`roslaunch gbplanner smb_sim.launch
... logging to /home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/roslaunch-Ronin-736510.log
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Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://Ronin:38123/
SUMMARY
========
PARAMETERS
* /gazebo/enable_ros_network: True
* /gbplanner_node/AdaptiveObbParams/bounding_box_size_max: 35
* /gbplanner_node/AdaptiveObbParams/local_pointcloud_range: 50.0
* /gbplanner_node/AdaptiveObbParams/type: kPca
* /gbplanner_node/BoundedSpaceParams/Global/max_val: [1000.0, 1000.0, ...
* /gbplanner_node/BoundedSpaceParams/Global/min_val: [-1000.0, -1000.0...
* /gbplanner_node/BoundedSpaceParams/Global/type: kCuboid
* /gbplanner_node/BoundedSpaceParams/Local/max_extension: [20.0, 20.0, 20.0]
* /gbplanner_node/BoundedSpaceParams/Local/max_val: [15.0, 15.0, 3.0]
* /gbplanner_node/BoundedSpaceParams/Local/min_extension: [-20.0, -20.0, -2...
* /gbplanner_node/BoundedSpaceParams/Local/min_val: [-15.0, -15.0, -3.0]
* /gbplanner_node/BoundedSpaceParams/Local/type: kCuboid
* /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/max_val: [10.0, 10.0, 0.75]
* /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/min_val: [-10.0, -10.0, -0...
* /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/type: kCuboid
* /gbplanner_node/BoundedSpaceParams/LocalSearch/max_val: [50.0, 50.0, 10.0]
* /gbplanner_node/BoundedSpaceParams/LocalSearch/min_val: [-50.0, -50.0, -1...
* /gbplanner_node/BoundedSpaceParams/LocalSearch/type: kCuboid
* /gbplanner_node/GeofenceParams/AreaList: ['GLeft', 'GBack'...
* /gbplanner_node/GeofenceParams/GBack/center: [-3.0, 0.0, 0.0]
* /gbplanner_node/GeofenceParams/GBack/size: [2.0, 6.0, 0.0]
* /gbplanner_node/GeofenceParams/GLeft/center: [0.0, 4.0, 0.0]
* /gbplanner_node/GeofenceParams/GLeft/size: [6.0, 2.0, 0.0]
* /gbplanner_node/GeofenceParams/GRight/center: [0.0, -4.0, 0.0]
* /gbplanner_node/GeofenceParams/GRight/size: [6.0, 2.0, 0.0]
* /gbplanner_node/NoGainZones/g1/max_val: [2.0, 50.0, 20.0]
* /gbplanner_node/NoGainZones/g1/min_val: [-50.0, -50.0, -2...
* /gbplanner_node/NoGainZones/g1/type: kCuboid
* /gbplanner_node/PlanningParams/augment_free_voxels_time: 1
* /gbplanner_node/PlanningParams/auto_global_planner_enable: True
* /gbplanner_node/PlanningParams/auto_homing_enable: True
* /gbplanner_node/PlanningParams/bound_mode: kExtremeBound
* /gbplanner_node/PlanningParams/cluster_vertices_for_gain: True
* /gbplanner_node/PlanningParams/clustering_radius: 0.5
* /gbplanner_node/PlanningParams/edge_length_max: 3.0
* /gbplanner_node/PlanningParams/edge_length_min: 0.1
* /gbplanner_node/PlanningParams/edge_overshoot: 0.0
* /gbplanner_node/PlanningParams/exp_gain_voxel_size: 0.8
* /gbplanner_node/PlanningParams/exp_sensor_list: ['VLP16']
* /gbplanner_node/PlanningParams/free_frustum_before_planning: False
* /gbplanner_node/PlanningParams/free_voxel_gain: 0.0
* /gbplanner_node/PlanningParams/freespace_cloud_enable: False
* /gbplanner_node/PlanningParams/geofence_checking_enable: True
* /gbplanner_node/PlanningParams/global_frame_id: world
* /gbplanner_node/PlanningParams/global_path_inclination_check: True
* /gbplanner_node/PlanningParams/go_home_if_fully_explored: True
* /gbplanner_node/PlanningParams/hanging_vertex_penalty: 5.0
* /gbplanner_node/PlanningParams/homing_backward: False
* /gbplanner_node/PlanningParams/interpolate_projection_distance: False
