{"action":"created","issue":{"url":"https://api.github.com/repos/ipa320/cob_simulation/issues/87","labels_url":"https://api.github.com/repos/ipa320/cob_simulation/issues/87/labels{/name}","comments_url":"https://api.github.com/repos/ipa320/cob_simulation/issues/87/comments","events_url":"https://api.github.com/repos/ipa320/cob_simulation/issues/87/events","html_url":"https://github.com/ipa320/cob_simulation/issues/87","id":101485415,"number":87,"title":"cob3-9 Simulation ","user":{"login":"xwhm","id":13837807,"avatar_url":"https://avatars.githubusercontent.com/u/13837807?v=3","gravatar_id":"","url":"https://api.github.com/users/xwhm","html_url":"https://github.com/xwhm","followers_url":"https://api.github.com/users/xwhm/followers","following_url":"https://api.github.com/users/xwhm/following{/other_user}","gists_url":"https://api.github.com/users/xwhm/gists{/gist_id}","starred_url":"https://api.github.com/users/xwhm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xwhm/subscriptions","organizations_url":"https://api.github.com/users/xwhm/orgs","repos_url":"https://api.github.com/users/xwhm/repos","events_url":"https://api.github.com/users/xwhm/events{/privacy}","received_events_url":"https://api.github.com/users/xwhm/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2015-08-17T18:48:55Z","updated_at":"2015-08-27T13:04:39Z","closed_at":null,"body":"Hallo IPA320 Team,\r\n\r\nich verwende derzeit die cob3-9 Simulationsumgebung und habe einige Fragen.\r\n\r\n1.) Nachdem roslaunch cob_bringup_sim robot.launch gestartet wurde möchte ich gerne die unten stehende Fehler und Warnings beseitigen. Ich habe Ihnen die relevanten Stellen makiert. Siehe Output:\r\nstarted roslaunch server http://10.179.7.25:56465/\r\n\r\nSUMMARY\r\n========\r\n\r\nPARAMETERS\r\n * /arm/joint_names: ['arm_1_joint', '...\r\n * /arm/joint_state_controller/publish_rate: 50\r\n * /arm/joint_state_controller/type: joint_state_contr...\r\n * /arm/joint_trajectory_controller/action_monitor_rate: 10\r\n * /arm/joint_trajectory_controller/constraints/arm_1_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_1_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_2_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_2_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_3_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_3_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_4_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_4_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_5_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_5_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_6_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_6_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_7_joint/goal: 0.1\r\n * /arm/joint_trajectory_controller/constraints/arm_7_joint/trajectory: 0.1\r\n * /arm/joint_trajectory_controller/constraints/goal_time: 0.6\r\n * /arm/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05\r\n * /arm/joint_trajectory_controller/joints: ['arm_1_joint', '...\r\n * /arm/joint_trajectory_controller/required_drive_mode: 7\r\n * /arm/joint_trajectory_controller/state_publish_rate: 25\r\n * /arm/joint_trajectory_controller/stop_trajectory_duration: 0.5\r\n * /arm/joint_trajectory_controller/type: position_controll...\r\n * /arm/max_command_silence: 0.5\r\n * /base/joint_names: ['fr_caster_rotat...\r\n * /base/joint_state_controller/publish_rate: 50\r\n * /base/joint_state_controller/type: joint_state_contr...\r\n * /base/odometry_controller/defaults/wheel_radius: 0.08\r\n * /base/odometry_controller/publish_rate: 50\r\n * /base/odometry_controller/type: cob_omni_drive_co...\r\n * /base/odometry_controller/wheels: [{'drive': 'fl_ca...\r\n * /base/twist_controller/defaults/steer_ctrl/d_phi_max: 12.0\r\n * /base/twist_controller/defaults/steer_ctrl/damp: 2.75\r\n * /base/twist_controller/defaults/steer_ctrl/dd_phi_max: 40.0\r\n * /base/twist_controller/defaults/steer_ctrl/spring: 15.0\r\n * /base/twist_controller/defaults/steer_ctrl/virt_mass: 0.1\r\n * /base/twist_controller/publish_rate: 50\r\n * /base/twist_controller/type: cob_omni_drive_co...\r\n * /base/twist_controller/wheels: [{'drive': 'fl_ca...\r\n * /cam3d_throttle/max_rate: 1.0\r\n * /collision_velocity_filter/costmap_parameter_source: /local_costmap_no...\r\n * /collision_velocity_filter/footprint_update_frequency: 0.5\r\n * /collision_velocity_filter/influence_radius: 2.0\r\n * /collision_velocity_filter/max_acceleration: [0.5, 0.5, 0.7]\r\n * /collision_velocity_filter/obstacle_damping_dist: 1.0\r\n * /collision_velocity_filter/pot_ctrl_kp: 3.0\r\n * /collision_velocity_filter/pot_ctrl_kv: 2.5\r\n * /collision_velocity_filter/pot_ctrl_virt_mass: 0.5\r\n * /collision_velocity_filter/pot_ctrl_vmax: 0.6\r\n * /collision_velocity_filter/pot_ctrl_vtheta_max: 0.6\r\n * /collision_velocity_filter/stop_threshold: 0.1\r\n * /collision_velocity_filter/use_circumscribed_threshold: 0.5\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc1/contains: pc1 CPU\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc1/path: pc1\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc1/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc2/contains: pc2 CPU\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc2/path: pc2\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc2/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc3/contains: pc3 CPU\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc3/path: pc3\r\n * /diagnostic_aggregator/analyzers/computers/analyzers/pc3/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/computers/path: Computers\r\n * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/io/analyzers/joystick/contains: joy\r\n * /diagnostic_aggregator/analyzers/io/analyzers/joystick/path: Joystick\r\n * /diagnostic_aggregator/analyzers/io/analyzers/joystick/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/io/analyzers/sound/contains: sound\r\n * /diagnostic_aggregator/analyzers/io/analyzers/sound/path: Sound\r\n * /diagnostic_aggregator/analyzers/io/analyzers/sound/timeout: 15\r\n * /diagnostic_aggregator/analyzers/io/analyzers/sound/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/io/path: IO\r\n * /diagnostic_aggregator/analyzers/io/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/arm/contains: arm\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/arm/path: LWA\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/arm/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/base/contains: base_controller\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/base/path: Base\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/base/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/gripper/contains: