frankvp11@frankvp11-ThinkPad-L13-Gen-3:~/Documents/Simulation$ docker run -it --rm --net=host --env="DISPLAY" --volume="$HOME/.Xauthority:/root/.Xauthority:rw" my_rmoss_image root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ls build install log src root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# cd ^C root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch rmua19_gazebo_simulator standard_robot_a_test.launch.py Package 'rmua19_gazebo_simulator' not found: "package 'rmua19_gazebo_simulator' not found, searching: ['/simulator_ws/install/rmoss_gz_cam', '/simulator_ws/install/rmoss_core', '/simulator_ws/install/rmoss_cam', '/simulator_ws/install/rmoss_util', '/simulator_ws/install/rmoss_projectile_motion', '/simulator_ws/install/rmoss_gz_bridge', '/simulator_ws/install/rmoss_gz_base', '/simulator_ws/install/rmoss_base', '/simulator_ws/install/rmoss_interfaces', '/simulator_ws/install/rmoss_gz_resources', '/simulator_ws/install/rmoss_gz_plugins', '/opt/ros/humble']" root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# roslaunch build/ install/ log/ src/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# roslaunch build/ install/ log/ src/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch Display all 314 possibilities? (y or n) --debug geometry2 rosbag2 --launch-prefix geometry_msgs rosbag2_compression --launch-prefix-filter image_geometry rosbag2_compression_zstd --noninteractive image_tools rosbag2_cpp --print image_transport rosbag2_interfaces --print-description image_transport_plugins rosbag2_py --show-all-subprocesses-output install/ rosbag2_storage --show-args interactive_markers rosbag2_storage_default_plugins --show-arguments intra_process_demo rosbag2_transport -a joy rosgraph_msgs -d kdl_parser rosidl_adapter -n keyboard_handler rosidl_cli -p laser_geometry rosidl_cmake -s launch rosidl_default_generators action_msgs launch_ros rosidl_default_runtime action_tutorials_cpp launch_testing rosidl_generator_c action_tutorials_interfaces launch_testing_ament_cmake rosidl_generator_cpp action_tutorials_py launch_testing_ros rosidl_generator_py actionlib_msgs launch_xml rosidl_parser actuator_msgs launch_yaml rosidl_runtime_c ament_cmake libcurl_vendor rosidl_runtime_cpp ament_cmake_auto libstatistics_collector rosidl_runtime_py ament_cmake_copyright libyaml_vendor rosidl_typesupport_c ament_cmake_core lifecycle rosidl_typesupport_cpp ament_cmake_cppcheck lifecycle_msgs rosidl_typesupport_fastrtps_c ament_cmake_cpplint log/ rosidl_typesupport_fastrtps_cpp ament_cmake_export_definitions logging_demo rosidl_typesupport_interface ament_cmake_export_dependencies map_msgs rosidl_typesupport_introspection_c ament_cmake_export_include_directories message_filters rosidl_typesupport_introspection_cpp ament_cmake_export_interfaces nav_msgs rpyutils ament_cmake_export_libraries orocos_kdl_vendor rqt_action ament_cmake_export_link_flags osrf_pycommon rqt_bag ament_cmake_export_targets pcl_conversions rqt_bag_plugins ament_cmake_flake8 pcl_msgs rqt_common_plugins ament_cmake_gen_version_h pendulum_control rqt_console ament_cmake_gmock pendulum_msgs rqt_graph ament_cmake_gtest pluginlib rqt_gui ament_cmake_include_directories pybind11_vendor rqt_gui_cpp ament_cmake_libraries python_cmake_module rqt_gui_py ament_cmake_lint_cmake python_qt_binding rqt_image_view ament_cmake_pep257 qt_dotgraph rqt_msg ament_cmake_pytest qt_gui rqt_plot ament_cmake_python qt_gui_cpp rqt_publisher ament_cmake_ros qt_gui_py_common rqt_py_common ament_cmake_target_dependencies quality_of_service_demo_cpp rqt_py_console ament_cmake_test quality_of_service_demo_py rqt_reconfigure ament_cmake_uncrustify rcl rqt_service_caller ament_cmake_version rcl_action rqt_shell ament_cmake_xmllint rcl_interfaces rqt_srv ament_copyright rcl_lifecycle rqt_topic ament_cppcheck rcl_logging_interface rttest ament_cpplint rcl_logging_spdlog rviz2 ament_flake8 rcl_yaml_param_parser rviz_assimp_vendor ament_index_cpp rclcpp rviz_common ament_index_python rclcpp_action