what():  Invalid topic name: topic name must not contain characters other than alphanumerics, '_', '~', '{', or '}':

/world/demo/model/my_robot/link/front_camera::camera/sensor/camera/image

find_package(geometry_msgs REQUIRED)
ament_target_dependencies(create
  rclcpp
  ignition-math6
  geometry_msgs
)

undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<std_msgs::msg::String_<std::allocator<void> > >()'

$ ros2 launch ros_ign_gazebo ign_gazebo.launch.py 
[ign gazebo-1] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto
[ign gazebo-1] [libprotobuf FATAL google/protobuf/descriptor.cc:1358] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
[ign gazebo-1] terminate called after throwing an instance of 'google::protobuf::FatalException'
[ign gazebo-1]   what():  CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
[INFO] [ign gazebo-1]: process has finished cleanly [pid 444360]

$ ros2 run ros_ign_gazebo create -file /home/aderic/maidbot/gohan_ws/src/gohan/don_description/urdf/test.urdf
[INFO] [1619977088.223243063] [ros_ign_gazebo]: Requesting list of world names.
[INFO] [1619977088.424361784] [ros_ign_gazebo]: Requested creation of entity.
[INFO] [1619977088.424403865] [ros_ign_gazebo]: OK creation of entity.

<?xml version="1.0" ?>
<robot name="will_be_ignored" xmlns:xacro="http://www.ros.org/wiki/xacro">

<gazebo>
  <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
    <render_engine>ogre2</render_engine>
  </plugin>
</gazebo>

<link name="base_footprint">
  <visual>
    <geometry>
      <sphere radius="0.5"/>
    </geometry>
  </visual>
  <collision>
    <geometry>
      <sphere radius="0.5"/>
    </geometry>
  </collision>
  <inertial>
    <mass value="1"/>
  <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
  </inertial>
</link>

<link name="link">
  <visual>
    <geometry>
      <sphere radius="1.0"/>
    </geometry>
  </visual>
  <collision>
    <geometry>
      <sphere radius="1.0"/>
    </geometry>
  </collision>
  <inertial>
    <mass value="1"/>
    <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
  </inertial>
</link>

<gazebo reference="link" >
  <sensor name="link" type="gpu_lidar">
    <topic>scan</topic>
    <update_rate>30</update_rate>
    <lidar>
      <scan>
        <horizontal>
          <samples>2800</samples>
          <resolution>1</resolution>
          <min_angle>-2.09</min_angle>
          <max_angle>2.09</max_angle>
        </horizontal>
        <vertical>
          <samples>1</samples>
          <resolution>0.1</resolution>
          <min_angle>0.0</min_angle>
          <max_angle>0.0</max_angle>
        </vertical>
      </scan>
      <range>
        <min>0.05</min>
        <max>30.0</max>
        <resolution>0.01</resolution>
      </range>
    </lidar>
    <alwaysOn>1</alwaysOn>
    <visualize>true</visualize>
  </sensor>
</gazebo>

<joint name="base_footprint_joint" type="fixed">
  <origin xyz="0 0 3.0" rpy="0 0 0" />
  <parent link="base_footprint"/>
  <child link="link" />
</joint>