gripper\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/gripper/path: Gripper\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/gripper/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/head/contains: head\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/head/path: Head\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/head/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/torso/contains: torso\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/torso/path: Torso\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/torso/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/tray/contains: tray\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/tray/path: Tray\r\n * /diagnostic_aggregator/analyzers/motors/analyzers/tray/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motors/path: Actuators\r\n * /diagnostic_aggregator/analyzers/motors/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/ntp/contains: NTP\r\n * /diagnostic_aggregator/analyzers/ntp/path: none\r\n * /diagnostic_aggregator/analyzers/ntp/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_front/contains: laser_front\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_front/path: Scan Front\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_front/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_rear/contains: laser_rear\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_rear/path: Scan Rear\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_rear/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_top/contains: laser_top\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_top/path: Scan Top\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/laser_top/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_left/contains: left\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_left/path: Stereo (Left)\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_left/startswith: ['stereo/left/ima...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_left/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_right/contains: right\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_right/path: Stereo (Right)\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_right/startswith: ['stereo/right/im...\r\n * /diagnostic_aggregator/analyzers/sensors/analyzers/stereo_right/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/sensors/path: Sensors\r\n * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/simulation/contains: joint\r\n * /diagnostic_aggregator/analyzers/simulation/path: none\r\n * /diagnostic_aggregator/analyzers/simulation/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/simulation2/contains: Controller\r\n * /diagnostic_aggregator/analyzers/simulation2/path: none\r\n * /diagnostic_aggregator/analyzers/simulation2/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/base_path: \r\n * /diagnostic_aggregator/pub_rate: 1.0\r\n * /fake_diagnostics_10_xiao_VPCCA1S1E_635_3941014138114605440/diagnostics_name: Wifi Status (ddwrt)\r\n * /fake_diagnostics_10_xiao_VPCCA1S1E_635_3941014138114605440/topic_name: /wifi_status\r\n * /fake_diagnostics_11_xiao_VPCCA1S1E_635_1107162076869796497/diagnostics_name: base_controller\r\n * /fake_diagnostics_11_xiao_VPCCA1S1E_635_1107162076869796497/topic_name: /base/joint_states\r\n * /fake_diagnostics_12_xiao_VPCCA1S1E_635_6698137789640055230/diagnostics_name: torso_controller\r\n * /fake_diagnostics_12_xiao_VPCCA1S1E_635_6698137789640055230/topic_name: /torso/joint_states\r\n * /fake_diagnostics_13_xiao_VPCCA1S1E_635_7619973164608648128/diagnostics_name: tray_controller\r\n * /fake_diagnostics_13_xiao_VPCCA1S1E_635_7619973164608648128/topic_name: /tray/joint_states\r\n * /fake_diagnostics_14_xiao_VPCCA1S1E_635_6056026030110910228/diagnostics_name: head_controller\r\n * /fake_diagnostics_14_xiao_VPCCA1S1E_635_6056026030110910228/topic_name: /head/joint_states\r\n * /fake_diagnostics_15_xiao_VPCCA1S1E_635_8750817625441987613/diagnostics_name: arm_controller\r\n * /fake_diagnostics_15_xiao_VPCCA1S1E_635_8750817625441987613/topic_name: /arm/joint_states\r\n * /fake_diagnostics_16_xiao_VPCCA1S1E_635_6781473151218065481/diagnostics_name: gripper_controller\r\n * /fake_diagnostics_16_xiao_VPCCA1S1E_635_6781473151218065481/topic_name: /gripper/joint_st...\r\n * /fake_diagnostics_1_xiao_VPCCA1S1E_635_6460195751393873566/diagnostics_name: laser_front\r\n * /fake_diagnostics_1_xiao_VPCCA1S1E_635_6460195751393873566/topic_name: /scan_front\r\n * /fake_diagnostics_2_xiao_VPCCA1S1E_635_5042402176341253436/diagnostics_name: laser_rear\r\n * /fake_diagnostics_2_xiao_VPCCA1S1E_635_5042402176341253436/topic_name: /scan_rear\r\n * /fake_diagnostics_3_xiao_VPCCA1S1E_635_306590554169865777/diagnostics_name: laser_top\r\n * /fake_diagnostics_3_xiao_VPCCA1S1E_635_306590554169865777/topic_name: /scan_top\r\n * /fake_diagnostics_4_xiao_VPCCA1S1E_635_6007515498775655099/diagnostics_name: /stereo/left/colo...\r\n * /fake_diagnostics_4_xiao_VPCCA1S1E_635_6007515498775655099/topic_name: /stereo/left/imag...\r\n * /fake_diagnostics_5_xiao_VPCCA1S1E_635_6511378542821910101/diagnostics_name: /stereo/right/col...\r\n * /fake_diagnostics_5_xiao_VPCCA1S1E_635_6511378542821910101/topic_name: /stereo/right/ima...\r\n * /fake_diagnostics_6_xiao_VPCCA1S1E_635_3570609751587185811/diagnostics_name: joy\r\n * /fake_diagnostics_6_xiao_VPCCA1S1E_635_3570609751587185811/topic_name: /joy_usage\r\n * /fake_diagnostics_7_xiao_VPCCA1S1E_635_1731199736075799687/diagnostics_name: pc1 CPU Usage\r\n * /fake_diagnostics_7_xiao_VPCCA1S1E_635_1731199736075799687/topic_name: /pc1_usage\r\n * /fake_diagnostics_8_xiao_VPCCA1S1E_635_3525092982419577366/diagnostics_name: pc2 CPU Usage\r\n * /fake_diagnostics_8_xiao_VPCCA1S1E_635_3525092982419577366/topic_name: /pc2_usage\r\n * /fake_diagnostics_9_xiao_VPCCA1S1E_635_175561739850630372/diagnostics_name: pc3 CPU Usage\r\n * /fake_diagnostics_9_xiao_VPCCA1S1E_635_175561739850630372/topic_name: /pc3_usage\r\n * /footprint_observer/epsilon: 0.01\r\n * /footprint_observer/footprint_source: /local_costmap_no...\r\n * /footprint_observer/frames_to_check: /pg70_finger_left...\r\n * /footprint_observer/robot_base_frame: /base_link\r\n * /gripper/joint_names: ['pg70_finger_lef...\r\n * /gripper/joint_state_controller/publish_rate: 50\r\n * /gripper/joint_state_controller/type: joint_state_contr...\r\n * /gripper/joint_trajectory_controller/action_monitor_rate: 10\r\n * /gripper/joint_trajectory_controller/constraints/goal_time: 1.0\r\n * /gripper/joint_trajectory_controller/constraints/pg70_finger_left_joint/goal: 0.1\r\n * /gripper/joint_trajectory_controller/constraints/pg70_finger_left_joint/trajectory: 0.1\r\n * /gripper/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05\r\n * /gripper/joint_trajectory_controller/joints: ['pg70_finger_lef...