davetcoleman / baxter_common Goto Github PK

[baxter - http://localhost:11311] noriaki@noriaki-ThinkPad-T430s:~/ros_ws/src/baxter_simulator/baxter_gazebo/launch$ roslaunch baxter_gazebo baxter_test.launch 
... logging to /home/noriaki/.ros/log/4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3/roslaunch-noriaki-ThinkPad-T430s-26445.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.

started roslaunch server http://127.0.0.1:33727/

SUMMARY
========

PARAMETERS
 * /grav_left_name
 * /grav_right_name
 * /left_tip_name
 * /rethink/software_version
 * /right_tip_name
 * /robot/head_position_controller/joints/head_controller/joint
 * /robot/head_position_controller/joints/head_controller/pid/d
 * /robot/head_position_controller/joints/head_controller/pid/i
 * /robot/head_position_controller/joints/head_controller/pid/p
 * /robot/head_position_controller/topic
 * /robot/head_position_controller/type
 * /robot/joint_state_controller/publish_rate
 * /robot/joint_state_controller/type
 * /robot/left_e0_position_controller/joint
 * /robot/left_e0_position_controller/pid/d
 * /robot/left_e0_position_controller/pid/i
 * /robot/left_e0_position_controller/pid/p
 * /robot/left_e0_position_controller/type
 * /robot/left_e1_position_controller/joint
 * /robot/left_e1_position_controller/pid/d
 * /robot/left_e1_position_controller/pid/i
 * /robot/left_e1_position_controller/pid/p
 * /robot/left_e1_position_controller/type
 * /robot/left_joint_effort_controller/joints/left_e0_controller/joint
 * /robot/left_joint_effort_controller/joints/left_e1_controller/joint
 * /robot/left_joint_effort_controller/joints/left_s0_controller/joint
 * /robot/left_joint_effort_controller/joints/left_s1_controller/joint
 * /robot/left_joint_effort_controller/joints/left_w0_controller/joint
 * /robot/left_joint_effort_controller/joints/left_w1_controller/joint
 * /robot/left_joint_effort_controller/joints/left_w2_controller/joint
 * /robot/left_joint_effort_controller/topic
 * /robot/left_joint_effort_controller/type
 * /robot/left_joint_position_controller/joints/left_e0_controller/joint
 * /robot/left_joint_position_controller/joints/left_e0_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_e0_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_e0_controller/pid/p
 * /robot/left_joint_position_controller/joints/left_e1_controller/joint
 * /robot/left_joint_position_controller/joints/left_e1_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_e1_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_e1_controller/pid/p
 * /robot/left_joint_position_controller/joints/left_s0_controller/joint
 * /robot/left_joint_position_controller/joints/left_s0_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_s0_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_s0_controller/pid/p
 * /robot/left_joint_position_controller/joints/left_s1_controller/joint
 * /robot/left_joint_position_controller/joints/left_s1_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_s1_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_s1_controller/pid/p
 * /robot/left_joint_position_controller/joints/left_w0_controller/joint
 * /robot/left_joint_position_controller/joints/left_w0_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_w0_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_w0_controller/pid/p
 * /robot/left_joint_position_controller/joints/left_w1_controller/joint
 * /robot/left_joint_position_controller/joints/left_w1_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_w1_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_w1_controller/pid/p
 * /robot/left_joint_position_controller/joints/left_w2_controller/joint
 * /robot/left_joint_position_controller/joints/left_w2_controller/pid/d
 * /robot/left_joint_position_controller/joints/left_w2_controller/pid/i
 * /robot/left_joint_position_controller/joints/left_w2_controller/pid/p
 * /robot/left_joint_position_controller/topic
 * /robot/left_joint_position_controller/type
 * /robot/left_joint_velocity_controller/joints/left_e0_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_e0_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_e0_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_e0_controller/pid/p
 * /robot/left_joint_velocity_controller/joints/left_e1_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_e1_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_e1_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_e1_controller/pid/p