* /gbplanner_node/PlanningParams/leafs_only_for_volumetric_gain: False
* /gbplanner_node/PlanningParams/max_ground_height: 0.7
* /gbplanner_node/PlanningParams/max_inclination: 0.4363323129985824
* /gbplanner_node/PlanningParams/nearest_range: 2.5
* /gbplanner_node/PlanningParams/nearest_range_max: 3.0
* /gbplanner_node/PlanningParams/nearest_range_min: 0.1
* /gbplanner_node/PlanningParams/no_gain_zones_list: ['g1']
* /gbplanner_node/PlanningParams/nonuniform_ray_cast: True
* /gbplanner_node/PlanningParams/num_edges_max: 5000
* /gbplanner_node/PlanningParams/num_loops_cutoff: 2000
* /gbplanner_node/PlanningParams/num_loops_max: 20000
* /gbplanner_node/PlanningParams/num_vertices_max: 500
* /gbplanner_node/PlanningParams/occupied_voxel_gain: 0.0
* /gbplanner_node/PlanningParams/path_direction_penalty: 0.3
* /gbplanner_node/PlanningParams/path_interpolation_distance: 0.5
* /gbplanner_node/PlanningParams/path_length_penalty: 0.07
* /gbplanner_node/PlanningParams/path_safety_enhance_enable: True
* /gbplanner_node/PlanningParams/ray_cast_step_size_multiplier: 1.0
* /gbplanner_node/PlanningParams/relaxed_corridor_multiplier: 1.5
* /gbplanner_node/PlanningParams/robot_height: 0.6
* /gbplanner_node/PlanningParams/rr_mode: kGraph
* /gbplanner_node/PlanningParams/time_budget_limit: 3600
* /gbplanner_node/PlanningParams/traverse_length_max: 6.0
* /gbplanner_node/PlanningParams/traverse_time_max: 40.0
* /gbplanner_node/PlanningParams/type: kAdaptiveExploration
* /gbplanner_node/PlanningParams/unknown_voxel_gain: 60.0
* /gbplanner_node/PlanningParams/use_current_state: True
* /gbplanner_node/PlanningParams/use_ray_model_for_volumetric_gain: True
* /gbplanner_node/PlanningParams/yaw_tangent_correction: True
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/max_val: 3.141592653589793
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/min_val: -3.141592653589793
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/sample_mode: kManual
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/max_val: 3.141592653589793
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/min_val: -3.141592653589793
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/sample_mode: kManual
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/max_val: 3.141592653589793
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/min_val: -3.141592653589793
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/sample_mode: kManual
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/sample_mode: kLocal
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/pdf_type: kUniform
* /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/sample_mode: kLocal
* /gbplanner_node/RobotParams/bound_mode: kExtendedBound
* /gbplanner_node/RobotParams/center_offset: [0.0, 0.0, 0.0]
* /gbplanner_node/RobotParams/relax_ratio: 0.5
* /gbplanner_node/RobotParams/safety_extension: [2.0, 3.0, 0.2]
* /gbplanner_node/RobotParams/size: [0.8, 0.8, 0.2]
* /gbplanner_node/RobotParams/size_extension: [0.2, 0.2, 0.2]
* /gbplanner_node/RobotParams/size_extension_min: [0.0, 0.0, 0.0]
* /gbplanner_node/RobotParams/type: kGroundRobot
* /gbplanner_node/SensorParams/VLP16/center_offset: [0.0, 0.0, 0.0]
* /gbplanner_node/SensorParams/VLP16/fov: [6.28318530717958...
* /gbplanner_node/SensorParams/VLP16/frontier_percentage_threshold: 0.05
* /gbplanner_node/SensorParams/VLP16/max_range: 20.0
* /gbplanner_node/SensorParams/VLP16/resolution: [0.08726646259971...