\r\n * /gripper/joint_trajectory_controller/required_drive_mode: 7\r\n * /gripper/joint_trajectory_controller/state_publish_rate: 25\r\n * /gripper/joint_trajectory_controller/stop_trajectory_duration: 0.5\r\n * /gripper/joint_trajectory_controller/type: position_controll...\r\n * /gripper/max_command_silence: 0.5\r\n * /head/joint_names: ['head_axis_joint']\r\n * /head/joint_state_controller/publish_rate: 50\r\n * /head/joint_state_controller/type: joint_state_contr...\r\n * /head/joint_trajectory_controller/action_monitor_rate: 10\r\n * /head/joint_trajectory_controller/constraints/goal_time: 0.6\r\n * /head/joint_trajectory_controller/constraints/head_axis_joint/goal: 0.1\r\n * /head/joint_trajectory_controller/constraints/head_axis_joint/trajectory: 0.1\r\n * /head/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05\r\n * /head/joint_trajectory_controller/joints: ['head_axis_joint']\r\n * /head/joint_trajectory_controller/required_drive_mode: 7\r\n * /head/joint_trajectory_controller/state_publish_rate: 25\r\n * /head/joint_trajectory_controller/stop_trajectory_duration: 0.5\r\n * /head/joint_trajectory_controller/type: position_controll...\r\n * /head/max_command_silence: 0.5\r\n * /joint_state_publisher/rate: 100\r\n * /joint_state_publisher/source_list: ['/base/joint_sta...\r\n * /laser_front/baud: 500000\r\n * /laser_front/frame_id: /base_laser_front...\r\n * /laser_front/inverted: False\r\n * /laser_front/port: /dev/ttyScan1\r\n * /laser_front/publish_frequency: 12\r\n * /laser_front/scan_cycle_time: 0.04\r\n * /laser_front/scan_duration: 0.025\r\n * /laser_front/scan_id: 7\r\n * /laser_front/scan_intervals: [[-1.3, 1.3]]\r\n * /laser_rear/baud: 500000\r\n * /laser_rear/frame_id: /base_laser_rear_...\r\n * /laser_rear/inverted: False\r\n * /laser_rear/port: /dev/ttyScan0\r\n * /laser_rear/publish_frequency: 12\r\n * /laser_rear/scan_cycle_time: 0.04\r\n * /laser_rear/scan_duration: 0.025\r\n * /laser_rear/scan_id: 8\r\n * /laser_rear/scan_intervals: [[-1.28, 1.28]]\r\n * /laser_top/calibrate_time: False\r\n * /laser_top/frame_id: /base_laser_top_link\r\n * /laser_top/max_ang: 2.0923\r\n * /laser_top/min_ang: -2.0923\r\n * /laser_top/scan_intervals: [[-2.09, -0.8], [...\r\n * /light/baudrate: 230400\r\n * /light/devicedriver: cob_ledboard\r\n * /light/devicestring: /dev/ttyLed\r\n * /light/invert_output: False\r\n * /light/num_leds: 1\r\n * /light/pubmarker: True\r\n * /light/sim_enabled: False\r\n * /light/startup_color: [0.0, 1.0, 0.0, 1.0]\r\n * /light/startup_mode: Static\r\n * /local_costmap_node/costmap/footprint: [[0.43, 0.35], [0...\r\n * /local_costmap_node/costmap/footprint_padding: 0.02\r\n * /local_costmap_node/costmap/global_frame: /base_link\r\n * /local_costmap_node/costmap/height: 5.0\r\n * /local_costmap_node/costmap/inflation_radius: 0.55\r\n * /local_costmap_node/costmap/laser_scan_sensor_front/clearing: True\r\n * /local_costmap_node/costmap/laser_scan_sensor_front/data_type: LaserScan\r\n * /local_costmap_node/costmap/laser_scan_sensor_front/marking: True\r\n * /local_costmap_node/costmap/laser_scan_sensor_front/sensor_frame: base_laser_front_...\r\n * /local_costmap_node/costmap/laser_scan_sensor_front/topic: scan_front\r\n * /local_costmap_node/costmap/laser_scan_sensor_rear/clearing: True\r\n * /local_costmap_node/costmap/laser_scan_sensor_rear/data_type: LaserScan\r\n * /local_costmap_node/costmap/laser_scan_sensor_rear/marking: True\r\n * /local_costmap_node/costmap/laser_scan_sensor_rear/sensor_frame: base_laser_rear_link\r\n * /local_costmap_node/costmap/laser_scan_sensor_rear/topic: scan_rear\r\n * /local_costmap_node/costmap/laser_scan_sensor_top/clearing: True\r\n * /local_costmap_node/costmap/laser_scan_sensor_top/data_type: LaserScan\r\n * /local_costmap_node/costmap/laser_scan_sensor_top/marking: True\r\n * /local_costmap_node/costmap/laser_scan_sensor_top/sensor_frame: base_laser_top_link\r\n * /local_costmap_node/costmap/laser_scan_sensor_top/topic: scan_top\r\n * /local_costmap_node/costmap/map_type: costmap\r\n * /local_costmap_node/costmap/max_obstacle_height: 2.0\r\n * /local_costmap_node/costmap/observation_sources: laser_scan_sensor...\r\n * /local_costmap_node/costmap/obstacle_range: 3.0\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/clearing: True\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/data_type: PointCloud\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/marking: True\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/max_obstacle_height: 2.0\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/min_obstacle_height: 0.05\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/sensor_frame: head_cam3d_frame\r\n * /local_costmap_node/costmap/point_cloud_sensor_kinect/topic: cam3d/depth/points1\r\n * /local_costmap_node/costmap/publish_frequency: 5.0\r\n * /local_costmap_node/costmap/raytrace_range: 3.0\r\n * /local_costmap_node/costmap/resolution: 0.07\r\n * /local_costmap_node/costmap/robot_base_frame: /base_footprint\r\n * /local_costmap_node/costmap/rolling_window: True\r\n * /local_costmap_node/costmap/static_map: False\r\n * /local_costmap_node/costmap/update_frequency: 5.0\r\n * /local_costmap_node/costmap/width: 5.0\r\n * /objects/milk1/model: milk\r\n * /objects/milk1/model_type: urdf\r\n * /objects/milk1/orientation: [0, 0, 0]\r\n * /objects/milk1/position: [-1.5, -0.5, 1.02]\r\n * /robot_description: <?xml version=\"1....\r\n * /rosdistro: indigo\r\n * /rosversion: 1.11.13\r\n * /script_server/arm/action_name: /arm/joint_trajec...\r\n * /script_server/arm/default_vel: 0.2\r\n * /script_server/arm/folded: [[2.4291124343872...\r\n * /script_server/arm/home: [[0.0, 0.0, 0.0, ...\r\n * /script_server/arm/joint_names: ['arm_1_joint', '...\r\n * /script_server/arm/pregrasp: [[2.4660451412200...\r\n * /script_server/arm/service_ns: /arm/driver\r\n * /script_server/base/service_ns: /base_controller\r\n * /script_server/base/topic_name: /base_controller/...\r\n * /script_server/gripper/action_name: /gripper/joint_tr...\r\n * /script_server/gripper/closed: [[0.0]]\r\n * /script_server/gripper/default_vel: 0.05\r\n * /script_server/gripper/home: [[0.02]]\r\n * /script_server/gripper/joint_names: ['pg70_finger_lef...\r\n * /script_server/gripper/open: [[0.05]]\r\n * /script_server/gripper/service_ns: /gripper/driver\r\n * /script_server/head/action_name: /head/joint_traje...\r\n * /script_server/head/back: [[0.0]]\r\n * /script_server/head/default_vel: 0.5\r\n * /script_server/head/front: [[-3.1415926]]\r\n * /script_server/head/joint_names: ['head_axis_joint']\r\n * /script_server/head/service_ns: /head/driver\r\n * /script_server/light/black: [0, 0, 0, 1]\r\n * /script_server/light/blue: [0, 0, 1, 1]\r\n * /script_server/light/green: [0, 1, 0, 1]\r\n * /script_server/light/red: [1, 0, 0, 1]\r\n * /script_server/light/white: [0.4, 1, 0.4, 1]\r\n * /script_server/light/yellow: [1, 1, 0, 1]\r\n * /script_server/sound/de/sent00: ['Hallo, ich bin ...