rviz_default_plugins ament_lint rclcpp_components rviz_ogre_vendor ament_lint_auto rclcpp_lifecycle rviz_rendering ament_lint_cmake rclpy sdformat_urdf ament_lint_common rcpputils sdl2_vendor ament_package rcutils sensor_msgs ament_pep257 resource_retriever sensor_msgs_py ament_uncrustify rmoss_base shape_msgs ament_xmllint rmoss_cam shared_queues_vendor angles rmoss_core spdlog_vendor build/ rmoss_gz_base sqlite3_vendor builtin_interfaces rmoss_gz_bridge src/ camera_calibration_parsers rmoss_gz_cam sros2 camera_info_manager rmoss_gz_plugins sros2_cmake class_loader rmoss_gz_resources statistics_msgs common_interfaces rmoss_interfaces std_msgs composition rmoss_projectile_motion std_srvs composition_interfaces rmoss_util stereo_msgs compressed_depth_image_transport rmw tango_icons_vendor compressed_image_transport rmw_dds_common teleop_twist_joy console_bridge_vendor rmw_fastrtps_cpp teleop_twist_keyboard cv_bridge rmw_fastrtps_shared_cpp tf2 demo_nodes_cpp rmw_implementation tf2_bullet demo_nodes_cpp_native rmw_implementation_cmake tf2_eigen demo_nodes_py robot_state_publisher tf2_eigen_kdl depthimage_to_laserscan ros2action tf2_geometry_msgs desktop ros2bag tf2_kdl diagnostic_msgs ros2cli tf2_msgs domain_coordinator ros2cli_common_extensions tf2_py dummy_map_server ros2component tf2_ros dummy_robot_bringup ros2doctor tf2_ros_py dummy_sensors ros2interface tf2_sensor_msgs eigen3_cmake_module ros2launch tf2_tools example_interfaces ros2lifecycle theora_image_transport examples_rclcpp_minimal_action_client ros2multicast tinyxml2_vendor examples_rclcpp_minimal_action_server ros2node tinyxml_vendor examples_rclcpp_minimal_client ros2param tlsf examples_rclcpp_minimal_composition ros2pkg tlsf_cpp examples_rclcpp_minimal_publisher ros2run topic_monitor examples_rclcpp_minimal_service ros2service tracetools examples_rclcpp_minimal_subscriber ros2topic trajectory_msgs examples_rclcpp_minimal_timer ros_base turtlesim examples_rclcpp_multithreaded_executor ros_core uncrustify_vendor examples_rclpy_executors ros_environment unique_identifier_msgs examples_rclpy_minimal_action_client ros_gz urdf examples_rclpy_minimal_action_server ros_gz_bridge urdf_parser_plugin examples_rclpy_minimal_client ros_gz_image visualization_msgs examples_rclpy_minimal_publisher ros_gz_interfaces xacro examples_rclpy_minimal_service ros_gz_sim yaml_cpp_vendor examples_rclpy_minimal_subscriber ros_gz_sim_demos zstd_vendor fastrtps_cmake_module ros_workspace root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch ^C root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ls build install log src root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# cd install/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/install# ls COLCON_IGNORE local_setup.bash local_setup.zsh rmoss_core rmoss_gz_cam rmoss_interfaces setup.bash setup.zsh _local_setup_util_ps1.py local_setup.ps1 rmoss_base rmoss_gz_base rmoss_gz_plugins rmoss_projectile_motion setup.ps1 _local_setup_util_sh.py local_setup.sh rmoss_cam rmoss_gz_bridge rmoss_gz_resources rmoss_util setup.sh root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/install# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ls build install log src root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# cd src/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# ls rmoss_core rmoss_gazebo rmoss_gz_resources rmoss_interfaces root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# cd rmoss_gazebo/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmoss_gazebo# ls LICENSE README.md rmoss_bg.png rmoss_gz_base rmoss_gz_bridge rmoss_gz_cam rmoss_gz_plugins tools root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmoss_gazebo# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# ls rmoss_core rmoss_gazebo rmoss_gz_resources rmoss_interfaces root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ls build install log src root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# cd src/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# ls