Multi-Robot Simulation: Crash when spawning more than two robots

[msminirobot]

Describe the bug

In Ubuntu 22.04, ROS 2 Humble, Gazebo Ignition:

When spawning more than two robots with unique namespaces and positions, the simulation crashes.

To Reproduce
Steps to reproduce the behavior:

1. Launch simulation with one robot: ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py namespace:=robot1
2. Add second robot: ros2 launch irobot_create_ignition_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0
3. Add third robot: ros2 launch irobot_create_ignition_bringup create3_spawn.launch.py namespace:=robot3 x:=2.0
4. See error

Expected behavior
Third robot spawning in the simulation, everything running fine.

Additional context

Terminal Output after sending spawn command for third robot:

[INFO] [spawner-29]: process started with pid [38497] [ruby $(which ign) gazebo-1] [INFO] [1701087990.903347614] [robot2.controller_manager]: Loading controller 'diffdrive_controller' [ruby $(which ign) gazebo-1] [INFO] [1701087990.926840181] [robot2.controller_manager]: Setting use_sim_time=True for diffdrive_controller to match controller manager (see ros2_control#325 for details) [ruby $(which ign) gazebo-1] [INFO] [1701087990.931878163] [robot2.controller_manager]: Configuring controller 'diffdrive_controller' [ruby $(which ign) gazebo-1] [INFO] [1701087990.931929793] [robot2.diffdrive_controller]: Parameters were updated [ruby $(which ign) gazebo-1] [INFO] [1701087991.726886726] [robot.controller_manager]: Loading controller 'diffdrive_controller' [ruby $(which ign) gazebo-1] [INFO] [1701087991.759171825] [robot.controller_manager]: Setting use_sim_time=True for diffdrive_controller to match controller manager (see ros2_control#325 for details) [spawner-29] [INFO] [1701087991.761761030] [robot.spawner_diffdrive_controller]: Loaded diffdrive_controller [ruby $(which ign) gazebo-1] [INFO] [1701087991.763922515] [robot.controller_manager]: Configuring controller 'diffdrive_controller' [ruby $(which ign) gazebo-1] [INFO] [1701087991.763962865] [robot.diffdrive_controller]: Parameters were updated [spawner-29] [INFO] [1701087991.773789490] [robot.spawner_diffdrive_controller]: Configured and activated diffdrive_controller [INFO] [spawner-29]: process has finished cleanly [pid 38497] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (3)[Msg] Added plugin [World control] to main window [ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats] [ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/depot/stats] [ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window [ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene. [ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window [ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes] [ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window [ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Create3Hmi] [ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Create3 HMI] to main window [ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Create3Hmi] from path [/home/kaiser/turtlebot4_ws/install/irobot_create_ignition_plugins/share/irobot_create_ignition_plugins/lib/libCreate3Hmi.so] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Teleop] [ruby $(which ign) gazebo-1] [GUI] [Msg] A new topic has been entered: '/cmd_vel ' [ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [Teleop] to main window [ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [Teleop] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libTeleop.so] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config [ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [RenderUtil.cc:2588] Create scene [scene] [ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [TransformControl.cc:531] TransformControl plugin is using camera [scene::Camera(65527)] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Scene3D.cc:3310] RenderEngineGuiPlugin component not found, render engine won't be set from the ECM [ruby $(which ign) gazebo-1] [GUI] [Msg] Grayscale emissive texture detected. Converting to RGB: ign_ROOF_Emissive.png [ruby $(which ign) gazebo-1] [GUI] [Msg] Grayscale emissive texture detected. Converting to RGB: ign_INTERCOM_Emissive.png [ruby $(which ign) gazebo-1] [INFO] [1701088070.075576128] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [bumper_joint] (Entity=219)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075611208] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [front_caster_joint] (Entity=220)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075617388] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [imu_joint] (Entity=221)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075622598] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_left_joint] (Entity=222)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075627518] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_center_right_joint] (Entity=223)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075632328] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_left_joint] (Entity=224)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075636998] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_front_right_joint] (Entity=225)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075641698] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_left_joint] (Entity=226)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075646978] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_right_joint] (Entity=227)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075651578] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_intensity_side_left_joint] (Entity=228)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075655998] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [ir_omni_joint] (Entity=229)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.075660758] [robot3.gz_ros2_control]: [ign_ros2_control] Fixed joint [mouse_joint] (Entity=230)] is skipped [ruby $(which ign) gazebo-1] [INFO] [1701088070.494768185] [robot3.gz_ros2_control]: connected to service!! /robot3/robot_state_publisher asking for robot_description [ruby $(which ign) gazebo-1] [INFO] [1701088070.495209027] [robot3.gz_ros2_control]: Received URDF from param server [ruby $(which ign) gazebo-1] [WARN] [1701088070.497741683] [robot3.gz_ros2_control]: The position_proportional_gain parameter was not defined, defaulting to: 0.1 [ruby $(which ign) gazebo-1] [INFO] [1701088070.497804413] [robot3.gz_ros2_control]: Loading joint: left_wheel_joint [ruby $(which ign) gazebo-1] [INFO] [1701088070.497810073] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.497815203] [robot3.gz_ros2_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1701088070.497820803] [robot3.gz_ros2_control]: position [ruby $(which ign) gazebo-1] [INFO] [1701088070.497825783] [robot3.gz_ros2_control]: Command: [ruby $(which ign) gazebo-1] [INFO] [1701088070.497829993] [robot3.gz_ros2_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1701088070.497838853] [robot3.gz_ros2_control]: Loading sensor: imu [ruby $(which ign) gazebo-1] [INFO] [1701088070.497846193] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.497851273] [robot3.gz_ros2_control]: Loading sensor: imu [ruby $(which ign) gazebo-1] [INFO] [1701088070.497854863] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.497858153] [robot3.gz_ros2_control]: Loading sensor: imu [ruby $(which ign) gazebo-1] [INFO] [1701088070.497862413] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.497867703] [resource_manager]: Initialize hardware 'left_wheel_controller' [ruby $(which ign) gazebo-1] [WARN] [1701088070.497872373] [robot3.gz_ros2_control]: On init... [ruby $(which ign) gazebo-1] [INFO] [1701088070.497882793] [resource_manager]: Successful initialization of hardware 'left_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.497892713] [resource_manager]: 'configure' hardware 'left_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.497896383] [robot3.gz_ros2_control]: System Successfully configured! [ruby $(which ign) gazebo-1] [INFO] [1701088070.497906073] [resource_manager]: Successful 'configure' of hardware 'left_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.497909993] [resource_manager]: 'activate' hardware 'left_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.497914033] [resource_manager]: Successful 'activate' of hardware 'left_wheel_controller' [ruby $(which ign) gazebo-1] [WARN] [1701088070.497932573] [robot3.gz_ros2_control]: The position_proportional_gain parameter was not defined, defaulting to: 0.1 [ruby $(which ign) gazebo-1] [INFO] [1701088070.497953893] [robot3.gz_ros2_control]: Loading joint: right_wheel_joint [ruby $(which ign) gazebo-1] [INFO] [1701088070.497985823] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.497990383] [robot3.gz_ros2_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1701088070.497995194] [robot3.gz_ros2_control]: position [ruby $(which ign) gazebo-1] [INFO] [1701088070.498000174] [robot3.gz_ros2_control]: Command: [ruby $(which ign) gazebo-1] [INFO] [1701088070.498004304] [robot3.gz_ros2_control]: velocity [ruby $(which ign) gazebo-1] [INFO] [1701088070.498008344] [robot3.gz_ros2_control]: Loading sensor: imu [ruby $(which ign) gazebo-1] [INFO] [1701088070.498011624] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.498015354] [robot3.gz_ros2_control]: Loading sensor: imu [ruby $(which ign) gazebo-1] [INFO] [1701088070.498018284] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.498022404] [robot3.gz_ros2_control]: Loading sensor: imu [ruby $(which ign) gazebo-1] [INFO] [1701088070.498027464] [robot3.gz_ros2_control]: State: [ruby $(which ign) gazebo-1] [INFO] [1701088070.498030754] [resource_manager]: Initialize hardware 'right_wheel_controller' [ruby $(which ign) gazebo-1] [WARN] [1701088070.498033224] [robot3.gz_ros2_control]: On init... [ruby $(which ign) gazebo-1] [INFO] [1701088070.498039184] [resource_manager]: Successful initialization of hardware 'right_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.498044724] [resource_manager]: 'configure' hardware 'right_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.498047944] [robot3.gz_ros2_control]: System Successfully configured! [ruby $(which ign) gazebo-1] [INFO] [1701088070.498053384] [resource_manager]: Successful 'configure' of hardware 'right_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.498057174] [resource_manager]: 'activate' hardware 'right_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.498060974] [resource_manager]: Successful 'activate' of hardware 'right_wheel_controller' [ruby $(which ign) gazebo-1] [INFO] [1701088070.498063634] [robot3.gz_ros2_control]: Loading controller_manager [ruby $(which ign) gazebo-1] [INFO] [1701088070.523221165] [robot3.controller_manager]: Subscribing to '~/robot_description' topic for robot description file. [ruby $(which ign) gazebo-1] [Err] [SceneManager.cc:201] Visual: [robot3/create3] already exists [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::base_link::cliff_front_left] for entity [182]. Parent not found with ID[179]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::base_link::cliff_front_right] for entity [183]. Parent not found with ID[179]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::base_link::cliff_side_left] for entity [184]. Parent not found with ID[179]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::base_link::cliff_side_right] for entity [185]. Parent not found with ID[179]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_front_center_left::ir_intensity_front_center_left] for entity [196]. Parent not found with ID[195]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_front_center_right::ir_intensity_front_center_right] for entity [198]. Parent not found with ID[197]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_front_left::ir_intensity_front_left] for entity [200]. Parent not found with ID[199]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_front_right::ir_intensity_front_right] for entity [202]. Parent not found with ID[201]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_left::ir_intensity_left] for entity [204]. Parent not found with ID[203]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_right::ir_intensity_right] for entity [206]. Parent not found with ID[205]. [ruby $(which ign) gazebo-1] [Err] [RenderUtil.cc:1277] Failed to create sensor with name[robot3/create3::ir_intensity_side_left::ir_intensity_side_left] for entity [208]. Parent not found with ID[207]. [ruby $(which ign) gazebo-1] [GUI] [Msg] A new robot name has been entered, publishing on topic: 'robot/c[0m [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot2/standard_dock::halo_link::halo] advertised on [world/depot/model/robot2/standard_dock/link/halo_link/sensor/halo/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (4) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (5) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (6) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (7) [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot2/standard_dock::red_buoy_link::red_buoy] advertised on [world/depot/model/robot2/standard_dock/link/red_buoy_link/sensor/red_buoy/scan] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (8) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (9) [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot2/standard_dock::red_buoy_link::red_buoy] advertised on [world/depot/model/robot2/standard_dock/link/red_buoy_link/sensor/red_buoy/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (10) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (11) [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot2/standard_dock::yellow_buoy_link::yellow_buoy] advertised on [world/depot/model/robot2/standard_dock/link/yellow_buoy_link/sensor/yellow_buoy/scan] [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot2/standard_dock::yellow_buoy_link::yellow_buoy] advertised on [world/depot/model/robot2/standard_dock/link/yellow_buoy_link/sensor/yellow_buoy/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [SimulationFeatures.cc:71] Simulation timestep set to: 0.003 [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ign_ros2_control::IgnitionROS2ControlPlugin] for entity [178] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [178] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Contact] for entity [178] [ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:490] Configuring Sensors system [ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:415] SensorsPrivate::Run [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Sensors] for entity [178] [ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:395] SensorsPrivate::RenderThread started [ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:246] Waiting for init [ruby $(which ign) gazebo-1] [Dbg] [UserCommands.cc:1303] Created entity [178] named [robot3/create3] [ruby $(which ign) gazebo-1] [Msg] Contact system publishing on robot3/bumper_contact [ruby $(which ign) gazebo-1] [Msg] Contact system publishing on robot3/bumper_contact [ruby $(which ign) gazebo-1] [Msg] Contact system publishing on robot3/bumper_contact [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::base_link::cliff_front_left] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_front_left/scan] [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::base_link::cliff_front_left] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_front_left/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::base_link::cliff_front_right] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_front_right/scan] [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::base_link::cliff_front_right] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_front_right/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::base_link::cliff_side_left] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_side_left/scan] [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::base_link::cliff_side_left] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_side_left/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::base_link::cliff_side_right] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_side_right/scan] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (1) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (22[Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (10)Exiting