\r\n * /script_server/sound/de/sent01: [u'In dieser Woch...\r\n * /script_server/sound/de/sent02: [u'Ich habe die A...\r\n * /script_server/sound/de/sent03: [u'In dieser Woch...\r\n * /script_server/sound/de/sent04: ['Hallo. Darf ich...\r\n * /script_server/sound/de/sent05: [u'Hallo. M\\xf6ch...\r\n * /script_server/sound/de/sent06: ['Hallo. Kann ich...\r\n * /script_server/sound/de/sent07: [u'Da bin ich wie...\r\n * /script_server/sound/de/sent08: [u'Ich habe hier ...\r\n * /script_server/sound/de/sent09: ['Darf ich Ihnen ...\r\n * /script_server/sound/de/sent10: ['Danke, dass Sie...\r\n * /script_server/sound/de/sent11: ['Bittesehr.']\r\n * /script_server/sound/de/sent12: ['Nett, dass Sie ...\r\n * /script_server/sound/de/sent13: [u'Bittesch\\xf6n!']\r\n * /script_server/sound/de/sent14: [u'Entschuldingun...\r\n * /script_server/sound/de/sent15: ['Entschuldigen S...\r\n * /script_server/sound/de/sent16: [u'K\\xf6nnten Sie...\r\n * /script_server/sound/de/sent17: [u'Hallo! K\\xf6nn...\r\n * /script_server/sound/de/sent18: [u'Tut mir leid, ...\r\n * /script_server/sound/de/sent19: ['Ich kann nicht ...\r\n * /script_server/sound/de/sent20: [\"Ich geb's auf!\"]\r\n * /script_server/sound/de/sent21: [u'Bitte stellen ...\r\n * /script_server/sound/de/sent22: [u'Sellen Sie jet...\r\n * /script_server/sound/de/sent23: [u'Ich kann das G...\r\n * /script_server/sound/de/sent24: ['Ich bin bereit.']\r\n * /script_server/sound/de/sent25: ['Hallo.']\r\n * /script_server/sound/de/sent26: ['Da bin ich wied...\r\n * /script_server/sound/en/sent00: ['Hello, I am Car...\r\n * /script_server/sound/rand/enterRoom: ['sent25', 'sent26']\r\n * /script_server/sound/rand/introduce: ['sent01', 'sent0...\r\n * /script_server/sound/rand/load: ['sent21', 'sent2...\r\n * /script_server/sound/rand/offer: ['sent04', 'sent0...\r\n * /script_server/sound/rand/pathblocked: ['sent14', 'sent1...\r\n * /script_server/sound/rand/taken: ['sent10', 'sent1...\r\n * /script_server/sound/speech_mode: FEST_EN\r\n * /script_server/torso/action_name: /torso/joint_traj...\r\n * /script_server/torso/back: [[0.1, 0.0, 0.15]]\r\n * /script_server/torso/back_extreme: [[0.2, 0.0, 0.35]]\r\n * /script_server/torso/back_left: [[0.1, -0.1, 0.15]]\r\n * /script_server/torso/back_left_extreme: [[0.2, -0.1, 0.35]]\r\n * /script_server/torso/back_right: [[0.1, 0.1, 0.15]]\r\n * /script_server/torso/back_right_extreme: [[0.2, 0.1, 0.35]]\r\n * /script_server/torso/bow: ['front_extreme',...\r\n * /script_server/torso/default_vel: 0.1\r\n * /script_server/torso/front: [[-0.1, 0.0, -0.15]]\r\n * /script_server/torso/front_extreme: [[-0.2, 0.0, -0.35]]\r\n * /script_server/torso/front_left: [[-0.1, -0.1, -0....\r\n * /script_server/torso/front_left_extreme: [[-0.2, -0.1, -0....\r\n * /script_server/torso/front_right: [[-0.1, 0.1, -0.15]]\r\n * /script_server/torso/front_right_extreme: [[-0.2, 0.1, -0.35]]\r\n * /script_server/torso/home: [[0.0, 0.0, 0.0]]\r\n * /script_server/torso/joint_names: ['torso_lower_nec...\r\n * /script_server/torso/left: [[0.0, -0.1, 0.0]]\r\n * /script_server/torso/nod: ['front', 'home']\r\n * /script_server/torso/right: [[0.0, 0.1, 0.0]]\r\n * /script_server/torso/service_ns: /torso/driver\r\n * /script_server/torso/shake: ['left', 'right',...\r\n * /script_server/tray/action_name: /tray/joint_traje...\r\n * /script_server/tray/default_vel: 0.4\r\n * /script_server/tray/down: [[-3.14]]\r\n * /script_server/tray/joint_names: ['tray_joint']\r\n * /script_server/tray/service_ns: /tray/driver\r\n * /script_server/tray/up: [[0.0]]\r\n * /torso/joint_names: ['torso_lower_nec...\r\n * /torso/joint_state_controller/publish_rate: 50\r\n * /torso/joint_state_controller/type: joint_state_contr...\r\n * /torso/joint_trajectory_controller/action_monitor_rate: 10\r\n * /torso/joint_trajectory_controller/constraints/goal_time: 0.6\r\n * /torso/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05\r\n * /torso/joint_trajectory_controller/constraints/torso_lower_neck_tilt_joint/goal: 0.1\r\n * /torso/joint_trajectory_controller/constraints/torso_lower_neck_tilt_joint/trajectory: 0.1\r\n * /torso/joint_trajectory_controller/constraints/torso_pan_joint/goal: 0.1\r\n * /torso/joint_trajectory_controller/constraints/torso_pan_joint/trajectory: 0.1\r\n * /torso/joint_trajectory_controller/constraints/torso_upper_neck_tilt_joint/goal: 0.1\r\n * /torso/joint_trajectory_controller/constraints/torso_upper_neck_tilt_joint/trajectory: 0.1\r\n * /torso/joint_trajectory_controller/joints: ['torso_lower_nec...\r\n * /torso/joint_trajectory_controller/required_drive_mode: 7\r\n * /torso/joint_trajectory_controller/state_publish_rate: 25\r\n * /torso/joint_trajectory_controller/stop_trajectory_duration: 0.5\r\n * /torso/joint_trajectory_controller/type: position_controll...\r\n * /torso/max_command_silence: 0.5\r\n * /tray/joint_names: ['tray_joint']\r\n * /tray/joint_state_controller/publish_rate: 50\r\n * /tray/joint_state_controller/type: joint_state_contr...\r\n * /tray/joint_trajectory_controller/action_monitor_rate: 10\r\n * /tray/joint_trajectory_controller/constraints/goal_time: 0.6\r\n * /tray/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05\r\n * /tray/joint_trajectory_controller/constraints/tray_joint/goal: 0.1\r\n * /tray/joint_trajectory_controller/constraints/tray_joint/trajectory: 0.1\r\n * /tray/joint_trajectory_controller/joints: ['tray_joint']\r\n * /tray/joint_trajectory_controller/required_drive_mode: 7\r\n * /tray/joint_trajectory_controller/state_publish_rate: 25\r\n * /tray/joint_trajectory_controller/stop_trajectory_duration: 0.5\r\n * /tray/joint_trajectory_controller/type: position_controll...\r\n * /tray/max_command_silence: 0.5\r\n * /tray_sensors/tray_sensors/sensors: [{'range_topic': ...\r\n * /use_sim_time: True\r\n * /voltage_filter/abcd: [-9.5355874983162...