</robot>

<sdf version='1.7'>
  <world name='empty'>
    <physics name='1ms' type='ignored'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode/>
            </friction>
            <contact/>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
          <plugin name='__default__' filename='__default__'/>
        </visual>
      </link>
      <plugin name='__default__' filename='__default__'/>
      <pose>0 0 0 0 -0 0</pose>
    </model>
    <model name='my_custom_model'>
      <link name='base_footprint'>
        <inertial>
          <pose>0 0 1.5 0 -0 0</pose>
          <mass>2</mass>
          <inertia>
            <ixx>6.5</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>6.5</iyy>
            <iyz>0</iyz>
            <izz>2</izz>
          </inertia>
        </inertial>
        <collision name='base_footprint_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode/>
            </friction>
            <contact/>
          </surface>
        </collision>
        <collision name='base_footprint_fixed_joint_lump__link_collision_1'>
          <pose>0 0 3 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='base_footprint_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <plugin name='__default__' filename='__default__'/>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__link_visual_1'>
          <pose>0 0 3 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
          <plugin name='__default__' filename='__default__'/>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <sensor name='link' type='gpu_lidar'>
          <topic>scan</topic>
          <update_rate>30</update_rate>
          <lidar>
            <scan>
              <horizontal>
                <samples>2800</samples>
                <resolution>1</resolution>
                <min_angle>-2.09</min_angle>
                <max_angle>2.09</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <resolution>0.1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.05</min>
              <max>30</max>
              <resolution>0.01</resolution>
            </range>
          </lidar>
          <visualize>1</visualize>
          <pose>0 0 3 0 -0 0</pose>
          <alwaysOn>1</alwaysOn>
          <plugin name='__default__' filename='__default__'/>
        </sensor>
      </link>
      <static>0</static>
      <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
        <render_engine>ogre2</render_engine>
      </plugin>
      <pose>1.2 0 0.5 0 -0 -2.88319</pose>
    </model>
  </world>
</sdf>

<sdf version='1.8'>
  <world name='empty'>
    <physics name='1ms' type='ignored'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.90000000000000002</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode/>
            </friction>
            <bounce/>
            <contact/>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
          <plugin name='__default__' filename='__default__'/>
        </visual>
      </link>
      <plugin name='__default__' filename='__default__'/>
      <pose>0 0 0 0 -0 0</pose>
    </model>
    <model name='my_custom_model'>
      <link name='base_footprint'>
        <inertial>
          <pose>0 0 1.5 0 -0 0</pose>
          <mass>2</mass>
          <inertia>
            <ixx>6.5</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>6.5</iyy>
            <iyz>0</iyz>
            <izz>2</izz>
          </inertia>
        </inertial>
        <collision name='base_footprint_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode/>
            </friction>
            <bounce/>
            <contact/>
          </surface>
        </collision>
        <collision name='base_footprint_fixed_joint_lump__link_collision_1'>
          <pose>0 0 3 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
        </collision>
        <visual name='base_footprint_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <plugin name='__default__' filename='__default__'/>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__link_visual_1'>
          <pose>0 0 3 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
          <plugin name='__default__' filename='__default__'/>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <sensor name='link' type='gpu_lidar'>
          <topic>scan</topic>
          <update_rate>30</update_rate>
          <lidar>
            <scan>
              <horizontal>
                <samples>2800</samples>
                <resolution>1</resolution>
                <min_angle>-2.0899999999999999</min_angle>
                <max_angle>2.0899999999999999</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <resolution>0.10000000000000001</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.050000000000000003</min>
              <max>30</max>
              <resolution>0.01</resolution>
            </range>
          </lidar>
          <visualize>1</visualize>
          <alwaysOn>1</alwaysOn>
          <plugin name='__default__' filename='__default__'/>
        </sensor>
      </link>
      <static>0</static>
      <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
        <render_engine>ogre2</render_engine>
      </plugin>
      <pose>1.2 0 0.5 0 -0 -2.88319</pose>
    </model>
  </world>
</sdf>

<depend>ignition-gazebo5</depend>

<depend>ros_ign_dev</depend>

import os
import yaml
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node

def load_file(package_name, file_path):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, "r") as file:
            return file.read()
    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
        return None


def load_yaml(package_name, file_path):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, "r") as file:
            return yaml.safe_load(file)
    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
        return None

def generate_launch_description():

