``` marabir@marabir-legion:~/catkin_ws/src/human-assistant/src/mobile-platform$ roslaunch mobile-platform mobile-platform-with-arm.launch ... logging to /home/marabir/.ros/log/a270c18e-8f7d-11ed-a482-8dd9349093e7/roslaunch-marabir-legion-125394.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://marabir-legion:37217/ SUMMARY ======== PARAMETERS * /arm/cartesian_impedance_example_controller/arm_id: panda * /arm/cartesian_impedance_example_controller/joint_names: ['panda_joint1', ... * /arm/cartesian_impedance_example_controller/type: franka_example_co... * /arm/effort_joint_trajectory_controller/constraints/goal_time: 0.5 * /arm/effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05 * /arm/effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05 * /arm/effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05 * /arm/effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05 * /arm/effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05 * /arm/effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05 * /arm/effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05 * /arm/effort_joint_trajectory_controller/gains/panda_joint1/d: 30 * /arm/effort_joint_trajectory_controller/gains/panda_joint1/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint1/p: 600 * /arm/effort_joint_trajectory_controller/gains/panda_joint2/d: 30 * /arm/effort_joint_trajectory_controller/gains/panda_joint2/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint2/p: 600 * /arm/effort_joint_trajectory_controller/gains/panda_joint3/d: 30 * /arm/effort_joint_trajectory_controller/gains/panda_joint3/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint3/p: 600 * /arm/effort_joint_trajectory_controller/gains/panda_joint4/d: 30 * /arm/effort_joint_trajectory_controller/gains/panda_joint4/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint4/p: 600 * /arm/effort_joint_trajectory_controller/gains/panda_joint5/d: 10 * /arm/effort_joint_trajectory_controller/gains/panda_joint5/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint5/p: 250 * /arm/effort_joint_trajectory_controller/gains/panda_joint6/d: 10 * /arm/effort_joint_trajectory_controller/gains/panda_joint6/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint6/p: 150 * /arm/effort_joint_trajectory_controller/gains/panda_joint7/d: 5 * /arm/effort_joint_trajectory_controller/gains/panda_joint7/i: 0 * /arm/effort_joint_trajectory_controller/gains/panda_joint7/p: 50 * /arm/effort_joint_trajectory_controller/joints: ['panda_joint1', ... * /arm/effort_joint_trajectory_controller/type: effort_controller... * /arm/force_example_controller/arm_id: panda * /arm/force_example_controller/joint_names: ['panda_joint1', ... * /arm/force_example_controller/type: franka_example_co... * /arm/franka_state_controller/arm_id: panda * /arm/franka_state_controller/joint_names: ['panda_joint1', ... * /arm/franka_state_controller/publish_rate: 30 * /arm/franka_state_controller/type: franka_control/Fr... * /arm/joint_position_example_controller/joint_names: ['panda_joint1', ... * /arm/joint_position_example_controller/type: franka_example_co... * /arm/joint_velocity_example_controller/joint_names: ['panda_joint1', ... * /arm/joint_velocity_example_controller/type: franka_example_co... * /arm/model_example_controller/arm_id: panda * /arm/model_example_controller/type: franka_example_co... * /arm/position_joint_trajectory_controller/constraints/goal_time: 0.5 * /arm/position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05 * /arm/position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05 * /arm/position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05 * /arm/position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05 * /arm/position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05 * /arm/position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05 * /arm/position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05 * /arm/position_joint_trajectory_controller/joints: ['panda_joint1', ... * /arm/position_joint_trajectory_controller/type: position_controll... * /gazebo/enable_ros_network: True * /joint_state_publisher/rate: 30 * /joint_state_publisher/source_list: ['franka_state_co... * /m_ee: 0.76 * /panda/position/gains/panda_joint1/d: 30 * /panda/position/gains/panda_joint1/i: 0 * /panda/position/gains/panda_joint1/p: 600 * /panda/position/gains/panda_joint2/d: 30 * /panda/position/gains/panda_joint2/i: 0 * /panda/position/gains/panda_joint2/p: 600 * /panda/position/gains/panda_joint3/d: 30 * /panda/position/gains/panda_joint3/i: 0 * /panda/position/gains/panda_joint3/p: 600 * /panda/position/gains/panda_joint4/d: 