* /gbplanner_node/SensorParams/VLP16/rotations: [0.0, 0.0, 0.0]
* /gbplanner_node/SensorParams/VLP16/type: kLidar
* /gbplanner_node/SensorParams/sensor_list: ['VLP16']
* /gbplanner_node/accumulate_icp_corrections: True
* /gbplanner_node/allow_clear: True
* /gbplanner_node/clear_sphere_for_planning: False
* /gbplanner_node/clear_sphere_radius: 0.8
* /gbplanner_node/clearing_ray_weight_factor: 0.01
* /gbplanner_node/color_mode: colors
* /gbplanner_node/enable_icp: False
* /gbplanner_node/esdf_max_distance_m: 2.0
* /gbplanner_node/icp_refine_roll_pitch: False
* /gbplanner_node/integration_order_mode: sorted
* /gbplanner_node/max_consecutive_ray_collisions: 0
* /gbplanner_node/max_ray_length_m: 50.0
* /gbplanner_node/max_weight: 200
* /gbplanner_node/mesh_min_weight: 1e-4
* /gbplanner_node/method: fast
* /gbplanner_node/min_ray_length_m: 0.5
* /gbplanner_node/min_time_between_msgs_sec: 0.0
* /gbplanner_node/occupancy_min_distance_voxel_size_factor: 1.0
* /gbplanner_node/pointcloud_queue_size: 1000
* /gbplanner_node/publish_esdf_map: True
* /gbplanner_node/publish_pointclouds: True
* /gbplanner_node/publish_slices: False
* /gbplanner_node/publish_traversable: True
* /gbplanner_node/publish_tsdf_info: False
* /gbplanner_node/publish_tsdf_map: True
* /gbplanner_node/slice_level: 1.0
* /gbplanner_node/sparsity_compensation_factor: 100.0
* /gbplanner_node/timestamp_tolerance_sec: 0.001
* /gbplanner_node/traversability_radius: 0.4
* /gbplanner_node/truncation_distance: 0.6
* /gbplanner_node/tsdf_voxel_size: 0.2
* /gbplanner_node/tsdf_voxels_per_side: 16
* /gbplanner_node/update_mesh_every_n_sec: 0.5
* /gbplanner_node/use_const_weight: False
* /gbplanner_node/use_freespace_pointcloud: True
* /gbplanner_node/use_sparsity_compensation_factor: True
* /gbplanner_node/use_symmetric_weight_drop_off: False
* /gbplanner_node/use_tf_transforms: True
* /gbplanner_node/use_weight_dropoff: True
* /gbplanner_node/verbose: False
* /gbplanner_node/voxel_carving_enabled: True
* /gbplanner_node/weight_ray_by_range: False
* /gbplanner_node/world_frame: world
* /message_to_tf/frame_id: world
* /message_to_tf/odometry_topic: ground_truth/state
* /pci_general_ros_node/RobotDynamics/dt: 0.05
* /pci_general_ros_node/RobotDynamics/v_homing_max: 0.3
* /pci_general_ros_node/RobotDynamics/v_init_max: 0.3
* /pci_general_ros_node/RobotDynamics/v_max: 0.3
* /pci_general_ros_node/RobotDynamics/yaw_rate_max: 0.5
* /pci_general_ros_node/init_motion/x_forward: 3.0
* /pci_general_ros_node/init_motion/z_drop: 1.7
* /pci_general_ros_node/init_motion/z_takeoff: 2.5
* /pci_general_ros_node/init_motion_enable: False
* /pci_general_ros_node/output_type: kAction
* /pci_general_ros_node/planner_trigger_lead_time: 0.0
* /pci_general_ros_node/robot_type: kGround
* /pci_general_ros_node/run_mode: kSim
* /pci_general_ros_node/smooth_heading_enable: True
* /pci_general_ros_node/trigger_mode: kManual
* /robot_description: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.15.14
* /smb_front_left_wheel_velocity_controller/base_frame_id: base_link
* /smb_front_left_wheel_velocity_controller/cmd_vel_timeout: 0.25
* /smb_front_left_wheel_velocity_controller/has_acceleration_limits: True
* /smb_front_left_wheel_velocity_controller/has_velocity_limits: True
* /smb_front_left_wheel_velocity_controller/joint: LF_WHEEL
* /smb_front_left_wheel_velocity_controller/max_acceleration: 3.0
* /smb_front_left_wheel_velocity_controller/max_velocity: 3.0
* /smb_front_left_wheel_velocity_controller/pid/d: 10.0
* /smb_front_left_wheel_velocity_controller/pid/i: 0.01
* /smb_front_left_wheel_velocity_controller/pid/p: 100.0
* /smb_front_left_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /smb_front_left_wheel_velocity_controller/publish_rate: 50
* /smb_front_left_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /smb_front_left_wheel_velocity_controller/type: velocity_controll...