\r\n * /voltage_filter/maximum_time: 9172.66221064\r\n * /voltage_filter/mode: update\r\n * /voltage_filter/off_y: 0\r\n * /voltage_filter/robot_name: cob3-9\r\n * /voltage_filter/theta: 3.12250225676e-17\r\n\r\nNODES\r\n  /head/\r\n    control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)\r\n    gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)\r\n    head_controller_spawner (controller_manager/controller_manager)\r\n  /laser_top/\r\n    scanner_top_filter (cob_sick_s300/cob_scan_filter)\r\n  /arm/\r\n    arm_controller_spawner (controller_manager/controller_manager)\r\n    control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)\r\n    gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)\r\n  /base/\r\n    base_controller_spawner (controller_manager/controller_manager)\r\n    gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)\r\n  /\r\n    cam3d_nodelet_manager (nodelet/nodelet)\r\n    cam3d_relay_depth_camera_info (topic_tools/relay)\r\n    cam3d_relay_depth_image (topic_tools/relay)\r\n    cam3d_relay_depth_points (topic_tools/relay)\r\n    cam3d_relay_rgb_image_color (topic_tools/relay)\r\n    cam3d_throttle (nodelet/nodelet)\r\n    collision_velocity_filter (cob_collision_velocity_filter/collision_velocity_filter)\r\n    dashboard_aggregator (cob_dashboard/cob_dashboard_aggregator.py)\r\n    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)\r\n    fake_diagnostics_10_xiao_VPCCA1S1E_635_3941014138114605440 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_11_xiao_VPCCA1S1E_635_1107162076869796497 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_12_xiao_VPCCA1S1E_635_6698137789640055230 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_13_xiao_VPCCA1S1E_635_7619973164608648128 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_14_xiao_VPCCA1S1E_635_6056026030110910228 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_15_xiao_VPCCA1S1E_635_8750817625441987613 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_16_xiao_VPCCA1S1E_635_6781473151218065481 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_1_xiao_VPCCA1S1E_635_6460195751393873566 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_2_xiao_VPCCA1S1E_635_5042402176341253436 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_3_xiao_VPCCA1S1E_635_306590554169865777 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_4_xiao_VPCCA1S1E_635_6007515498775655099 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_5_xiao_VPCCA1S1E_635_6511378542821910101 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_6_xiao_VPCCA1S1E_635_3570609751587185811 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_7_xiao_VPCCA1S1E_635_1731199736075799687 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_8_xiao_VPCCA1S1E_635_3525092982419577366 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    fake_diagnostics_9_xiao_VPCCA1S1E_635_175561739850630372 (cob_controller_configuration_gazebo/fake_diagnostics.py)\r\n    footprint_observer (cob_footprint_observer/footprint_observer)\r\n    gazebo (gazebo_ros/gzserver)\r\n    gazebo_gui (gazebo_ros/gzclient)\r\n    gazebo_topics (cob_controller_configuration_gazebo/gazebo_topics.py)\r\n    joint_state_publisher (joint_state_publisher/joint_state_publisher)\r\n    light (cob_light/cob_light)\r\n    local_costmap_node (costmap_2d/costmap_2d_node)\r\n    robot_state_publisher (robot_state_publisher/robot_state_publisher)\r\n    spawn_gazebo_model (gazebo_ros/spawn_model)\r\n    voltage_filter (cob_voltage_control/savitzky_golay.py)\r\n  /tray_sensors/\r\n    tray_sensors (cob_phidgets/simulated_range_sensors.py)\r\n  /gripper/\r\n    control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)\r\n    gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)\r\n    gripper_controller_spawner (controller_manager/controller_manager)\r\n  /sound/\r\n    sound_node (cob_sound/sound)\r\n  /torso/\r\n    control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)\r\n    gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)\r\n    torso_controller_spawner (controller_manager/controller_manager)\r\n  /relayboard/\r\n    relayboard_node (cob_relayboard/relayboard_sim.py)\r\n  /laser_rear/\r\n    scanner_rear_filter (cob_sick_s300/cob_scan_filter)\r\n  /tray/\r\n    control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)\r\n    gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)\r\n    tray_controller_spawner (controller_manager/controller_manager)\r\n  /laser_front/\r\n    scanner_front_filter (cob_sick_s300/cob_scan_filter)\r\n\r\nauto-starting new master\r\nprocess[master]: started with pid [651]\r\nROS_MASTER_URI=http://10.179.7.25:11311\r\n\r\nsetting /run_id to 103d3842-4507-11e5-83a7-4c0f6efd8dbf\r\nprocess[rosout-1]: started with pid [664]\r\nstarted core service [/rosout]\r\nrunning rosparam delete /objects\r\n//------- Fehler A  -----------\r\nERROR: parameter [/objects] is not set\r\nrunning rosparam delete /diagnostic_aggregator/diagnostic_aggregator/\r\n//------- Fehler B  -----------\r\nERROR: parameter [/diagnostic_aggregator/diagnostic_aggregator] is not set\r\nprocess[gazebo-2]: started with pid [691]\r\nprocess[gazebo_gui-3]: started with pid [697]\r\nGazebo multi-robot simulator, version 2.2.5\r\nCopyright (C) 2012-2014 Open Source Robotics Foundation.\r\nReleased under the Apache 2 License.\r\nhttp://gazebosim.org\r\n\r\nGazebo multi-robot simulator, version 2.2.5\r\nCopyright (C) 2012-2014 Open Source Robotics Foundation.\r\nReleased under the Apache 2 License.\r\nhttp://gazebosim.org\r\n\r\nprocess[spawn_gazebo_model-4]: started with pid [730]\r\n[ INFO] [1439833247.598177235]: Finished loading Gazebo ROS API Plugin.\r\n[ INFO] [1439833247.602863653]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...\r\nMsg Waiting for master\r\nMsg Connected to gazebo master @ http://127.0.0.1:11345\r\nMsg Publicized address: 10.179.7.25\r\nMsg Waiting for master\r\nMsg Connected to gazebo master @ http://127.0.0.1:11345\r\nMsg Publicized address: 10.179.7.25\r\nprocess[robot_state_publisher-5]: started with pid [755]\r\n/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher\r\nspawn_model script started\r\n[ INFO] [1439833248.448771487, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.\r\n[ INFO] [1439833248.498572181, 0.068000000]: Physics dynamic reconfigure ready.\r\n[INFO] [WallTime: 1439833248.498679] [0.000000] Loading model xml from ros parameter\r\n[INFO] [WallTime: 1439833248.518587] [0.079000] Waiting for service /gazebo/spawn_urdf_model\r\n[INFO] [WallTime: 1439833248.520763] [0.090000] Calling service /gazebo/spawn_urdf_model\r\nprocess[joint_state_publisher-6]: started with pid [915]\r\nprocess[base/gazebo_services-7]: started with pid [971]\r\n[INFO] [WallTime: 1439833250.111930] [0.000000] gazebo_services running\r\nprocess[base/base_controller_spawner-8]: started with pid [1014]\r\nprocess[laser_front/scanner_front_filter-9]: started with pid [1037]\r\nprocess[laser_rear/scanner_rear_filter-10]: started with pid [1073]\r\nprocess[laser_top/scanner_top_filter-11]: started with pid [1106]\r\nprocess[head/gazebo_services-12]: started with pid [1135]\r\n[ INFO] [1439833252.668075285, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833252.668403142, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833252.688169727, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[INFO] [WallTime: 1439833253.008592] [0.000000] gazebo_services running\r\nprocess[head/head_controller_spawner-13]: started with pid [1166]\r\n[ INFO] [1439833253.398371554, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833253.398470804, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833253.420722464, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\nprocess[head/control_mode_adapter-14]: started with pid [1192]\r\n[ INFO] [1439833253.621437626]: waitForService: Service [/head/controller_manager/load_controller] has not been advertised, waiting...