30 * /panda/position/gains/panda_joint4/i: 0 * /panda/position/gains/panda_joint4/p: 600 * /panda/position/gains/panda_joint5/d: 10 * /panda/position/gains/panda_joint5/i: 0 * /panda/position/gains/panda_joint5/p: 250 * /panda/position/gains/panda_joint6/d: 10 * /panda/position/gains/panda_joint6/i: 0 * /panda/position/gains/panda_joint6/p: 150 * /panda/position/gains/panda_joint7/d: 5 * /panda/position/gains/panda_joint7/i: 0 * /panda/position/gains/panda_joint7/p: 50 * /panda/velocity/gains/panda_joint1/d: 0 * /panda/velocity/gains/panda_joint1/i: 0 * /panda/velocity/gains/panda_joint1/p: 30 * /panda/velocity/gains/panda_joint2/d: 0 * /panda/velocity/gains/panda_joint2/i: 0 * /panda/velocity/gains/panda_joint2/p: 30 * /panda/velocity/gains/panda_joint3/d: 0 * /panda/velocity/gains/panda_joint3/i: 0 * /panda/velocity/gains/panda_joint3/p: 30 * /panda/velocity/gains/panda_joint4/d: 0 * /panda/velocity/gains/panda_joint4/i: 0 * /panda/velocity/gains/panda_joint4/p: 30 * /panda/velocity/gains/panda_joint5/d: 0 * /panda/velocity/gains/panda_joint5/i: 0 * /panda/velocity/gains/panda_joint5/p: 10 * /panda/velocity/gains/panda_joint6/d: 0 * /panda/velocity/gains/panda_joint6/i: 0 * /panda/velocity/gains/panda_joint6/p: 10 * /panda/velocity/gains/panda_joint7/d: 0 * /panda/velocity/gains/panda_joint7/i: 0 * /panda/velocity/gains/panda_joint7/p: 5 * /platform/gazebo_ros_control/pid_gains/front_left_wheel/d: 0 * /platform/gazebo_ros_control/pid_gains/front_left_wheel/i: 0.01 * /platform/gazebo_ros_control/pid_gains/front_left_wheel/p: 0.5 * /platform/gazebo_ros_control/pid_gains/front_right_wheel/d: 0 * /platform/gazebo_ros_control/pid_gains/front_right_wheel/i: 0.01 * /platform/gazebo_ros_control/pid_gains/front_right_wheel/p: 0.5 * /platform/gazebo_ros_control/pid_gains/rear_left_wheel/d: 0 * /platform/gazebo_ros_control/pid_gains/rear_left_wheel/i: 0.01 * /platform/gazebo_ros_control/pid_gains/rear_left_wheel/p: 0.5 * /platform/gazebo_ros_control/pid_gains/rear_right_wheel/d: 0 * /platform/gazebo_ros_control/pid_gains/rear_right_wheel/i: 0.01 * /platform/gazebo_ros_control/pid_gains/rear_right_wheel/p: 0.5 * /platform/platform/gazebo_ros_control/pid_gains/front_left_wheel/d: 0 * /platform/platform/gazebo_ros_control/pid_gains/front_left_wheel/i: 0.01 * /platform/platform/gazebo_ros_control/pid_gains/front_left_wheel/p: 0.5 * /platform/platform/gazebo_ros_control/pid_gains/front_right_wheel/d: 0 * /platform/platform/gazebo_ros_control/pid_gains/front_right_wheel/i: 0.01 * /platform/platform/gazebo_ros_control/pid_gains/front_right_wheel/p: 0.5 * /platform/platform/gazebo_ros_control/pid_gains/rear_left_wheel/d: 0 * /platform/platform/gazebo_ros_control/pid_gains/rear_left_wheel/i: 0.01 * /platform/platform/gazebo_ros_control/pid_gains/rear_left_wheel/p: 0.5 * /platform/platform/gazebo_ros_control/pid_gains/rear_right_wheel/d: 0 * /platform/platform/gazebo_ros_control/pid_gains/rear_right_wheel/i: 0.01 * /platform/platform/gazebo_ros_control/pid_gains/rear_right_wheel/p: 0.5 * /robot_description: exists due to fixed joint reduction overwriting previous value [true] with [false]. [ INFO] [1673200538.487221897]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1673200538.487259537]: Starting Laser Plugin (ns = /) [ INFO] [1673200538.488299459]: Laser Plugin (ns = /) , set to "" [ INFO] [1673200538.685915035]: Loading gazebo_ros_control plugin [ INFO] [1673200538.685990614]: Starting gazebo_ros_control plugin in namespace: /platform [ INFO] [1673200538.686372525]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ERROR] [1673200538.855322942]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint1 [ERROR] [1673200538.855814186]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint2 [ERROR] [1673200538.856436291]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint3 [ERROR] [1673200538.857042136]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint4 [ERROR] [1673200538.857630786]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint5 [ERROR] [1673200538.858211160]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint6 [ERROR] [1673200538.858787163]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint7 [ WARN] [1673200538.858887416]: Replacing previously registered handle 'panda_joint1' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.859507603]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint1 [ WARN] [1673200538.859545627]: Replacing previously registered handle 'panda_joint2' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.860119379]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint2 [ WARN] [1673200538.860158576]: Replacing