* /smb_front_left_wheel_velocity_controller/velocity_rolling_window_size: 2
* /smb_front_right_wheel_velocity_controller/base_frame_id: base_link
* /smb_front_right_wheel_velocity_controller/cmd_vel_timeout: 0.25
* /smb_front_right_wheel_velocity_controller/has_acceleration_limits: True
* /smb_front_right_wheel_velocity_controller/has_velocity_limits: True
* /smb_front_right_wheel_velocity_controller/joint: RF_WHEEL
* /smb_front_right_wheel_velocity_controller/max_acceleration: 3.0
* /smb_front_right_wheel_velocity_controller/max_velocity: 3.0
* /smb_front_right_wheel_velocity_controller/pid/d: 10.0
* /smb_front_right_wheel_velocity_controller/pid/i: 0.01
* /smb_front_right_wheel_velocity_controller/pid/p: 100.0
* /smb_front_right_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /smb_front_right_wheel_velocity_controller/publish_rate: 50
* /smb_front_right_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /smb_front_right_wheel_velocity_controller/type: velocity_controll...
* /smb_front_right_wheel_velocity_controller/velocity_rolling_window_size: 2
* /smb_joint_publisher/publish_rate: 50
* /smb_joint_publisher/type: joint_state_contr...
* /smb_path_tracker_node/critical_angle: 0.52
* /smb_path_tracker_node/desired_vel: 0.5
* /smb_path_tracker_node/look_ahead_distance: 0.5
* /smb_path_tracker_node/look_ahead_error_margin: 0.2
* /smb_path_tracker_node/max_ang_vel: 0.5
* /smb_rear_left_wheel_velocity_controller/base_frame_id: base_link
* /smb_rear_left_wheel_velocity_controller/cmd_vel_timeout: 0.25
* /smb_rear_left_wheel_velocity_controller/has_acceleration_limits: True
* /smb_rear_left_wheel_velocity_controller/has_velocity_limits: True
* /smb_rear_left_wheel_velocity_controller/joint: LH_WHEEL
* /smb_rear_left_wheel_velocity_controller/max_acceleration: 3.0
* /smb_rear_left_wheel_velocity_controller/max_velocity: 3.0
* /smb_rear_left_wheel_velocity_controller/pid/d: 10.0
* /smb_rear_left_wheel_velocity_controller/pid/i: 0.01
* /smb_rear_left_wheel_velocity_controller/pid/p: 100.0
* /smb_rear_left_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /smb_rear_left_wheel_velocity_controller/publish_rate: 50
* /smb_rear_left_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /smb_rear_left_wheel_velocity_controller/type: velocity_controll...
* /smb_rear_left_wheel_velocity_controller/velocity_rolling_window_size: 2
* /smb_rear_right_wheel_velocity_controller/base_frame_id: base_link
* /smb_rear_right_wheel_velocity_controller/cmd_vel_timeout: 0.25
* /smb_rear_right_wheel_velocity_controller/has_acceleration_limits: True
* /smb_rear_right_wheel_velocity_controller/has_velocity_limits: True
* /smb_rear_right_wheel_velocity_controller/joint: RH_WHEEL
* /smb_rear_right_wheel_velocity_controller/max_acceleration: 3.0
* /smb_rear_right_wheel_velocity_controller/max_velocity: 3.0
* /smb_rear_right_wheel_velocity_controller/pid/d: 10.0
* /smb_rear_right_wheel_velocity_controller/pid/i: 0.01
* /smb_rear_right_wheel_velocity_controller/pid/p: 100.0
* /smb_rear_right_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /smb_rear_right_wheel_velocity_controller/publish_rate: 50
* /smb_rear_right_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /smb_rear_right_wheel_velocity_controller/type: velocity_controll...