 * /robot/left_joint_velocity_controller/joints/left_s0_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_s0_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_s0_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_s0_controller/pid/p
 * /robot/left_joint_velocity_controller/joints/left_s1_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_s1_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_s1_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_s1_controller/pid/p
 * /robot/left_joint_velocity_controller/joints/left_w0_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_w0_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_w0_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_w0_controller/pid/p
 * /robot/left_joint_velocity_controller/joints/left_w1_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_w1_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_w1_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_w1_controller/pid/p
 * /robot/left_joint_velocity_controller/joints/left_w2_controller/joint
 * /robot/left_joint_velocity_controller/joints/left_w2_controller/pid/d
 * /robot/left_joint_velocity_controller/joints/left_w2_controller/pid/i
 * /robot/left_joint_velocity_controller/joints/left_w2_controller/pid/p
 * /robot/left_joint_velocity_controller/topic
 * /robot/left_joint_velocity_controller/type
 * /robot/left_s0_position_controller/joint
 * /robot/left_s0_position_controller/pid/d
 * /robot/left_s0_position_controller/pid/i
 * /robot/left_s0_position_controller/pid/p
 * /robot/left_s0_position_controller/type
 * /robot/left_s1_position_controller/joint
 * /robot/left_s1_position_controller/pid/d
 * /robot/left_s1_position_controller/pid/i
 * /robot/left_s1_position_controller/pid/p
 * /robot/left_s1_position_controller/type
 * /robot/left_w0_position_controller/joint
 * /robot/left_w0_position_controller/pid/d
 * /robot/left_w0_position_controller/pid/i
 * /robot/left_w0_position_controller/pid/p
 * /robot/left_w0_position_controller/type
 * /robot/left_w1_position_controller/joint
 * /robot/left_w1_position_controller/pid/d
 * /robot/left_w1_position_controller/pid/i
 * /robot/left_w1_position_controller/pid/p
 * /robot/left_w1_position_controller/type
 * /robot/left_w2_position_controller/joint
 * /robot/left_w2_position_controller/pid/d
 * /robot/left_w2_position_controller/pid/i
 * /robot/left_w2_position_controller/pid/p
 * /robot/left_w2_position_controller/type
 * /robot/right_e0_position_controller/joint
 * /robot/right_e0_position_controller/pid/d
 * /robot/right_e0_position_controller/pid/i
 * /robot/right_e0_position_controller/pid/p
 * /robot/right_e0_position_controller/type
 * /robot/right_e1_position_controller/joint
 * /robot/right_e1_position_controller/pid/d
 * /robot/right_e1_position_controller/pid/i
 * /robot/right_e1_position_controller/pid/p
 * /robot/right_e1_position_controller/type
 * /robot/right_joint_effort_controller/joints/right_e0_controller/joint
 * /robot/right_joint_effort_controller/joints/right_e1_controller/joint
 * /robot/right_joint_effort_controller/joints/right_s0_controller/joint
 * /robot/right_joint_effort_controller/joints/right_s1_controller/joint
 * /robot/right_joint_effort_controller/joints/right_w0_controller/joint
 * /robot/right_joint_effort_controller/joints/right_w1_controller/joint
 * /robot/right_joint_effort_controller/joints/right_w2_controller/joint
 * /robot/right_joint_effort_controller/topic
 * /robot/right_joint_effort_controller/type
 * /robot/right_joint_position_controller/joints/right_e0_controller/joint
 * /robot/right_joint_position_controller/joints/right_e0_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_e0_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_e0_controller/pid/p
 * /robot/right_joint_position_controller/joints/right_e1_controller/joint
 * /robot/right_joint_position_controller/joints/right_e1_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_e1_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_e1_controller/pid/p
 * /robot/right_joint_position_controller/joints/right_s0_controller/joint
 * /robot/right_joint_position_controller/joints/right_s0_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_s0_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_s0_controller/pid/p
 * /robot/right_joint_position_controller/joints/right_s1_controller/joint
 * /robot/right_joint_position_controller/joints/right_s1_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_s1_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_s1_controller/pid/p