    # Import model
    # gazebo_pkg_path =  os.path.join(get_package_share_directory("stretch_gazebo"), "urdf", "stretch_gazebo.urdf.xacro")
    # gazebo_pkg_path =  os.path.join(get_package_share_directory("stretch_description"), "urdf", "description_test.urdf.xacro")
    gazebo_pkg_path =  os.path.join(get_package_share_directory("stretch_description"), "urdf", "stretch_main.xacro")
    robot_description_config = xacro.process_file(
        gazebo_pkg_path
    )
    robot_description = {"robot_description": robot_description_config.toxml()}

    # Robot state publisher
    robot_state_publisher = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        name="robot_state_publisher",
        output="both",
        parameters=[robot_description],
    )

    # Ignition gazebo
    pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
        launch_arguments={'ign_args': '-r empty.sdf'}.items(),
    )

    # RViz
    pkg_stretch_gazebo = get_package_share_directory('stretch_gazebo')
    rviz = Node(
        package='rviz2',
        executable='rviz2',
        arguments=['-d', os.path.join(pkg_stretch_gazebo, 'config', 'stretch_gazebo.rviz')],
        parameters=[robot_description]
    )

    # Spawn
    spawn = Node(package='ros_ign_gazebo', executable='create',
                arguments=[
                    '-name', 'robot',
                    # '-file', gazebo_pkg_path
                    # '-topic', '/robot_description'
                    '-param', robot_description
                    ],
                output='screen')

    # Ign Bridge
    bridge = Node(
        package='ros_ign_bridge',
        executable='parameter_bridge',
        arguments=['/cmd_vel@geometry_msgs/msg/[email protected]',
                '/model/robot/odometry@nav_msgs/msg/[email protected]',
                # '/model/robot/tf@tf2_msgs/msg/[email protected]_V',
                '/joint_states@sensor_msgs/msg/[email protected]',
                '/clock@rosgraph_msgs/msg/[email protected]'
                ],
        remappings=[
            # ("/model/robot/tf", "tf"),
            ("/model/robot/odometry", "odom")
        ],
        output='screen'
    )

    return LaunchDescription([
        robot_state_publisher,
        rviz,
        gazebo,
        spawn,
        bridge,
    ])

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4724]
[INFO] [ign gazebo-2]: process started with pid [4726]
[INFO] [create-3]: process started with pid [4728]
[create-3] [INFO] [1620676458.214857039] [ros_ign_gazebo]: Requesting list of world names.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-1] Link caster_link had 0 children
[robot_state_publisher-1] Link link_left_wheel had 0 children
[robot_state_publisher-1] Link link_mast had 0 children
[robot_state_publisher-1] Link link_right_wheel had 0 children
[robot_state_publisher-1] [INFO] [1620676458.215944360] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1620676458.215994193] [robot_state_publisher]: got segment caster_link
[robot_state_publisher-1] [INFO] [1620676458.216001299] [robot_state_publisher]: got segment link_left_wheel
[robot_state_publisher-1] [INFO] [1620676458.216005618] [robot_state_publisher]: got segment link_mast
[robot_state_publisher-1] [INFO] [1620676458.216009563] [robot_state_publisher]: got segment link_right_wheel
[ign gazebo-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[create-3] [ERROR] [1620676458.590403867] [ros_ign_gazebo]: Failed to get XML from param [robot_description].
[ERROR] [create-3]: process has died [pid 4728, exit code 255, cmd '/root/ws_stretch/install/ros_ign_gazebo/lib/ros_ign_gazebo/create -name robot -param robot_description --ros-args'].

  <plugin
    filename="libignition-gazebo-diff-drive-system.so"
    name="ignition::gazebo::systems::DiffDrive">
    <left_joint>left_wheel_joint</left_joint>
    <right_joint>right_wheel_joint</right_joint>
    <wheel_separation>1.25</wheel_separation>
    <wheel_radius>0.3</wheel_radius>
    <!-- no odom_publisher_frequency defaults to 50 Hz -->
  </plugin>