postupdate worker thread (9[Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (11) [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::base_link::cliff_side_right] advertised on [world/depot/model/robot3/create3/link/base_link/sensor/cliff_side_right/scan/pointsExiting postupdate worker thread ([Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:523] 9Exiting postupdate worker thread (]7) [ruby $(which ign) gazebo-1] Exiting postupdate worker thread (Exiting postupdate worker thread (3))[Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (Exiting postupdate worker thread (4) [ruby $(which ign) gazebo-1] ) [ruby $(which ign) gazebo-1] Exiting postupdate worker thread () [ruby $(which ign) gazebo-1] Exiting postupdate worker thread ( [ruby $(which ign) gazebo-1] [ruby $(which ign) gazebo-1] Exiting postupdate worker thread (5) [ruby $(which ign) gazebo-1] Exiting postupdate worker thread (68) [ruby $(which ign) gazebo-1] ) [ruby $(which ign) gazebo-1] ) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 17 [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (1)[Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan] [ruby $(which ign) gazebo-1] ) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (2) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (3) [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::ir_intensity_front_center_left::ir_intensity_front_center_left] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_center_left/sensor/ir_intensity_front_center_left/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (4) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (5) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (6) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (7) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (8) [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (9) [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::ir_intensity_front_center_right::ir_intensity_front_center_right] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_center_right/sensor/ir_intensity_front_center_right/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (10) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (11) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (12) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (13) [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (14) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (15) [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::ir_intensity_front_left::ir_intensity_front_left] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_left/sensor/ir_intensity_front_left/scan/points] [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan] [ruby $(which ign) gazebo-1] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [robot3/create3::ir_intensity_front_right::ir_intensity_front_right] advertised on [world/depot/model/robot3/create3/link/ir_intensity_front_right/sensor/ir_intensity_front_right/scan/points] [ruby $(which ign) gazebo-1] Stack trace (most recent call last) in thread 38464: [ruby $(which ign) gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libGL.so.1", at 0x7f9f1b13a989, in [ruby $(which ign) gazebo-1] Segmentation fault (Address not mapped to object [0xa40]) [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:251: TypeError: Cannot read property 'showDrawer' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:219: TypeError: Cannot read property 'showPluginMenu' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:202: TypeError: Cannot read property 'showDrawer' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:188: TypeError: Cannot read property 'showDrawer' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null [ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null [ruby $(which ign) gazebo-1] [Dbg] [Lidar.cc:132] Laser scans for [robot3/create3::ir_intensity_left::ir_intensity_left] advertised on [woreate3_buttons ' [ruby $(which ign) gazebo-1] [GUI] [Msg] A new robot name has been entered, publishing on topic: 'robot/create3_buttons ' [ruby $(which ign) gazebo-1] [GUI] [Msg] A new robot name has been entered, publishing on topic: 'robot1/create3_buttons ' [ruby $(which ign) gazebo-1] [GUI] [Msg] A new robot name has been entered, publishing on topic: 'robot1/create3_buttons ' [ruby $(which ign) gazebo-1] [GUI] [Msg] A new robot name has been entered, publishing on topic: 'robot2/create3_buttons ' [ruby $(which ign) gazebo-1] [GUI] [Msg] A new robot name has been entered, publishing on topic: 'robot2/create3_buttons ' [ruby $(which ign) gazebo-1] [GUI] [Dbg] [SignalHandler.cc:141] Received signal[2]. [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:472] Shutting down ign-gazebo-gui [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:140] Terminating application. [ruby $(which ign) gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] [ruby $(which ign) gazebo-1] [GUI] [Dbg] [Scene3D.cc:2165] Destroy scene [scene] [INFO] [ruby $(which ign) gazebo-1]: process has finished cleanly [pid 37495]