 * /robot/right_joint_position_controller/joints/right_w0_controller/joint
 * /robot/right_joint_position_controller/joints/right_w0_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_w0_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_w0_controller/pid/p
 * /robot/right_joint_position_controller/joints/right_w1_controller/joint
 * /robot/right_joint_position_controller/joints/right_w1_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_w1_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_w1_controller/pid/p
 * /robot/right_joint_position_controller/joints/right_w2_controller/joint
 * /robot/right_joint_position_controller/joints/right_w2_controller/pid/d
 * /robot/right_joint_position_controller/joints/right_w2_controller/pid/i
 * /robot/right_joint_position_controller/joints/right_w2_controller/pid/p
 * /robot/right_joint_position_controller/topic
 * /robot/right_joint_position_controller/type
 * /robot/right_joint_velocity_controller/joints/right_e0_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_e0_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_e0_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_e0_controller/pid/p
 * /robot/right_joint_velocity_controller/joints/right_e1_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_e1_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_e1_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_e1_controller/pid/p
 * /robot/right_joint_velocity_controller/joints/right_s0_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_s0_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_s0_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_s0_controller/pid/p
 * /robot/right_joint_velocity_controller/joints/right_s1_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_s1_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_s1_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_s1_controller/pid/p
 * /robot/right_joint_velocity_controller/joints/right_w0_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_w0_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_w0_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_w0_controller/pid/p
 * /robot/right_joint_velocity_controller/joints/right_w1_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_w1_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_w1_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_w1_controller/pid/p
 * /robot/right_joint_velocity_controller/joints/right_w2_controller/joint
 * /robot/right_joint_velocity_controller/joints/right_w2_controller/pid/d
 * /robot/right_joint_velocity_controller/joints/right_w2_controller/pid/i
 * /robot/right_joint_velocity_controller/joints/right_w2_controller/pid/p
 * /robot/right_joint_velocity_controller/topic
 * /robot/right_joint_velocity_controller/type
 * /robot/right_s0_position_controller/joint
 * /robot/right_s0_position_controller/pid/d
 * /robot/right_s0_position_controller/pid/i
 * /robot/right_s0_position_controller/pid/p
 * /robot/right_s0_position_controller/type
 * /robot/right_s1_position_controller/joint
 * /robot/right_s1_position_controller/pid/d
 * /robot/right_s1_position_controller/pid/i
 * /robot/right_s1_position_controller/pid/p
 * /robot/right_s1_position_controller/type
 * /robot/right_w0_position_controller/joint
 * /robot/right_w0_position_controller/pid/d
 * /robot/right_w0_position_controller/pid/i
 * /robot/right_w0_position_controller/pid/p
 * /robot/right_w0_position_controller/type
 * /robot/right_w1_position_controller/joint
 * /robot/right_w1_position_controller/pid/d
 * /robot/right_w1_position_controller/pid/i
 * /robot/right_w1_position_controller/pid/p
 * /robot/right_w1_position_controller/type
 * /robot/right_w2_position_controller/joint
 * /robot/right_w2_position_controller/pid/d
 * /robot/right_w2_position_controller/pid/i
 * /robot/right_w2_position_controller/pid/p
 * /robot/right_w2_position_controller/type
 * /robot_description
 * /root_name
 * /rosdistro
 * /rosversion
 * /urdf
 * /use_sim_time

NODES
  /
    baxter_emulator (baxter_sim_hardware/baxter_emulator)
    baxter_sim_io (baxter_sim_io/baxter_sim_io)
    baxter_sim_kinematics_left (baxter_sim_kinematics/kinematics)
    baxter_sim_kinematics_right (baxter_sim_kinematics/kinematics)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    urdf_spawner (gazebo_ros/spawn_model)
  /robot/
    controller_spawner (controller_manager/spawner)
    controller_spawner_stopped (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [26461]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3