[Msg] Ignition Gazebo Server v6.0.0~pre1
[Msg] Ignition Gazebo GUI    v6.0.0~pre1
[Msg] Loading SDF world file[/home/hubble-02/stochlite/src/stochlite_ros/stochlite_gazebo/worlds/flat.sdf].
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Msg] Create service on [/world/flat/create]
[Msg] Remove service on [/world/flat/remove]
[Msg] Pose service on [/world/flat/set_pose]
[Msg] Light configuration service on [/world/flat/light_config]
[Msg] Physics service on [/world/flat/set_physics]
[Msg] Serving world controls on [/world/flat/control] and [/world/flat/playback/control]
[Msg] Serving GUI information on [/world/flat/gui/info]
[Msg] World [flat] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/flat/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource paths published on [/gazebo/resource_paths].
[INFO] [1622050945.025013]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1622050945.098393860]: Requested creation of entity.
[stochlite/create-7] process has finished cleanly
log file: /home/hubble-02/.ros/log/bacf86ae-be49-11eb-8e3e-9c2976c9ae3c/stochlite-create-7*.log
[GUI] [Msg] Loading config [/home/hubble-02/.ignition/gazebo/gui.config]
[GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[GUI] [Msg] Transform mode service on [/gui/transform_mode]
[GUI] [Msg] Record video service on [/gui/record_video]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] View angle service on [/gui/view_angle]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] View wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzScene3D.so]
[GUI] [Msg] Using world control service [/world/flat/control]
[GUI] [Msg] Listening to stats on [/world/flat/stats]
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Msg] Listening to stats on [/world/flat/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[Wrn] [SimulationRunner.cc:643] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:676] Found additional publishers on /clock, using namespaced clock topic only
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131947072]: Msg: A link named bl_abd_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131947040]: Msg: A link named bl_thigh_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131947008]: Msg: A link named bl_shank_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946976]: Msg: A link named br_abd_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946944]: Msg: A link named br_thigh_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946912]: Msg: A link named br_shank_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946880]: Msg: A link named fl_abd_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946848]: Msg: A link named fl_thigh_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946816]: Msg: A link named fl_shank_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946784]: Msg: A link named fr_abd_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946752]: Msg: A link named fr_thigh_link has invalid inertia.
[Err] [UserCommands.cc:602] Error Code 18: [:L-1131946720]: Msg: A link named fr_shank_link has invalid inertia.
/usr/lib/ruby/ignition/cmdgazebo6.rb:431: [BUG] Segmentation fault at 0x00007f00a31b0720
ruby 2.5.1p57 (2018-03-29 revision 63029) [x86_64-linux-gnu]

-- Control frame information -----------------------------------------------
c:0007 p:---- s:0076 e:000075 CFUNC  :call
c:0006 p:0017 s:0054 e:000053 METHOD /usr/lib/ruby/ignition/cmdgazebo6.rb:431
c:0005 p:0160 s:0048 e:000047 BLOCK  /usr/lib/ruby/ignition/cmdgazebo6.rb:460 [FINISH]
c:0004 p:---- s:0045 e:000044 CFUNC  :fork
c:0003 p:0675 s:0041 e:000040 METHOD /usr/lib/ruby/ignition/cmdgazebo6.rb:456
c:0002 p:0695 s:0020 E:001900 EVAL   /usr/bin/ign:275 [FINISH]
c:0001 p:0000 s:0003 E:000210 (none) [FINISH]

-- Ruby level backtrace information ----------------------------------------
/usr/bin/ign:275:in `<main>'
/usr/lib/ruby/ignition/cmdgazebo6.rb:456:in `execute'
/usr/lib/ruby/ignition/cmdgazebo6.rb:456:in `fork'
/usr/lib/ruby/ignition/cmdgazebo6.rb:460:in `block in execute'
/usr/lib/ruby/ignition/cmdgazebo6.rb:431:in `runServer'
/usr/lib/ruby/ignition/cmdgazebo6.rb:431:in `call'

