I'm trying to get ROSPlan going on Ubuntu 14.04.4 LTS and ROS Indigo as per standard install instructions. Everything seems to have worked fine and the demo starts with Gazebo and rviz windows looking as expected. But the robot doesn't move and I don't get the expected output in the terminal. Here's what I get (funny characters are due to Emacs shell), and nothing happens after:
smbdy@deep:~$ source /workplace/disser/devel/ROSPlan/devel/setup.sh
smbdy@deep:$ roslaunch rosplan_demos turtlebot.launch
... logging to /home/smbdy/.ros/log/3aafb094-f800-11e5-ac35-a088b4c0f0e4/roslaunch-deep-7721.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.
�]2;/home/smbdy/workplace/disser/devel/ROSPlan/src/rosplan/rosplan_demos/launch/turtlebot.launch�
started roslaunch server http://deep:42850/
SUMMARY
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/global_frame_id: map
* /amcl/gui_publish_rate: 10.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 60
* /amcl/laser_max_range: 12.0
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 2000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.2
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 1.0
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.25
* /amcl/use_map_topic: False
* /bumper2pointcloud/pointcloud_radius: 0.24
* /cmd_vel_mux/yaml_cfg_file: /opt/ros/indigo/s...
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /domain_path: /home/smbdy/workp...
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/max_rot_vel: 5.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 3.0
* /move_base/GlobalPlanner/default_tolerance: 0.0
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 50
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
* /move_base/GlobalPlanner/planner_window_x: 0.0
* /move_base/GlobalPlanner/planner_window_y: 0.0
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/publish_scale: 100
* /move_base/GlobalPlanner/use_dijkstra: True
* /move_base/GlobalPlanner/use_grid_path: False
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/NavfnROS/allow_unknown: False
* /move_base/NavfnROS/default_tolerance: 0.0
* /move_base/NavfnROS/planner_window_x: 0.0
* /move_base/NavfnROS/planner_window_y: 0.0
* /move_base/NavfnROS/visualize_potential: False
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/global_costmap/inflation_layer/enabled: True
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/global_costmap/map_type: voxel
* /move_base/global_costmap/max_obstacle_height: 0.6
* /move_base/global_costmap/obstacle_layer/bump/clearing: False
* /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
* /move_base/global_costmap/obstacle_layer/bump/marking: True
* /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
* /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
* /move_base/global_costmap/obstacle_layer/combination_method: 1
* /move_base/global_costmap/obstacle_layer/enabled: True
* /move_base/global_costmap/obstacle_layer/mark_threshold: 0
* /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
* /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
* /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
* /move_base/global_costmap/obstacle_layer/origin_z: 0.0
* /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
* /move_base/global_costmap/obstacle_layer/scan/clearing: True
* /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
* /move_base/global_costmap/obstacle_layer/scan/marking: True
* /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
* /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
* /move_base/global_costmap/obstacle_layer/scan/topic: scan
* /move_base/global_costmap/obstacle_layer/track_unknown_space: True
* /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
* /move_base/global_costmap/obstacle_layer/z_voxels: 2
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/robot_radius: 0.2
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 4.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/local_costmap/inflation_layer/enabled: True
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/local_costmap/map_type: voxel
* /move_base/local_costmap/max_obstacle_height: 0.6
* /move_base/local_costmap/obstacle_layer/bump/clearing: False
* /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
* /move_base/local_costmap/obstacle_layer/bump/marking: True
* /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
* /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
* /move_base/local_costmap/obstacle_layer/combination_method: 1
* /move_base/local_costmap/obstacle_layer/enabled: True
* /move_base/local_costmap/obstacle_layer/mark_threshold: 0
* /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
* /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
* /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
* /move_base/local_costmap/obstacle_layer/origin_z: 0.0
* /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
* /move_base/local_costmap/obstacle_layer/scan/clearing: True
* /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
* /move_base/local_costmap/obstacle_layer/scan/marking: True
* /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
* /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
* /move_base/local_costmap/obstacle_layer/scan/topic: scan
* /move_base/local_costmap/obstacle_layer/track_unknown_space: True
* /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
* /move_base/local_costmap/obstacle_layer/z_voxels: 2
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/robot_radius: 0.2
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 4.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /navigation_velocity_smoother/accel_lim_v: 1.0
* /navigation_velocity_smoother/accel_lim_w: 2.0
* /navigation_velocity_smoother/decel_factor: 1.5
* /navigation_velocity_smoother/frequency: 20.0
* /navigation_velocity_smoother/robot_feedback: 2
* /navigation_velocity_smoother/speed_lim_v: 0.8
* /navigation_velocity_smoother/speed_lim_w: 5.4
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 30.0
* /rosdistro: indigo
* /rosplan_planning_system/data_path: /home/smbdy/workp...