process[rosout-1]: started with pid [26474]
started core service [/rosout]
process[gazebo-2]: started with pid [26486]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[gazebo_gui-3]: started with pid [26494]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[urdf_spawner-4]: started with pid [26500]
[ INFO] [1415799134.183404769]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1415799134.185947552]: 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: 133.11.216.132
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 133.11.216.132
process[baxter_sim_kinematics_left-5]: started with pid [26531]
[ INFO] [1415799134.389967217]: adding joint: [left_w2]
[ INFO] [1415799134.390076899]: adding joint: [left_w1]
[ INFO] [1415799134.390116210]: adding joint: [left_w0]
[ INFO] [1415799134.390152044]: adding joint: [left_e1]
[ INFO] [1415799134.390186095]: adding joint: [left_e0]
[ INFO] [1415799134.390220651]: adding joint: [left_s1]
[ INFO] [1415799134.390257135]: adding joint: [left_s0]
[ INFO] [1415799134.390316177]: getting bounds for joint: [left_w2]
[ INFO] [1415799134.390366930]: getting bounds for joint: [left_w1]
[ INFO] [1415799134.390404299]: getting bounds for joint: [left_w0]
[ INFO] [1415799134.390440855]: getting bounds for joint: [left_e1]
[ INFO] [1415799134.390476155]: getting bounds for joint: [left_e0]
[ INFO] [1415799134.390508780]: getting bounds for joint: [left_s1]
[ INFO] [1415799134.390540496]: getting bounds for joint: [left_s0]
process[baxter_sim_kinematics_right-6]: started with pid [26600]
[ INFO] [1415799134.571482592]: adding joint: [right_w2]
[ INFO] [1415799134.571662172]: adding joint: [right_w1]
[ INFO] [1415799134.571731737]: adding joint: [right_w0]
[ INFO] [1415799134.571792213]: adding joint: [right_e1]
[ INFO] [1415799134.571854004]: adding joint: [right_e0]
[ INFO] [1415799134.571912542]: adding joint: [right_s1]
[ INFO] [1415799134.571968256]: adding joint: [right_s0]
[ INFO] [1415799134.572050418]: getting bounds for joint: [right_w2]
[ INFO] [1415799134.572123577]: getting bounds for joint: [right_w1]
[ INFO] [1415799134.572184667]: getting bounds for joint: [right_w0]
[ INFO] [1415799134.572245442]: getting bounds for joint: [right_e1]
[ INFO] [1415799134.572307080]: getting bounds for joint: [right_e0]
[ INFO] [1415799134.572366543]: getting bounds for joint: [right_s1]
[ INFO] [1415799134.572454121]: getting bounds for joint: [right_s0]
[ INFO] [1415799134.584046252, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
spawn_model script started
[ INFO] [1415799134.650772656, 0.077000000]: Physics dynamic reconfigure ready.
process[baxter_emulator-7]: started with pid [26687]
[INFO] [WallTime: 1415799134.803924] [0.000000] Loading model xml from file
[INFO] [WallTime: 1415799134.804347] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1415799134.806302] [0.000000] Calling service /gazebo/spawn_urdf_model
process[robot/controller_spawner-8]: started with pid [26744]
process[robot/controller_spawner_stopped-9]: started with pid [26749]
process[robot_state_publisher-10]: started with pid [26750]
/opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher
[INFO] [WallTime: 1415799135.623056] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
process[baxter_sim_io-11]: started with pid [26785]
Unknown property der
Unknown property der
QMetaObject::connectSlotsByName: No matching signal for on_left_shoulder_pressed()
QMetaObject::connectSlotsByName: No matching signal for on_left_shoulder_released()
QMetaObject::connectSlotsByName: No matching signal for on_right_shoulder_pressed()
QMetaObject::connectSlotsByName: No matching signal for on_right_shoulder_released()
[INFO] [WallTime: 1415799136.000294] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
[INFO] [WallTime: 1415799137.284277] [2.196000] Spawn status: SpawnModel: Successfully spawned model
[INFO] [WallTime: 1415799137.284603] [2.196000] Waiting for service /gazebo/set_model_configuration
[INFO] [WallTime: 1415799137.286526] [2.196000] Calling service /gazebo/set_model_configuration
[INFO] [WallTime: 1415799137.293101] [2.196000] Set model configuration status: SetModelConfiguration: success
[urdf_spawner-4] process has finished cleanly
log file: /home/noriaki/.ros/log/4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3/urdf_spawner-4*.log
[ INFO] [1415799138.544346257]: GazeboRosVideo (gzclient, ns = /) has started!
[ INFO] [1415799139.484192676, 2.196000000]: GazeboRosVideo (gzserver, ns = /) has started!