-- Machine register context ------------------------------------------------
 RIP: 0x00007f00a31b0720 RBP: 0x000055bcbc87dd40 RSP: 0x00007ffe6adf78a8
 RAX: 0x0000000000000000 RBX: 0x000055bcbc87dbc0 RCX: 0x0000000000000003
 RDX: 0x000055bcba908010 RDI: 0x000055bcbc8dbd90 RSI: 0x000055bcba908040
  R8: 0x000055bcbc87d0d0  R9: 0x0000000000000008 R10: 0x0000000000000200
 R11: 0x0000000000000000 R12: 0x00007ffe6adf7930 R13: 0x000055bcbc87dd40
 R14: 0x0000000000000000 R15: 0x00007ffe6adf7920 EFL: 0x0000000000010206

-- C level backtrace information -------------------------------------------
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
================================================================================REQUIRED process [ign_gazebo-2] has died!
process has finished cleanly
log file: /home/hubble-02/.ros/log/bacf86ae-be49-11eb-8e3e-9c2976c9ae3c/ign_gazebo-2*.log
Initiating shutdown!
================================================================================
[stochlite/stochlite_gazebo-6] killing on exit
[stochlite/linear_policy_controller-5] killing on exit
[stochlite/controller_spawner-4] killing on exit
[stochlite/robot_state_publisher-3] killing on exit
[ign_gazebo-2] killing on exit
[WARN] [1622050946.497910]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

<mass value="0.037"/>
<inertia ixx="0.00043261" ixy="-0.00067195" ixz="3.147E-05" iyy="0.0010929" iyz="-1.979E-05" izz="0.0051879"/>

header {
  stamp {
    sec: 6
    nsec: 884000000
  }
}
contact {
  header {
    stamp {
      sec: 6
      nsec: 884000000
    }
  }
  collision1 {
    id: 96
  }
  collision2 {
    id: 7
  }
  position {
    x: -0.38790994410051866
    y: -0.21047000000004118
    z: -3.3862761483760551e-09
  }
  position {
    x: -0.38790994409679119
    y: -0.15047000000004118
    z: -3.4019649319816381e-09
  }
}

Node(package='ros_ign_bridge', executable='parameter_bridge',
                                 namespace=namespace,
                                 name='bumper_contact_bridge',
                                 output='screen',
                                 parameters=[{
                                     'use_sim_time': use_sim_time
                                 }],
                                 arguments=[
                                     'model/robot/bumper_contact' +
                                     '@ros_ign_interfaces/msg/Contacts' +
                                     '[ignition.msgs.Contacts'
                                 ],
                                 remappings=[
                                     ('model/robot/bumper_contact', '/bumper_contact')
                                 ])

rosrun ros1_ign_bridge parameter_bridge test@std_msgs/[email protected]

rostopic echo /test

rostopic pub /test std_msgs/String "data: 'Hello'"

data: "Hello"
---
data: "Hello"
---

<?xml version="1.0"?>
<launch>
  <group>
    <include file="$(find-pkg-share ros_ign_gazebo)/launch/ign_gazebo.launch.py">
      <arg name="ign_args" value="empty.sdf" />
    </include>
  </group>

  <node pkg="ros_ign_gazebo" exec="create" args="-world empty -param robot_description" output="screen">
    <param name="robot_description" value="$(command 'cat $(find-pkg-share test_robot_ign_gazebo)/urdf/my_robot.urdf')" />
  </node>
</launch>

   ros::init(_argc, _argv, "ign_create"); 
   ros::NodeHandle nh; 

   gflags::AllowCommandLineReparsing(); 
   gflags::SetUsageMessage( 
       R"(Usage: create -world [arg] [-file FILE] [-param PARAM] [-string STRING] 
                        [-name NAME] [-X X] [-Y Y] [-Z Z] [-Roll ROLL] 
                        [-Pitch PITCH] [-Yaw YAW])"); 
   gflags::ParseCommandLineFlags(&_argc, &_argv, true);