\r\nprocess[arm/gazebo_services-15]: started with pid [1221]\r\n[ INFO] [1439833254.169245473, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.169303124, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833254.187570966, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[INFO] [WallTime: 1439833254.440185] [0.000000] gazebo_services running\r\nprocess[arm/arm_controller_spawner-16]: started with pid [1257]\r\n[ INFO] [1439833254.712564297, 3.298000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.848241337, 3.298000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.855056106, 3.298000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.855547637, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.855593803, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833254.870277370, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[ INFO] [1439833254.871864632, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.871925036, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833254.877329649, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[ INFO] [1439833254.900465895, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.900654883, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833254.910504673, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[ INFO] [1439833254.934379743, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'\r\n[ INFO] [1439833254.938289633, 3.298000000]: Starting Laser Plugin (ns = /)!\r\n[ INFO] [1439833254.941717680, 3.298000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[INFO] [WallTime: 1439833254.944338] [3.298000] Spawn status: SpawnModel: Successfully spawned model\r\nprocess[arm/control_mode_adapter-17]: started with pid [1297]\r\n[ INFO] [1439833255.103687752]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...\r\nUnhandled exception in thread started by \r\nsys.excepthook is missing\r\nlost sys.stderr\r\n[spawn_gazebo_model-4] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/spawn_gazebo_model-4*.log\r\n[ INFO] [1439833255.326367293, 3.298000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[ INFO] [1439833255.421289893, 3.298000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\n[ INFO] [1439833255.521508156, 3.298000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to \"\"\r\nprocess[gripper/gazebo_services-18]: started with pid [1358]\r\n[INFO] [WallTime: 1439833256.129058] [0.000000] gazebo_services running\r\nprocess[gripper/gripper_controller_spawner-19]: started with pid [1453]\r\nprocess[gripper/control_mode_adapter-20]: started with pid [1489]\r\n[ INFO] [1439833256.833048555]: waitForService: Service [/gripper/controller_manager/load_controller] has not been advertised, waiting...\r\nprocess[torso/gazebo_services-21]: started with pid [1575]\r\nprocess[torso/torso_controller_spawner-22]: started with pid [1587]\r\n[INFO] [WallTime: 1439833257.646797] [0.000000] gazebo_services running\r\nprocess[torso/control_mode_adapter-23]: started with pid [1616]\r\n[ INFO] [1439833258.106302885]: waitForService: Service [/torso/controller_manager/load_controller] has not been advertised, waiting...\r\n[ INFO] [1439833258.288150153, 3.298000000]: Loading cob_gazebo_ros_control plugin\r\n[ INFO] [1439833258.288569165, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: \"joint_names\"\r\n[ INFO] [1439833258.288677655, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: base\r\n[ INFO] [1439833258.289965639, 3.298000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.\r\n[ INFO] [1439833258.406705430, 3.298000000]: JointFiltering is enabled! DoF: 8\r\n[ INFO] [1439833258.463443210, 3.298000000]: Loaded cob_gazebo_ros_control.\r\n[ INFO] [1439833258.463824697, 3.298000000]: Loading cob_gazebo_ros_control plugin\r\n[ INFO] [1439833258.463989436, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: \"joint_names\"\r\n[ INFO] [1439833258.464138419, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: tray\r\nprocess[tray/gazebo_services-24]: started with pid [1672]\r\n[ INFO] [1439833258.592509761, 3.298000000]: JointFiltering is enabled! DoF: 1\r\n[ INFO] [1439833258.677212012, 3.298000000]: Loaded cob_gazebo_ros_control.\r\n[ INFO] [1439833258.677794627, 3.298000000]: Loading cob_gazebo_ros_control plugin\r\n[ INFO] [1439833258.677987806, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: \"joint_names\"\r\n[ INFO] [1439833258.678131135, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: torso\r\nLoaded joint_state_controller\r\n[ INFO] [1439833258.799943396, 3.298000000]: JointFiltering is enabled! DoF: 3\r\nLoaded twist_controller\r\nLoaded odometry_controller\r\n[ INFO] [1439833258.944209334, 3.298000000]: Loaded cob_gazebo_ros_control.\r\n[ INFO] [1439833258.944615266, 3.298000000]: Loading cob_gazebo_ros_control plugin\r\n[ INFO] [1439833258.944698161, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: \"joint_names\"\r\n[ INFO] [1439833258.944753579, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: arm\r\nprocess[tray/tray_controller_spawner-25]: started with pid [1769]\r\n[INFO] [WallTime: 1439833259.053881] [0.000000] gazebo_services running\r\n[ INFO] [1439833259.076236154, 3.298000000]: JointFiltering is enabled! DoF: 7\r\nLoaded joint_state_controller\r\n[ INFO] [1439833259.250748326, 3.298000000]: Loaded cob_gazebo_ros_control.\r\n[ INFO] [1439833259.251191004, 3.298000000]: Loading cob_gazebo_ros_control plugin\r\n[ INFO] [1439833259.251350795, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: \"joint_names\"\r\n[ INFO] [1439833259.251490308, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: head\r\n[ INFO] [1439833259.381542558, 3.298000000]: JointFiltering is enabled! DoF: 1\r\n[ INFO] [1439833259.460315654, 3.298000000]: Loaded cob_gazebo_ros_control.\r\n[ INFO] [1439833259.460701455, 3.298000000]: Loading cob_gazebo_ros_control plugin\r\n[ INFO] [1439833259.460790877, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: \"joint_names\"\r\n[ INFO] [1439833259.460846415, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: gripper\r\nprocess[tray/control_mode_adapter-26]: started with pid [1855]\r\nLoaded joint_state_controller\r\n[ INFO] [1439833259.599603981, 3.298000000]: JointFiltering is enabled! DoF: 1\r\n[ INFO] [1439833259.655708320, 3.298000000]: Loaded cob_gazebo_ros_control.