[ INFO] [1415799146.901789145, 2.196000000]: Loading gazebo_ros_control plugin
[ INFO] [1415799146.901940652, 2.196000000]: Starting gazebo_ros_control plugin in namespace: /robot
[ INFO] [1415799146.902668673, 2.196000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1415799147.078482120, 2.196000000]: pluginlib WARNING: In file /home/noriaki/ros_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.  Base = base_class_type, Derived = derived_class_type
[ INFO] [1415799147.120387959, 2.196000000]: adding joint: [right_w2]
[ INFO] [1415799147.120494880, 2.196000000]: adding joint: [right_w1]
[ INFO] [1415799147.120535333, 2.196000000]: adding joint: [right_w0]
[ INFO] [1415799147.120590603, 2.196000000]: adding joint: [right_e1]
[ INFO] [1415799147.120632427, 2.196000000]: adding joint: [right_e0]
[ INFO] [1415799147.120666762, 2.196000000]: adding joint: [right_s1]
[ INFO] [1415799147.120704643, 2.196000000]: adding joint: [right_s0]
[ INFO] [1415799147.120754371, 2.196000000]: getting bounds for joint: [right_w2]
[ INFO] [1415799147.120800874, 2.196000000]: getting bounds for joint: [right_w1]
[ INFO] [1415799147.120837108, 2.196000000]: getting bounds for joint: [right_w0]
[ INFO] [1415799147.120873126, 2.196000000]: getting bounds for joint: [right_e1]
[ INFO] [1415799147.120909158, 2.196000000]: getting bounds for joint: [right_e0]
[ INFO] [1415799147.120944881, 2.196000000]: getting bounds for joint: [right_s1]
[ INFO] [1415799147.120978930, 2.196000000]: getting bounds for joint: [right_s0]
[ INFO] [1415799147.129019623, 2.196000000]: Loaded gazebo_ros_control.
[ INFO] [1415799147.129388969, 2.196000000]: Loading Baxter specific simulation components
[ INFO] [1415799147.133618732, 2.196000000]: adding joint: [left_w2]
[ INFO] [1415799147.133722496, 2.196000000]: adding joint: [left_w1]
[ INFO] [1415799147.133785285, 2.196000000]: adding joint: [left_w0]
[ INFO] [1415799147.133841560, 2.196000000]: adding joint: [left_e1]
[ INFO] [1415799147.133889561, 2.196000000]: adding joint: [left_e0]
[ INFO] [1415799147.133931024, 2.196000000]: adding joint: [left_s1]
[ INFO] [1415799147.133971664, 2.196000000]: adding joint: [left_s0]
[ INFO] [1415799147.134015916, 2.196000000]: getting bounds for joint: [left_w2]
[ INFO] [1415799147.134055037, 2.196000000]: getting bounds for joint: [left_w1]
[ INFO] [1415799147.134091728, 2.196000000]: getting bounds for joint: [left_w0]
[ INFO] [1415799147.134128588, 2.196000000]: getting bounds for joint: [left_e1]
[ INFO] [1415799147.134165026, 2.196000000]: getting bounds for joint: [left_e0]
[ INFO] [1415799147.134201448, 2.196000000]: getting bounds for joint: [left_s1]
[ INFO] [1415799147.134236960, 2.196000000]: getting bounds for joint: [left_s0]
[INFO] [WallTime: 1415799147.164598] [2.223000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1415799147.167977] [2.226000] Loading controller: left_joint_position_controller
[ INFO] [1415799147.267946735, 2.312000000]: Initializing BaxterPositionController with 7 joints.
[ INFO] [1415799147.268644284, 2.313000000]: Loading sub-controller 'left_e0_controller', Namespace: /robot/left_joint_position_controller/joints/left_e0_controller
[ INFO] [1415799147.320736726, 2.364000000]: Loading sub-controller 'left_e1_controller', Namespace: /robot/left_joint_position_controller/joints/left_e1_controller
[ INFO] [1415799147.377306101, 2.414000000]: Loading sub-controller 'left_s0_controller', Namespace: /robot/left_joint_position_controller/joints/left_s0_controller
[INFO] [WallTime: 1415799147.394843] [2.430000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1415799147.396828] [2.431000] Loading controller: joint_state_controller
[ INFO] [1415799147.423273117, 2.457000000]: Loading sub-controller 'left_s1_controller', Namespace: /robot/left_joint_position_controller/joints/left_s1_controller
[ INFO] [1415799147.469436467, 2.499000000]: Loading sub-controller 'left_w0_controller', Namespace: /robot/left_joint_position_controller/joints/left_w0_controller
[ INFO] [1415799147.516940583, 2.542000000]: Loading sub-controller 'left_w1_controller', Namespace: /robot/left_joint_position_controller/joints/left_w1_controller
[ INFO] [1415799147.558189135, 2.580000000]: Loading sub-controller 'left_w2_controller', Namespace: /robot/left_joint_position_controller/joints/left_w2_controller
[INFO] [WallTime: 1415799147.607357] [2.623000] Loading controller: right_joint_position_controller
[INFO] [WallTime: 1415799147.668758] [2.650000] Controller Spawner: Loaded controllers: joint_state_controller
[ INFO] [1415799147.670901617, 2.651000000]: Initializing BaxterPositionController with 7 joints.