* /smb_rear_right_wheel_velocity_controller/velocity_rolling_window_size: 2
* /smb_teleop_twist_joy_node/max_velocity_angular: 1.5
* /smb_teleop_twist_joy_node/max_velocity_linear: 1
* /smb_velocity_controller/angular/z/has_acceleration_limits: True
* /smb_velocity_controller/angular/z/has_velocity_limits: True
* /smb_velocity_controller/angular/z/max_acceleration: 2
* /smb_velocity_controller/angular/z/max_velocity: 1
* /smb_velocity_controller/base_frame_id: base_link
* /smb_velocity_controller/cmd_vel_timeout: 0.25
* /smb_velocity_controller/enable_odom_tf: False
* /smb_velocity_controller/estimate_velocity_from_position: False
* /smb_velocity_controller/left_wheel: ['LF_WHEEL', 'LH_...
* /smb_velocity_controller/linear/x/has_acceleration_limits: True
* /smb_velocity_controller/linear/x/has_velocity_limits: True
* /smb_velocity_controller/linear/x/max_acceleration: 3
* /smb_velocity_controller/linear/x/max_velocity: 1.5
* /smb_velocity_controller/pid/d: 10.0
* /smb_velocity_controller/pid/i: 0.01
* /smb_velocity_controller/pid/p: 100.0
* /smb_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /smb_velocity_controller/publish_rate: 50
* /smb_velocity_controller/right_wheel: ['RF_WHEEL', 'RH_...
* /smb_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /smb_velocity_controller/type: diff_drive_contro...
* /smb_velocity_controller/velocity_rolling_window_size: 2
* /smb_velocity_controller/wheel_radius_multiplier: 1.0
* /smb_velocity_controller/wheel_separation: 0.6604
* /smb_velocity_controller/wheel_separation_multiplier: 1.0
* /twist_mux/locks: [{'name': 'e_stop...
* /twist_mux/topics: [{'name': 'joy', ...
* /use_sim_time: True
NODES
/
controller_spawner (controller_manager/spawner)
front_lidar_relay (topic_tools/relay)
gazebo (gazebo_ros/gzserver)
gbplanner_node (gbplanner/gbplanner_node)
gbplanner_ui (rviz/rviz)
joy_node (joy/joy_node)
message_to_tf (smb_gazebo/message_to_tf)
odom_to_world_tf (tf/static_transform_publisher)
pci_general_ros_node (pci_general/pci_general_ros_node)
pose_throttler (topic_tools/throttle)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
smb_path_tracker_node (smb_path_tracker/smb_path_tracker_ros_node)
smb_teleop_twist_joy_node (smb_teleop_twist_joy/smb_teleop_twist_joy_node)
spawn_smb_model (gazebo_ros/spawn_model)
tf_53 (tf/static_transform_publisher)
twist_marker_server (interactive_marker_twist_server/marker_server)
twist_mux (twist_mux/twist_mux)
vlp_relay (topic_tools/relay)
auto-starting new master
process[master]: started with pid [736558]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c189b720-726c-11ed-9f3d-035f770cbc42
process[rosout-1]: started with pid [736587]
started core service [/rosout]
process[tf_53-2]: started with pid [736594]
process[gazebo-3]: started with pid [736595]
process[spawn_smb_model-4]: started with pid [736598]
process[robot_state_publisher-5]: started with pid [736601]
process[message_to_tf-6]: started with pid [736607]
process[odom_to_world_tf-7]: started with pid [736608]
process[controller_spawner-8]: started with pid [736609]
process[twist_mux-9]: started with pid [736618]
process[twist_marker_server-10]: started with pid [736624]
process[joy_node-11]: started with pid [736626]
process[smb_teleop_twist_joy_node-12]: started with pid [736632]
process[smb_path_tracker_node-13]: started with pid [736639]
process[vlp_relay-14]: started with pid [736664]
process[front_lidar_relay-15]: started with pid [736667]
process[pose_throttler-16]: started with pid [736673]
process[gbplanner_node-17]: started with pid [736674]
process[pci_general_ros_node-18]: started with pid [736682]
[ INFO] [1670004695.483485043]: [twist_marker_server] Initialized.
process[gbplanner_ui-19]: started with pid [736684]
[ERROR] [1670004695.492176116]: Couldn't open joystick /dev/input/js0. Will retry every second.