* /rosplan_planning_system/planner_command: timeout 10 /home/...
* /rosplan_planning_system/problem_path: /home/smbdy/workp...
* /rosplan_roadmap_server/cost_map_topic: /move_base/global...
* /rosplan_roadmap_server/data_path: /home/smbdy/workp...
* /rosplan_roadmap_server/odom_topic: /odom
* /rosplan_roadmap_server/static_map_service: /static_map
* /rosplan_roadmap_server/use_static_map: False
* /rosplan_scene_database/database_path: /home/smbdy/workp...
* /rosversion: 1.11.16
* /use_sim_time: True
NODES
/
amcl (amcl/amcl)
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
depthimage_to_laserscan (nodelet/nodelet)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
kobuki_safety_controller (nodelet/nodelet)
laserscan_nodelet_manager (nodelet/nodelet)
map_server (map_server/map_server)
mobile_base_nodelet_manager (nodelet/nodelet)
move_base (move_base/move_base)
navigation_velocity_smoother (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rosplan_interface_movebase (rosplan_interface_movebase/rpmovebase)
rosplan_knowledge_base (rosplan_knowledge_base/knowledgeBase)
rosplan_planning_system (rosplan_planning_system/planner)
rosplan_roadmap_server (rosplan_interface_mapping/rproadmapServer)
rosplan_scene_database (mongodb_store/mongodb_server.py)
rosplan_scene_message_store (mongodb_store/message_store_node.py)
rviz (rviz/rviz)
spawn_turtlebot_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [7736]
ROS_MASTER_URI=http://localhost:11311
�]2;/home/smbdy/workplace/disser/devel/ROSPlan/src/rosplan/rosplan_demos/launch/turtlebot.launch http://localhost:11311�
setting /run_id to 3aafb094-f800-11e5-ac35-a088b4c0f0e4
process[rosout-1]: started with pid [7749]
started core service [/rosout]
process[gazebo-2]: started with pid [7766]
process[gazebo_gui-3]: started with pid [7770]
process[spawn_turtlebot_model-4]: started with pid [7773]
process[mobile_base_nodelet_manager-5]: started with pid [7775]
process[cmd_vel_mux-6]: started with pid [7776]
process[bumper2pointcloud-7]: started with pid [7777]
process[robot_state_publisher-8]: started with pid [7778]
process[laserscan_nodelet_manager-9]: started with pid [7781]
process[depthimage_to_laserscan-10]: started with pid [7791]
process[map_server-11]: started with pid [7812]
process[amcl-12]: started with pid [7830]
process[navigation_velocity_smoother-13]: started with pid [7843]
process[kobuki_safety_controller-14]: started with pid [7845]
process[move_base-15]: started with pid [7854]
process[rviz-16]: started with pid [7869]
process[rosplan_knowledge_base-17]: started with pid [7874]
process[rosplan_scene_database-18]: started with pid [7885]
process[rosplan_scene_message_store-19]: started with pid [7897]
process[rosplan_planning_system-20]: started with pid [7912]
process[rosplan_roadmap_server-21]: started with pid [7919]
process[rosplan_interface_movebase-22]: started with pid [7928]
Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[ INFO] [1459511559.208542606]: KCL: (KB) Parsing domain
[ INFO] [1459511559.208662004]: KCL: (KB) Parsing domain: /home/smbdy/workplace/disser/devel/ROSPlan/src/rosplan/rosplan_planning_system/common/domain.pddl.
[ INFO] [1459511559.247799637]: waitForService: Service [/message_store/insert] has not been advertised, waiting...
[ INFO] [1459511559.336709953]: waitForService: Service [/message_store/insert] has not been advertised, waiting...