[ INFO] [1415799147.671026438, 2.651000000]: Loading sub-controller 'right_e0_controller', Namespace: /robot/right_joint_position_controller/joints/right_e0_controller
[ INFO] [1415799147.716379130, 2.669000000]: Loading sub-controller 'right_e1_controller', Namespace: /robot/right_joint_position_controller/joints/right_e1_controller
[ INFO] [1415799147.760948578, 2.699000000]: Loading sub-controller 'right_s0_controller', Namespace: /robot/right_joint_position_controller/joints/right_s0_controller
[ INFO] [1415799147.797405909, 2.710000000]: Loading sub-controller 'right_s1_controller', Namespace: /robot/right_joint_position_controller/joints/right_s1_controller
[ INFO] [1415799147.838869291, 2.735000000]: Loading sub-controller 'right_w0_controller', Namespace: /robot/right_joint_position_controller/joints/right_w0_controller
[ INFO] [1415799147.885244353, 2.763000000]: Loading sub-controller 'right_w1_controller', Namespace: /robot/right_joint_position_controller/joints/right_w1_controller
[ INFO] [1415799147.924220621, 2.787000000]: Loading sub-controller 'right_w2_controller', Namespace: /robot/right_joint_position_controller/joints/right_w2_controller
[INFO] [WallTime: 1415799147.970607] [2.820000] Loading controller: head_position_controller
[INFO] [WallTime: 1415799147.971226] [2.821000] Started controllers: joint_state_controller
[ INFO] [1415799147.974746333, 2.824000000]: Initializing BaxterHeadController with 1 joints.
[ INFO] [1415799147.974841154, 2.824000000]: Loading sub-controller 'head_controller', Namespace: /robot/head_position_controller/joints/head_controller
[INFO] [WallTime: 1415799148.042753] [2.854000] Loading controller: left_joint_velocity_controller
[ INFO] [1415799148.047821123, 2.855000000]: Initializing BaxterVelocityController with 7 joints.
[ INFO] [1415799148.048337933, 2.855000000]: Loading sub-controller 'left_e0_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_e0_controller
[ INFO] [1415799148.099714846, 2.880000000]: Loading sub-controller 'left_e1_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_e1_controller
[ INFO] [1415799148.136462071, 2.907000000]: Loading sub-controller 'left_s0_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_s0_controller
[baxter_sim_kinematics_left-5] process has died [pid 26531, exit code -11, cmd /home/noriaki/ros_ws/devel/lib/baxter_sim_kinematics/kinematics left __name:=baxter_sim_kinematics_left __log:=/home/noriaki/.ros/log/4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3/baxter_sim_kinematics_left-5.log].
log file: /home/noriaki/.ros/log/4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3/baxter_sim_kinematics_left-5*.log
[baxter_sim_kinematics_right-6] process has died [pid 26600, exit code -11, cmd /home/noriaki/ros_ws/devel/lib/baxter_sim_kinematics/kinematics right __name:=baxter_sim_kinematics_right __log:=/home/noriaki/.ros/log/4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3/baxter_sim_kinematics_right-6.log].
log file: /home/noriaki/.ros/log/4f2edd5c-6a70-11e4-b9e7-3c970e5da9b3/baxter_sim_kinematics_right-6*.log
[ INFO] [1415799148.176968925, 2.931000000]: Loading sub-controller 'left_s1_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_s1_controller
[ INFO] [1415799148.209346792, 2.944000000]: Loading sub-controller 'left_w0_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_w0_controller
[ INFO] [1415799148.244857383, 2.955000000]: Loading sub-controller 'left_w1_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_w1_controller
[ INFO] [1415799148.277736093, 2.965000000]: Loading sub-controller 'left_w2_controller', Namespace: /robot/left_joint_velocity_controller/joints/left_w2_controller
[INFO] [WallTime: 1415799148.312893] [2.978000] Loading controller: right_joint_velocity_controller
[ INFO] [1415799148.317310375, 2.979000000]: Initializing BaxterVelocityController with 7 joints.