[ INFO] [1670004695.643547166]: rviz version 1.14.19
[ INFO] [1670004695.643586960]: compiled against Qt version 5.12.8
[ INFO] [1670004695.643597614]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1670004695.651919564]: Forcing OpenGl version 0.
/gbplanner_node/SensorParams/VLP16 0, 0, 0
[ INFO] [1670004695.857957564]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1670004695.858948939]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1670004695.984320833]: Stereo is NOT SUPPORTED
[ INFO] [1670004695.984363630]: OpenGL device: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2
[ INFO] [1670004695.984373301]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1670004696.247503641]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1670004696.254953679]: Physics dynamic reconfigure ready.
Service [///shininess] is not valid.
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1670004698.391252063, 251.830000000]: Lidar laser plugin ready, 32 lasers
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1670004698.493617727, 251.830000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1670004698.495975652, 251.830000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1670004698.496052921, 251.830000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1670004698.496730382, 251.830000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1670004698.498986617, 251.830000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1670004698.499652560, 251.830000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
Topic [///joint_cmd] is not valid.
Service [///joint_cmd_req] is not valid.
[ INFO] [1670004698.524273546, 251.830000000]: Lidar GPU laser plugin ready, 16 lasers
[ INFO] [1670004698.609773848, 251.830000000]: Loading gazebo_ros_control plugin
[ INFO] [1670004698.609839667, 251.830000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1670004698.610737562, 251.830000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1670004698.721298764, 251.830000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/LF_WHEEL
[ERROR] [1670004698.721904971, 251.830000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/RF_WHEEL
[ERROR] [1670004698.722408338, 251.830000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/LH_WHEEL
[ERROR] [1670004698.722860239, 251.830000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/RH_WHEEL
[ INFO] [1670004698.727314585, 251.830000000]: Loaded gazebo_ros_control.
[ INFO] [1670004698.767677752, 251.850000000]: Controller state will be published at 50Hz.
[ INFO] [1670004698.768504302, 251.850000000]: Wheel separation will be multiplied by 1.
[ INFO] [1670004698.769068173, 251.860000000]: Left wheel radius will be multiplied by 1.
[ INFO] [1670004698.769096530, 251.860000000]: Right wheel radius will be multiplied by 1.
[ INFO] [1670004698.769386021, 251.860000000]: Velocity rolling window size of 2.
[ INFO] [1670004698.769896670, 251.860000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1670004698.770574253, 251.860000000]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1670004698.771141669, 251.860000000]: Base frame_id set to base_link
[ INFO] [1670004698.771462786, 251.860000000]: Odometry frame_id set to odom
[ INFO] [1670004698.772069996, 251.860000000]: Publishing to tf is disabled
[ INFO] [1670004698.779347315, 251.870000000]: Odometry params : wheel separation 0.6604, left wheel radius 0.19, right wheel radius 0.19
[ INFO] [1670004698.780605674, 251.870000000]: Adding left wheel with joint name: LF_WHEEL and right wheel with joint name: RF_WHEEL
[ INFO] [1670004698.780643537, 251.870000000]: Adding left wheel with joint name: LH_WHEEL and right wheel with joint name: RH_WHEEL
[ INFO] [1670004698.789939136, 251.880000000]: Dynamic Reconfigure:
DynamicParams:
Odometry parameters:
left wheel radius multiplier: 1
right wheel radius multiplier: 1
wheel separation multiplier: 1
Publication parameters:
Publish executed velocity command: disabled
Publication rate: 50
Publish frame odom on tf: disabled