\r\nStarted ['joint_state_controller'] successfully\r\nStarted ['joint_state_controller'] successfully\r\nStarted ['joint_state_controller'] successfully\r\nWarning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.\r\n[ INFO] [1439833259.702061962, 3.337000000]: waitForService: Service [/arm/controller_manager/load_controller] is now available.\r\n[ INFO] [1439833259.710648042, 3.337000000]: waitForService: Service [/head/controller_manager/load_controller] is now available.\r\n[ INFO] [1439833259.714622229, 3.335000000]: waitForService: Service [/gripper/controller_manager/load_controller] is now available.\r\n[ INFO] [1439833259.728037288, 3.337000000]: waitForService: Service [/torso/controller_manager/load_controller] is now available.\r\nStarted ['twist_controller'] successfully\r\n[arm/arm_controller_spawner-16] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/arm-arm_controller_spawner-16*.log\r\n[torso/torso_controller_spawner-22] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/torso-torso_controller_spawner-22*.log\r\n[ INFO] [1439833259.940656817, 3.373000000]: joint_trajectory_controller loaded\r\nprocess[tray_sensors/tray_sensors-27]: started with pid [2146]\r\nLoaded joint_state_controller\r\n[ INFO] [1439833260.536548044, 3.504000000]: joint_trajectory_controller loaded\r\nLoaded joint_state_controller\r\nStarted ['odometry_controller'] successfully\r\nprocess[sound/sound_node-28]: started with pid [2304]\r\n[ INFO] [1439833260.828811207]: sound node started\r\n[base/base_controller_spawner-8] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/base-base_controller_spawner-8*.log\r\n[ INFO] [1439833260.940906580, 3.577000000]: joint_trajectory_controller loaded\r\n[ INFO] [1439833260.978459420, 3.578000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller\r\n[ INFO] [1439833261.103544485, 3.597000000]: joint_trajectory_controller loaded\r\nStarted ['joint_state_controller'] successfully\r\nStarted ['joint_state_controller'] successfully\r\n[ INFO] [1439833261.115923888, 3.598000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller\r\n[ INFO] [1439833261.116614629, 3.599000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller\r\n[head/head_controller_spawner-13] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/head-head_controller_spawner-13*.log\r\n[tray/tray_controller_spawner-25] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/tray-tray_controller_spawner-25*.log\r\n[ INFO] [1439833261.357196145, 3.653000000]: joint_trajectory_controller loaded\r\n[ INFO] [1439833261.368441801, 3.657000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller\r\nLoaded joint_state_controller\r\n[ INFO] [1439833261.391143498, 3.662000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller\r\nStarted ['joint_state_controller'] successfully\r\nprocess[light-29]: started with pid [2555]\r\n//------------ Warnung A ------------\r\n[ WARN] [1439833261.478869300]: Parameter 'marker_frame' is missing. Using default Value: /base_link\r\n[ INFO] [1439833261.548049998]: Open Port on /dev/ttyLed\r\n//------------ Warnung B ------------\r\n[ WARN] [1439833261.548182269]: Serial connection on /dev/ttyLed failed.\r\n//------------ Warnungg C ------------\r\n[ WARN] [1439833261.548260435]: Simulation mode enabled\r\n[ INFO] [1439833261.555210001]: Executing new mode: StaticMode\r\n[ INFO] [1439833261.555459730]: Mode StaticMode finished\r\n[gripper/gripper_controller_spawner-19] process has finished cleanly\r\nlog file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/gripper-gripper_controller_spawner-19*.log\r\nprocess[local_costmap_node-30]: started with pid [2649]\r\n[INFO] [WallTime: 1439833262.291221] [4.012000] adding sensor converting from topic 'range_1_sim' to topic 'range_1'\r\n[INFO] [WallTime: 1439833262.300147] [4.013000] adding sensor converting from topic 'range_2_sim' to topic 'range_2'\r\n[INFO] [WallTime: 1439833262.307824] [4.016000] adding sensor converting from topic 'range_3_sim' to topic 'range_3'\r\n[INFO] [WallTime: 1439833262.315995] [4.017000] adding sensor converting from topic 'range_4_sim' to topic 'range_4'\r\n[ INFO] [1439833262.430259951, 4.057000000]: Loading from pre-hydro parameter style\r\n[ INFO] [1439833262.498747230, 4.077000000]: Using plugin \"obstacle_layer\"\r\n[ INFO] [1439833262.646237242, 4.127000000]:     Subscribed to Topics: laser_scan_sensor_front laser_scan_sensor_rear laser_scan_sensor_top\r\nprocess[footprint_observer-31]: started with pid [2781]\r\n[ INFO] [1439833262.840230742, 4.188000000]: Using plugin \"inflation_layer\"\r\nprocess[collision_velocity_filter-32]: started with pid [2987]\r\nprocess[voltage_filter-33]: started with pid [3090]\r\nprocess[diagnostic_aggregator-34]: started with pid [3096]\r\nprocess[dashboard_aggregator-35]: started with pid [3168]\r\nprocess[cam3d_relay_rgb_image_color-36]: started with pid [3335]\r\n[ INFO] [1439833266.331023366, 5.297000000]: advertised as /cam3d/rgb/image_color\r\n\r\nprocess[cam3d_relay_depth_image-37]: started with pid [3444]\r\n[ INFO] [1439833266.810856243, 5.476000000]: advertised as /cam3d/depth/image\r\n\r\nprocess[cam3d_relay_depth_points-38]: started with pid [3473]\r\n[ INFO] [1439833267.442938284, 5.701000000]: advertised as /cam3d/depth/points\r\nprocess[cam3d_relay_depth_camera_info-39]: started with pid [3501]\r\n[ INFO] [1439833267.805905891, 5.824000000]: advertised as /cam3d/depth/camera_info\r\nprocess[cam3d_nodelet_manager-40]: started with pid [3531]\r\n[ INFO] [1439833268.391680353]: Initializing nodelet with 4 worker threads.\r\nprocess[cam3d_throttle-41]: started with pid [3559]\r\n[ INFO] [1439833268.990351124]: Loading nodelet /cam3d_throttle of type cob_cam3d_throttle/Cam3DThrottle to manager cam3d_nodelet_manager with the following remappings:\r\n[ INFO] [1439833268.990456674]: /cloud_in -> /cam3d/depth/points\r\n[ INFO] [1439833268.990500954]: /cloud_out -> /cam3d_throttled/depth/points\r\n[ INFO] [1439833268.990539961]: /depth_image_in -> /cam3d/depth/image_raw\r\n[ INFO] [1439833268.990577566]: /depth_image_out -> /cam3d_throttled/depth/image_raw\r\n[ INFO] [1439833268.990613644]: /rgb_caminfo_in -> /cam3d/rgb/camera_info\r\n[ INFO] [1439833268.990649715]: /rgb_caminfo_out -> /cam3d_throttled/rgb/camera_info\r\n[ INFO] [1439833268.990684661]: /rgb_cloud_in -> /cam3d/depth_registered/points\r\n[ INFO] [1439833268.990720503]: /rgb_cloud_out -> /cam3d_throttled/depth_registered/points\r\n[ INFO] [1439833268.990760939]: /rgb_image_in -> /cam3d/rgb/image_color\r\n[ INFO] [1439833268.990795555]: /rgb_image_out -> /cam3d_throttled/rgb/image_color\r\nprocess[relayboard/relayboard_node-42]: