, char**, std::string const&, unsigned int)' Quaternion2Euler.cpp:(.text+0x2c5): undefined reference to ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::lessstd::string, std::allocator<std::pair<std::string const, std::string> > > const&)'
collect2: error: ld returned 1 exit status
ROS-Academy-for-Beginners/tf_demo/CMakeFiles/Quaternion2Euler.dir/build.make:118: recipe for target '/home/jason/aaa_ws/devel/lib/tf_demo/Quaternion2Euler' failed
make[2]: *** [/home/jason/aaa_ws/devel/lib/tf_demo/Quaternion2Euler] Error 1
CMakeFiles/Makefile2:8172: recipe for target 'ROS-Academy-for-Beginners/tf_demo/CMakeFiles/Quaternion2Euler.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/tf_demo/CMakeFiles/Quaternion2Euler.dir/all] Error 2
[ 3%] Linking CXX executable /home/jason/aaa_ws/devel/lib/tf_demo/tf_broadcaster
[ 4%] Linking CXX executable /home/jason/aaa_ws/devel/lib/tf_demo/coordinate_transformation
CMakeFiles/tf_broadcaster.dir/src/tf_broadcaster.cpp.o: In function main': tf_broadcaster.cpp:(.text+0x76): undefined reference to ros::init(int&, char**, std::string const&, unsigned int)'
tf_broadcaster.cpp:(.text+0xd2): undefined reference to ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)' collect2: error: ld returned 1 exit status ROS-Academy-for-Beginners/tf_demo/CMakeFiles/tf_broadcaster.dir/build.make:118: recipe for target '/home/jason/aaa_ws/devel/lib/tf_demo/tf_broadcaster' failed make[2]: *** [/home/jason/aaa_ws/devel/lib/tf_demo/tf_broadcaster] Error 1 CMakeFiles/Makefile2:8061: recipe for target 'ROS-Academy-for-Beginners/tf_demo/CMakeFiles/tf_broadcaster.dir/all' failed make[1]: *** [ROS-Academy-for-Beginners/tf_demo/CMakeFiles/tf_broadcaster.dir/all] Error 2 CMakeFiles/coordinate_transformation.dir/src/coordinate_transformation.cpp.o: In function main':
coordinate_transformation.cpp:(.text+0x76): undefined reference to ros::init(int&, char**, std::string const&, unsigned int)' coordinate_transformation.cpp:(.text+0xd2): undefined reference to ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::lessstd::string, std::allocator<std::pair<std::string const, std::string> > > const&)'
collect2: error: ld returned 1 exit status
ROS-Academy-for-Beginners/tf_demo/CMakeFiles/coordinate_transformation.dir/build.make:118: recipe for target '/home/jason/aaa_ws/devel/lib/tf_demo/coordinate_transformation' failed
make[2]: *** [/home/jason/aaa_ws/devel/lib/tf_demo/coordinate_transformation] Error 1
CMakeFiles/Makefile2:8135: recipe for target 'ROS-Academy-for-Beginners/tf_demo/CMakeFiles/coordinate_transformation.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/tf_demo/CMakeFiles/coordinate_transformation.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

droidaitech / ros-academy-for-beginners Goto Github PK

ros-academy-for-beginners's Introduction

《机器人操作系统入门》课程代码示例

前言

示例介绍

下载和编译

运行须知

Copyright

ros-academy-for-beginners's People

Contributors

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Watchers

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ros-academy-for-beginners's Issues

Running command: "make cmake_check_build_system" in "/home/maoyijun/ws/build"

Running command: "make -j8 -l8" in "/home/maoyijun/ws/build"

Running command: "make -j4 -l4" in "/home/bonjour/catkin_ws/build"

bbb@ubuntu:~$ rospack profile Full tree crawl took 1.718104 seconds. Directories marked with (*) contain no manifest. You may want to delete these directories. To get just of list of directories without manifests, re-run the profile with --zombie-only

SUMMARY

Running command: "make cmake_check_build_system" in "/home/gyh/catkin_ws2/build"

Running command: "make -j4 -l4" in "/home/gyh/catkin_ws2/build"

Running command: "make cmake_check_build_system" in "/home/xwj/catkin_ws/build"

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Recommend Topics

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bbb@ubuntu:~$ rospack profile
Full tree crawl took 1.718104 seconds.
Directories marked with (*) contain no manifest. You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only