[spawn_smb_model-4] process has finished cleanly
log file: /home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/spawn_smb_model-4*.log
[ INFO] [1670004752.476194525, 300.780000000]: Setting goal: Frame:world, Position(6.063, 0.310, 0.000), Orientation(0.000, 0.000, 0.346, 0.938) = Angle: 0.707
[ INFO] [1670004766.275938144, 313.280000000]: Setting goal: Frame:world, Position(6.227, 0.409, 0.000), Orientation(0.000, 0.000, -0.085, 0.996) = Angle: -0.171
[ INFO] [1670004784.759061604, 329.990000000]: Planning iteration 0
[ INFO] [1670004796.096076254, 340.400000000]: Planning iteration 1
[ERROR] [1670004801.100860797, 344.950000000]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
[ INFO] [1670004808.750320954, 352.000000000]: Planning iteration 2
[ INFO] [1670004830.968320079, 372.220000000]: Planning iteration 3
[ INFO] [1670004843.933968872, 384.090000000]: Planning iteration 4
[ INFO] [1670004856.066563520, 395.140000000]: Setting goal: Frame:world, Position(2.224, -0.193, 0.000), Orientation(0.000, 0.000, 0.002, 1.000) = Angle: 0.004
[ INFO] [1670004857.855551417, 396.800000000]: Planning iteration 5
[ERROR] [1670004869.408217314, 407.320000000]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
[ INFO] [1670004879.497433612, 416.470000000]: Planning iteration 6
[ INFO] [1670004892.457615414, 428.370000000]: Planning iteration 7
[ INFO] [1670004904.951218133, 439.840000000]: Planning iteration 8
[ INFO] [1670004920.757421893, 454.260000000]: Setting goal: Frame:world, Position(-4.752, -1.237, 0.000), Orientation(0.000, 0.000, -1.000, 0.009) = Angle: -3.123
[ INFO] [1670004932.165040894, 464.560000000]: SMB Path Tracker: Reached end of path
[ INFO] [1670004940.822883235, 472.400000000]: Planning iteration 9
gbplanner_node: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:364: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator()(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = double; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.
*** Aborted at 1670004946 (unix time) try "date -d @1670004946" if you are using GNU date ***
PC: @ 0x7f0eae24e00b gsignal
*** SIGABRT (@0x3e8000b3da2) received by PID 736674 (TID 0x7f0ea2980840) from PID 736674; stack trace: ***
@ 0x7f0eb001b781 google::(anonymous namespace)::FailureSignalHandler()
@ 0x7f0eae24e090 (unknown)
@ 0x7f0eae24e00b gsignal
@ 0x7f0eae22d859 abort
@ 0x7f0eae22d729 (unknown)
@ 0x7f0eae23efd6 __assert_fail
@ 0x7f0eaf47bc11 Eigen::DenseCoeffsBase<>::operator()()
@ 0x7f0eaf47a234 _ZN17MapManagerVoxbloxIN7voxblox10TsdfServerENS0_9TsdfVoxelEE13getScanStatusERN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEERSt6vectorIS6_SaIS6_EERSt5tupleIJiiiEERS8_ISt4pairIS6_N10MapManager11VoxelStatusEESaISI_EER16SensorParamsBase
@ 0x7f0eafbc3017 explorer::Rrg::computeVolumetricGainRayModel()
@ 0x7f0eafbba192 explorer::Rrg::expandGlobalGraphTimerCallback()
@ 0x7f0eafc310fb boost::_mfi::mf1<>::operator()()
@ 0x7f0eafc29371 boost::_bi::list2<>::operator()<>()
@ 0x7f0eafc2229d boost::_bi::bind_t<>::operator()<>()
@ 0x7f0eafc1ab2e boost::detail::function::void_function_obj_invoker1<>::invoke()
@ 0x7f0eaff07608 ros::TimerManager<>::TimerQueueCallback::call()
@ 0x7f0eaff29172 ros::CallbackQueue::callOneCB()
@ 0x7f0eaff2a883 ros::CallbackQueue::callAvailable()
@ 0x7f0eaff7dfcf ros::SingleThreadedSpinner::spin()
@ 0x7f0eaff6621f ros::spin()
@ 0x557a276b8a3a main
@ 0x7f0eae22f083 __libc_start_main
@ 0x557a276b871e _start
[ERROR] [1670004946.273309155, 477.380000000]: Planner service failed
[gbplanner_node-17] process has died [pid 736674, exit code -6, cmd /home/antoan/dev/gbplanner2_ws/devel/lib/gbplanner/gbplanner_node odometry:=/ground_truth/state /pointcloud:=/input_pointcloud __name:=gbplanner_node __log:=/home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/gbplanner_node-17.log].
log file: /home/antoan/.ros/log/c189b720-726c-11ed-9f3d-035f770cbc42/gbplanner_node-17*.log
[ INFO] [1670004946.806100546, 477.890000000]: Planning iteration 9
[ERROR] [1670004946.806156020, 477.890000000]: Planner service failed
`