previously registered handle 'panda_joint3' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.860732390]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint3 [ WARN] [1673200538.860764171]: Replacing previously registered handle 'panda_joint4' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.861318375]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint4 [ WARN] [1673200538.861348237]: Replacing previously registered handle 'panda_joint5' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.861889734]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint5 [ WARN] [1673200538.861922439]: Replacing previously registered handle 'panda_joint6' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.862546239]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint6 [ WARN] [1673200538.862580963]: Replacing previously registered handle 'panda_joint7' in 'hardware_interface::JointStateInterface'. [ERROR] [1673200538.863193113]: No p gain specified for pid. Namespace: /platform/gazebo_ros_control/pid_gains/panda_joint7 [ WARN] [1673200538.863226144]: Replacing previously registered handle 'panda_joint1' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.863585853]: Replacing previously registered handle 'panda_joint2' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.863922618]: Replacing previously registered handle 'panda_joint3' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.864254402]: Replacing previously registered handle 'panda_joint4' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.864595323]: Replacing previously registered handle 'panda_joint5' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.864941027]: Replacing previously registered handle 'panda_joint6' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.865281095]: Replacing previously registered handle 'panda_joint7' in 'hardware_interface::JointStateInterface'. [ WARN] [1673200538.865614819]: Transmission panda_franka_state has more than one joint. Currently the default robot hardware simulation interface only supports one. [ WARN] [1673200538.865636559]: Transmission panda_franka_model has more than one joint. Currently the default robot hardware simulation interface only supports one. [ INFO] [1673200538.870694985]: Loaded gazebo_ros_control. [ INFO] [1673200538.908000826]: ForceBasedMove using gains: yaw: 500 x: 10000 y: 10000 [ INFO] [1673200538.908032395]: robotBaseFrame for force based move plugin: base_link [ INFO] [1673200538.911110873]: Loading gazebo_ros_control plugin [ INFO] [1673200538.911174314]: Starting gazebo_ros_control plugin in namespace: /panda [ INFO] [1673200539.058140905]: Using physics type ode [ INFO] [1673200539.060251550]: Found transmission interface of joint 'front_left_wheel': hardware_interface/VelocityJointInterface [ERROR] [1673200539.060626530]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/front_left_wheel [ INFO] [1673200539.060716578]: Found transmission interface of joint 'front_right_wheel': hardware_interface/VelocityJointInterface [ERROR] [1673200539.061027606]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/front_right_wheel [ INFO] [1673200539.061047371]: Found transmission interface of joint 'rear_left_wheel': hardware_interface/VelocityJointInterface [ERROR] [1673200539.061371385]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/rear_left_wheel [ INFO] [1673200539.061403044]: Found transmission interface of joint 'rear_right_wheel': hardware_interface/VelocityJointInterface [ERROR] [1673200539.061712773]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/rear_right_wheel [ INFO] [1673200539.061738484]: Found transmission interface of joint 'panda_joint1': hardware_interface/PositionJointInterface [ERROR] [1673200539.062017255]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint1 [ INFO] [1673200539.062061992]: Found transmission interface of joint 'panda_joint2': hardware_interface/PositionJointInterface [ERROR] [1673200539.062383788]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint2 [ INFO] [1673200539.062413846]: Found transmission interface of joint 'panda_joint3': hardware_interface/PositionJointInterface [ERROR] [1673200539.062718648]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint3 [ INFO] [1673200539.062751241]: Found transmission interface of joint 'panda_joint4': hardware_interface/PositionJointInterface [ERROR] [1673200539.063044389]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint4 [ INFO] [1673200539.063075133]: Found transmission interface of joint 'panda_joint5': hardware_interface/PositionJointInterface [ERROR] [1673200539.063363394]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint5 [ INFO] [1673200539.063386228]: Found transmission interface of joint 'panda_joint6': hardware_interface/PositionJointInterface [ERROR] [1673200539.063727333]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint6 [ INFO] [1673200539.063751225]: Found transmission interface of joint 'panda_joint7': hardware_interface/PositionJointInterface [ERROR] [1673200539.064065558]: No p gain specified for pid. Namespace: /panda/motion_generators/position/gains/panda_joint7 [ INFO] [1673200539.064089985]: Found transmission interface of joint 'panda_joint1': hardware_interface/VelocityJointInterface [ERROR] [1673200539.064373530]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint1 [ INFO] [1673200539.064407272]: Found transmission interface of joint 'panda_joint2': hardware_interface/VelocityJointInterface [ERROR] [1673200539.064734389]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint2 [ INFO] [1673200539.064769737]: Found transmission interface of joint 'panda_joint3': hardware_interface/VelocityJointInterface [ERROR] [1673200539.065125309]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint3 [ INFO] [1673200539.065161862]: Found transmission interface of joint 'panda_joint4': hardware_interface/VelocityJointInterface [ERROR] [1673200539.065516505]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint4 [ INFO] [1673200539.065552233]: Found transmission interface of joint 'panda_joint5': hardware_interface/VelocityJointInterface [ERROR] [1673200539.065887977]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint5 [ INFO] [1673200539.065924092]: Found transmission interface of joint 'panda_joint6': hardware_interface/VelocityJointInterface [ERROR] [1673200539.066278041]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint6 [ INFO] [1673200539.066314600]: Found transmission interface of joint 'panda_joint7': hardware_interface/VelocityJointInterface [ERROR] [1673200539.066643799]: No p gain specified for pid. Namespace: /panda/motion_generators/velocity/gains/panda_joint7 [ INFO] [1673200539.066673079]: Found transmission interface of joint 'panda_joint1': hardware_interface/EffortJointInterface [ INFO] [1673200539.066741942]: Found transmission interface of joint 'panda_joint2': hardware_interface/EffortJointInterface [ INFO] [1673200539.066774621]: Found transmission interface of joint 'panda_joint3': hardware_interface/EffortJointInterface [ INFO] [1673200539.066806865]: Found transmission interface of joint 'panda_joint4': hardware_interface/EffortJointInterface [ INFO] [1673200539.066838603]: Found transmission interface of joint 'panda_joint5': hardware_interface/EffortJointInterface [ INFO] [1673200539.066870146]: Found transmission interface of joint 'panda_joint6': hardware_interface/EffortJointInterface [ INFO] [1673200539.066903221]: Found transmission interface of joint 'panda_joint7': hardware_interface/EffortJointInterface [ INFO] [1673200539.066940045]: Found transmission interface 'franka_hw/FrankaStateInterface' [ INFO] [1673200539.067480880]: Found transmission interface 'franka_hw/FrankaModelInterface' [ INFO] [1673200539.068380265]: KDL Model initialized for chain from 'panda_link0' -> 'panda_link8' [ INFO] [1673200539.069143593]: Found transmission interface of joint 'panda_finger_joint1': hardware_interface/EffortJointInterface [ INFO] [1673200539.069162815]: Found transmission interface of joint 'panda_finger_joint2': hardware_interface/EffortJointInterface [ INFO] [1673200539.080276563]: No parameter lower_torque_thresholds_nominal found, using default values: 20.000000 20.000000 18.000000 18.000000 16.000000 14.000000 12.000000 [ INFO] [1673200539.080859299]: No parameter upper_torque_thresholds_nominal found, using default values: 20.000000 20.000000 18.000000 18.000000 16.000000 14.000000 12.000000 [ INFO] [1673200539.081172849]: No parameter lower_force_thresholds_nominal found, using default values: 20.000000 20.000000 20.000000 25.000000 25.000000 25.000000 [ INFO] [1673200539.081569669]: No parameter upper_force_thresholds_nominal found, using default values: 20.000000 20.000000 20.000000 25.000000 25.000000 25.000000 [spawn_urdf-5] process has finished cleanly log file: /home/marabir/.ros/log/a270c18e-8f7d-11ed-a482-8dd9349093e7/spawn_urdf-5*.log Segmentation fault (core dumped) [gazebo-6] process has died [pid 125462, exit code 139, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -u -e ode office_small.world __name:=gazebo __log:=/home/marabir/.ros/log/a270c18e-8f7d-11ed-a482-8dd9349093e7/gazebo-6.log]. log file: /home/marabir/.ros/log/a270c18e-8f7d-11ed-a482-8dd9349093e7/gazebo-6*.log ```