started with pid [3607]\r\nprocess[gazebo_topics-43]: started with pid [3639]\r\nprocess[fake_diagnostics_1_xiao_VPCCA1S1E_635_6460195751393873566-44]: started with pid [3667]\r\nprocess[fake_diagnostics_2_xiao_VPCCA1S1E_635_5042402176341253436-45]: started with pid [3673]\r\n[INFO] [WallTime: 1439833271.573236] [6.789000] fake diagnostics for laser_front running listening to /scan_front\r\n[INFO] [WallTime: 1439833272.084426] [0.000000] fake diagnostics for laser_rear running listening to /scan_rear\r\nprocess[fake_diagnostics_3_xiao_VPCCA1S1E_635_306590554169865777-46]: started with pid [3727]\r\n[INFO] [WallTime: 1439833272.753919] [0.000000] fake diagnostics for laser_top running listening to /scan_top\r\nprocess[fake_diagnostics_4_xiao_VPCCA1S1E_635_6007515498775655099-47]: started with pid [3757]\r\n[INFO] [WallTime: 1439833273.043603] [7.142000] gazebo_topics running\r\n[INFO] [WallTime: 1439833273.581123] [0.000000] fake diagnostics for /stereo/left/color_camera running listening to /stereo/left/image_raw\r\nprocess[fake_diagnostics_5_xiao_VPCCA1S1E_635_6511378542821910101-48]: started with pid [3788]\r\n[INFO] [WallTime: 1439833274.171808] [0.000000] fake diagnostics for /stereo/right/color_camera running listening to /stereo/right/image_raw\r\nprocess[fake_diagnostics_6_xiao_VPCCA1S1E_635_3570609751587185811-49]: started with pid [3819]\r\nprocess[fake_diagnostics_7_xiao_VPCCA1S1E_635_1731199736075799687-50]: started with pid [3827]\r\n[INFO] [WallTime: 1439833275.104367] [0.000000] fake diagnostics for joy running listening to /joy_usage\r\n[INFO] [WallTime: 1439833275.595508] [0.000000] fake diagnostics for pc1 CPU Usage running listening to /pc1_usage\r\nprocess[fake_diagnostics_8_xiao_VPCCA1S1E_635_3525092982419577366-51]: started with pid [3880]\r\n[INFO] [WallTime: 1439833276.173471] [7.769000] fake diagnostics for pc2 CPU Usage running listening to /pc2_usage\r\nprocess[fake_diagnostics_9_xiao_VPCCA1S1E_635_175561739850630372-52]: started with pid [3907]\r\n[INFO] [WallTime: 1439833276.722730] [0.000000] fake diagnostics for pc3 CPU Usage running listening to /pc3_usage\r\nprocess[fake_diagnostics_10_xiao_VPCCA1S1E_635_3941014138114605440-53]: started with pid [3947]\r\n[INFO] [WallTime: 1439833277.489305] [0.000000] fake diagnostics for Wifi Status (ddwrt) running listening to /wifi_status\r\nprocess[fake_diagnostics_11_xiao_VPCCA1S1E_635_1107162076869796497-54]: started with pid [3981]\r\n[INFO] [WallTime: 1439833278.115581] [0.000000] fake diagnostics for base_controller running listening to /base/joint_states\r\nprocess[fake_diagnostics_12_xiao_VPCCA1S1E_635_6698137789640055230-55]: started with pid [4012]\r\nprocess[fake_diagnostics_13_xiao_VPCCA1S1E_635_7619973164608648128-56]: started with pid [4022]\r\n[INFO] [WallTime: 1439833278.901486] [0.000000] fake diagnostics for torso_controller running listening to /torso/joint_states\r\n[INFO] [WallTime: 1439833279.459127] [8.297000] fake diagnostics for tray_controller running listening to /tray/joint_states\r\nprocess[fake_diagnostics_14_xiao_VPCCA1S1E_635_6056026030110910228-57]: started with pid [4074]\r\nprocess[fake_diagnostics_15_xiao_VPCCA1S1E_635_8750817625441987613-58]: started with pid [4094]\r\n[INFO] [WallTime: 1439833280.302945] [0.000000] fake diagnostics for head_controller running listening to /head/joint_states\r\n[INFO] [WallTime: 1439833280.892245] [0.000000] fake diagnostics for arm_controller running listening to /arm/joint_states\r\nprocess[fake_diagnostics_16_xiao_VPCCA1S1E_635_6781473151218065481-59]: started with pid [4134]\r\n[INFO] [WallTime: 1439833281.454551] [8.653000] fake diagnostics for gripper_controller running listening to /gripper/joint_states\r\n//------------ Warnung D ------------\r\n[ WARN] [1439833286.571222156, 10.010000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!\r\n[ WARN] [1439833320.578859733, 20.040000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!\r\n[ WARN] [1439833351.876090365, 30.074000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!\r\nWarning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.\r\n\r\n2.) Ferner möchte ich in der Simulation ,,/cam3d/depth_registered/points\" verwenden. Nachdem ich die robot.launch Simulation gestartet habe, kann ich den Topic über ,,rostopic list\" sehen. Jedoch bekomme ich keine Daten über rviz - Image, weshalb dort auch nicht die ,,/cam3d/depth_registered/points\" angezeigt wird. Am Hardware-Roboter kann ich den Tiefenbildtreiber über ,,rosrun rqt_reconfigure rqt_reconfigure\" unter der dem Reiter ,,Drivers\" starten. In Gazebo gibt es die Option nicht. Wie starte ich den Treiber auf der Simulationsebene?\r\n\r\n3.) Des Weiteren möchte ich die PG70 Greifer in Moveit! integrieren. Ich habe Ihre srdf Datei analysiert und möchte von Ihnen gerne wissen, wie man die  Greifer am Schunkarm in Moveit! Setupassistenten dranhängen kann. PS: Ich habe Ihre noch zusätzlich diese Warnung: Could not identify parent group for end-effector 'arm'.\r\n\r\n4.) Die Greifer PG70 sind schief. Siehe Link: http://www.directupload.net/file/d/4082/zrxzxqua_png.htm \r\nWie behebe ich das?\r\n\r\nÜber eine Antwort würde ich mich freuen.\r\nMfG.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ipa320/cob_simulation/issues/comments/135418297","html_url":"https://github.com/ipa320/cob_simulation/issues/87#issuecomment-135418297","issue_url":"https://api.github.com/repos/ipa320/cob_simulation/issues/87","id":135418297,"user":{"login":"xwhm","id":13837807,"avatar_url":"https://avatars.githubusercontent.com/u/13837807?v=3","gravatar_id":"","url":"https://api.github.com/users/xwhm","html_url":"https://github.com/xwhm","followers_url":"https://api.github.com/users/xwhm/followers","following_url":"https://api.github.com/users/xwhm/following{/other_user}","gists_url":"https://api.github.com/users/xwhm/gists{/gist_id}","starred_url":"https://api.github.com/users/xwhm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xwhm/subscriptions","organizations_url":"https://api.github.com/users/xwhm/orgs","repos_url":"https://api.github.com/users/xwhm/repos","events_url":"https://api.github.com/users/xwhm/events{/privacy}","received_events_url":"https://api.github.com/users/xwhm/received_events","type":"User","site_admin":false},"created_at":"2015-08-27T13:04:39Z","updated_at":"2015-08-27T13:04:39Z","body":"I edited the files about the gripper that you posed above. There are just changes in the color but the grippers are in the same position. Do you guys have another idea?\r\nI solved the problem with the /cam3d/depth_registered/points - but instead of this I also need the topic  /cam3d/depth_registered/image_raw but actually it is also just in the real robot and not in gazebo. "}}