[ INFO] [1415799148.317398893, 2.979000000]: Loading sub-controller 'right_e0_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_e0_controller
[ INFO] [1415799148.346566809, 2.989000000]: Loading sub-controller 'right_e1_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_e1_controller
[ INFO] [1415799148.373638025, 2.998000000]: Loading sub-controller 'right_s0_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_s0_controller
[ INFO] [1415799148.412318172, 3.017000000]: Loading sub-controller 'right_s1_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_s1_controller
[ INFO] [1415799148.444990294, 3.033000000]: Loading sub-controller 'right_w0_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_w0_controller
[ INFO] [1415799148.480043827, 3.054000000]: Loading sub-controller 'right_w1_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_w1_controller
[ INFO] [1415799148.514684150, 3.081000000]: Loading sub-controller 'right_w2_controller', Namespace: /robot/right_joint_velocity_controller/joints/right_w2_controller
[INFO] [WallTime: 1415799148.552134] [3.106000] Loading controller: left_joint_effort_controller
[ INFO] [1415799148.556775290, 3.109000000]: Initializing BaxterEffortController with 7 joints.
[ INFO] [1415799148.557172061, 3.110000000]: Loading sub-controller 'left_e0_controller', Namespace: /robot/left_joint_effort_controller/joints/left_e0_controller
[ INFO] [1415799148.562782739, 3.113000000]: Loading sub-controller 'left_e1_controller', Namespace: /robot/left_joint_effort_controller/joints/left_e1_controller
[ INFO] [1415799148.567114411, 3.117000000]: Loading sub-controller 'left_s0_controller', Namespace: /robot/left_joint_effort_controller/joints/left_s0_controller
[ INFO] [1415799148.571717471, 3.121000000]: Loading sub-controller 'left_s1_controller', Namespace: /robot/left_joint_effort_controller/joints/left_s1_controller
[ INFO] [1415799148.577457563, 3.126000000]: Loading sub-controller 'left_w0_controller', Namespace: /robot/left_joint_effort_controller/joints/left_w0_controller
[ INFO] [1415799148.581445089, 3.128000000]: Loading sub-controller 'left_w1_controller', Namespace: /robot/left_joint_effort_controller/joints/left_w1_controller
[ INFO] [1415799148.586439973, 3.132000000]: Loading sub-controller 'left_w2_controller', Namespace: /robot/left_joint_effort_controller/joints/left_w2_controller
[INFO] [WallTime: 1415799148.592273] [3.138000] Loading controller: right_joint_effort_controller
[ INFO] [1415799148.596096522, 3.142000000]: Initializing BaxterEffortController with 7 joints.
[ INFO] [1415799148.596224756, 3.142000000]: Loading sub-controller 'right_e0_controller', Namespace: /robot/right_joint_effort_controller/joints/right_e0_controller
[ INFO] [1415799148.600106778, 3.146000000]: Loading sub-controller 'right_e1_controller', Namespace: /robot/right_joint_effort_controller/joints/right_e1_controller
[ INFO] [1415799148.604981549, 3.150000000]: Loading sub-controller 'right_s0_controller', Namespace: /robot/right_joint_effort_controller/joints/right_s0_controller
[ INFO] [1415799148.608112586, 3.153000000]: Loading sub-controller 'right_s1_controller', Namespace: /robot/right_joint_effort_controller/joints/right_s1_controller
[ INFO] [1415799148.614012065, 3.159000000]: Loading sub-controller 'right_w0_controller', Namespace: /robot/right_joint_effort_controller/joints/right_w0_controller
[ INFO] [1415799148.623223831, 3.167000000]: Loading sub-controller 'right_w1_controller', Namespace: /robot/right_joint_effort_controller/joints/right_w1_controller
[ INFO] [1415799148.626941689, 3.171000000]: Loading sub-controller 'right_w2_controller', Namespace: /robot/right_joint_effort_controller/joints/right_w2_controller
[INFO] [WallTime: 1415799148.632510] [3.176000] Controller Spawner: Loaded controllers: left_joint_position_controller, right_joint_position_controller, head_position_controller, left_joint_velocity_controller, right_joint_velocity_controller, left_joint_effort_controller, right_joint_effort_controller
^[[A[ INFO] [1415799182.260600135, 34.561000000]: Simulator is loaded and started successfully
[ INFO] [1415799182.265905108, 34.564000000]: Robot is disabled
[ INFO] [1415799182.265985107, 34.564000000]: Gravity compensation was turned off