[ INFO] [1459511559.337307247]: KCL: (KB) Waiting for MongoDB
[ INFO] [1459511559.340164930]: waitForService: Service [/message_store/delete] has not been advertised, waiting...
Msg Waiting for master.[ INFO] [1459511559.567016829]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1459511559.569848323]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.65
[ INFO] [1459511560.104254042]: KCL: (PS) Ready to receive
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.65
[ INFO] [1459511561.014476988, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1459511561.165771022, 0.170000000]: waitForService: Service [/message_store/insert] is now available.
[ INFO] [1459511561.177950315, 0.180000000]: waitForService: Service [/message_store/delete] is now available.
[ INFO] [1459511561.180259703, 0.180000000]: waitForService: Service [/message_store/insert] is now available.
MongoDB shell version: 2.4.9
[ INFO] [1459511561.295847664, 0.200000000]: KCL: (RPRoadmapServer) Ready to receive. Cost map topic: /move_base/global_costmap/costmap
[ INFO] [1459511561.299330209, 0.200000000]: KCL: (MoveBase) waiting for action server to start on /move_base
connecting to: message_store
undefined
[ INFO] [1459511561.316418331, 0.200000000]: KCL: (KB) Ready to receive
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1459511561.894887224, 0.200000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1459511562.096500975, 0.200000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1459511562.248507766, 0.200000000]: Physics dynamic reconfigure ready.
[ INFO] [1459511562.283831862, 0.200000000]: Starting plugin Kobuki(ns = //)!
[ WARN] [1459511562.283959358, 0.200000000]: Kobuki(ns = //): missing default is na
[ INFO] [1459511562.286384091, 0.200000000]: Kobuki(ns = //): <tf_prefix> =
Dbg Plugin model name: mobile_base
[ INFO] [1459511562.286754851, 0.200000000]: Will publish tf. [mobile_base]
[ INFO] [1459511562.291214454, 0.200000000]: Kobuki(ns = //): Advertise joint_states[joint_states]!
[ INFO] [1459511562.292805628, 0.200000000]: Kobuki(ns = //): Advertise Odometry[odom]!
[ INFO] [1459511562.300479117, 0.200000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1459511562.308717055, 0.200000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1459511562.317000318, 0.200000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1459511562.318702736, 0.200000000]: Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1459511562.321078593, 0.200000000]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1459511562.322978787, 0.200000000]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1459511562.323155618, 0.200000000]: GazeboRosKobuki plugin ready to go! [mobile_base]
[spawn_turtlebot_model-4] process has finished cleanly
log file: /home/smbdy/.ros/log/3aafb094-f800-11e5-ac35-a088b4c0f0e4/spawn_turtlebot_model-4*.log
[ INFO] [1459511564.032256007, 1.900000000]: Using plugin "static_layer"
[ INFO] [1459511564.134177786, 2.000000000]: Requesting the map...
[ INFO] [1459511564.354617357, 2.220000000]: Resizing costmap to 231 X 194 at 0.050000 m/pix
[ INFO] [1459511564.453515783, 2.320000000]: Received a 231 X 194 map at 0.050000 m/pix
[ INFO] [1459511564.459569563, 2.320000000]: Using plugin "obstacle_layer"
[ INFO] [1459511564.462421890, 2.320000000]: Subscribed to Topics: scan bump
[ INFO] [1459511564.578152905, 2.440000000]: Using plugin "inflation_layer"
[ INFO] [1459511564.925718098, 2.770000000]: Using plugin "obstacle_layer"
[ INFO] [1459511565.019982478, 2.860000000]: Subscribed to Topics: scan bump
[ INFO] [1459511565.189085933, 3.030000000]: Using plugin "inflation_layer"
[ INFO] [1459511565.433356034, 3.280000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1459511565.438562160, 3.280000000]: Sim period is set to 0.20
[ INFO] [1459511566.023279987, 3.870000000]: Recovery behavior will clear layer obstacles
[ INFO] [1459511566.124972369, 3.970000000]: Recovery behavior will clear layer obstacles
[ INFO] [1459511566.232671290, 4.070000000]: odom received!
[ INFO] [1459511566.374772713, 4.210000000]: KCL: (MoveBase) Ready to receive