rmoss_core rmoss_gazebo rmoss_gz_resources rmoss_interfaces root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# git clone https://github.com/robomaster-oss/rmua19_gazebo_simulator -b humble Cloning into 'rmua19_gazebo_simulator'... remote: Enumerating objects: 647, done. remote: Counting objects: 100% (130/130), done. remote: Compressing objects: 100% (42/42), done. remote: Total 647 (delta 106), reused 93 (delta 87), pack-reused 517 Receiving objects: 100% (647/647), 4.03 MiB | 972.00 KiB/s, done. Resolving deltas: 100% (365/365), done. root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble #All required rosdeps installed successfully root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# colcon build Starting >>> rmoss_interfaces Starting >>> rmoss_gz_plugins Starting >>> rmoss_gz_resources Starting >>> rmoss_projectile_motion Finished <<< rmoss_projectile_motion [0.41s] Finished <<< rmoss_gz_plugins [0.52s] Finished <<< rmoss_gz_resources [0.61s] Finished <<< rmoss_interfaces [1.72s] Starting >>> rmoss_util Starting >>> rmoss_base Starting >>> rmoss_gz_base Starting >>> rmoss_gz_bridge Finished <<< rmoss_gz_bridge [0.33s] Finished <<< rmoss_util [0.50s] Starting >>> rmoss_cam Finished <<< rmoss_base [0.55s] Finished <<< rmoss_gz_base [0.65s] Finished <<< rmoss_cam [0.53s] Starting >>> rmoss_gz_cam Starting >>> rmoss_core Finished <<< rmoss_core [0.18s] Finished <<< rmoss_gz_cam [0.32s] Starting >>> rmua19_gazebo_simulator Finished <<< rmua19_gazebo_simulator [1.80s] Summary: 12 packages finished [5.32s] root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch rm rmoss_base rmoss_gz_base rmoss_gz_plugins rmoss_projectile_motion rmw_dds_common rmw_implementation rmoss_cam rmoss_gz_bridge rmoss_gz_resources rmoss_util rmw_fastrtps_cpp rmw_implementation_cmake rmoss_core rmoss_gz_cam rmoss_interfaces rmw rmw_fastrtps_shared_cpp root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch rm rmoss_base rmoss_gz_base rmoss_gz_plugins rmoss_projectile_motion rmw_dds_common rmw_implementation rmoss_cam rmoss_gz_bridge rmoss_gz_resources rmoss_util rmw_fastrtps_cpp rmw_implementation_cmake rmoss_core rmoss_gz_cam rmoss_interfaces rmw rmw_fastrtps_shared_cpp root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# cd src/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# ls rmoss_core rmoss_gazebo rmoss_gz_resources rmoss_interfaces rmua19_gazebo_simulator root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# cd rmua19_gazebo_simulator/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls CMakeLists.txt LICENSE README.md config doc env-hooks launch package.xml requirements.txt resource scripts root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# cd launch/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator/launch# ls simple_competition_1v1.launch.py standard_robot_a_test.launch.py standard_robot_b_test.launch.py root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator/launch# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls CMakeLists.txt LICENSE README.md config doc env-hooks launch package.xml requirements.txt resource scripts root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls scripts/ killgazebo.sh player_web referee_system referee_web update_model.sh root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls CMakeLists.txt LICENSE README.md config doc env-hooks launch package.xml requirements.txt resource scripts root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls resource/ ign models rviz worlds xmacro root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls resource/ign/ gui.config root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ls resource/rviz/ ignition.rviz root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ^C root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# ros2 launch rmua19_gazebo_simulator standard_robot_a_test.launch.py Package 'rmua19_gazebo_simulator' not found: "package 'rmua19_gazebo_simulator' not found, searching: ['/simulator_ws/install/rmoss_gz_cam', '/simulator_ws/install/rmoss_core', '/simulator_ws/install/rmoss_cam', '/simulator_ws/install/rmoss_util', '/simulator_ws/install/rmoss_projectile_motion', '/simulator_ws/install/rmoss_gz_bridge', '/simulator_ws/install/rmoss_gz_base', '/simulator_ws/install/rmoss_base', '/simulator_ws/install/rmoss_interfaces', '/simulator_ws/install/rmoss_gz_resources', '/simulator_ws/install/rmoss_gz_plugins', '/opt/ros/humble']" root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src/rmua19_gazebo_simulator# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/src# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch rmua19_gazebo_simulator standard_robot_a_test.launch.py Package 'rmua19_gazebo_simulator' not found: "package 'rmua19_gazebo_simulator' not found, searching: ['/simulator_ws/install/rmoss_gz_cam', '/simulator_ws/install/rmoss_core', '/simulator_ws/install/rmoss_cam', '/simulator_ws/install/rmoss_util', '/simulator_ws/install/rmoss_projectile_motion', '/simulator_ws/install/rmoss_gz_bridge', '/simulator_ws/install/rmoss_gz_base', '/simulator_ws/install/rmoss_base', '/simulator_ws/install/rmoss_interfaces', '/simulator_ws/install/rmoss_gz_resources', '/simulator_ws/install/rmoss_gz_plugins', '/opt/ros/humble']" root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# cd install/ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws/install# cd ../ root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# source install/setup.bash root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# colcon build Starting >>> rmoss_interfaces Starting >>> rmoss_gz_plugins Starting >>> rmoss_gz_resources Starting >>> rmoss_projectile_motion Finished <<< rmoss_gz_resources [0.26s] Finished <<< rmoss_gz_plugins [0.35s] Finished <<< rmoss_projectile_motion [0.35s] Finished <<< rmoss_interfaces [0.86s] Starting >>> rmoss_util Starting >>> rmoss_base Starting >>> rmoss_gz_base Starting >>> rmoss_gz_bridge Finished <<< rmoss_gz_bridge [0.24s] Finished <<< rmoss_util [0.39s] Starting >>> rmoss_cam Finished <<< rmoss_base [0.44s] Finished <<< rmoss_gz_base [0.55s] Finished <<< rmoss_cam [0.35s] Starting >>> rmoss_gz_cam Starting >>> rmoss_core Finished <<< rmoss_core [0.16s] Finished <<< rmoss_gz_cam [0.27s] Starting >>> rmua19_gazebo_simulator Finished <<< rmua19_gazebo_simulator [0.15s] Summary: 12 packages finished [2.45s] root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch rmua19_gazebo_simulator standard_robot_a_test.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-11-06-20-47-42-549965-frankvp11-ThinkPad-L13-Gen-3-4162 [INFO] [launch]: Default logging verbosity is set to INFO [ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: No module named 'xmacro' root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# pip install xmacro Collecting xmacro Downloading xmacro-1.2.1-py3-none-any.whl (10 kB) Installing collected packages: xmacro Successfully installed xmacro-1.2.1 WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ros2 launch rmua19_gazebo_simulator standard_robot_a_test.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-11-06-20-47-49-921040-frankvp11-ThinkPad-L13-Gen-3-4167 [INFO] [launch]: Default logging verbosity is set to INFO ign_args is deprecated, migrate to gz_args! [INFO] [ruby $(which ign) gazebo-1]: process started with pid [4168] [INFO] [create-2]: process started with pid [4170] [INFO] [rmua19_robot_base-3]: process started with pid [4173] [INFO] [parameter_bridge-4]: process started with pid [4175] [parameter_bridge-4] [INFO] [1699303670.044796487] [red_standard_robot1.ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/red_standard_robot1/link/front_industrial_camera/sensor/front_industrial_camera/image (ignition.msgs.Image) -> /world/default/model/red_standard_robot1/link/front_industrial_camera/sensor/front_industrial_camera/image (sensor_msgs/msg/Image)] (Lazy 0) [create-2] [INFO] [1699303670.044926432] [ros_gz_sim]: Requesting list of world names. [parameter_bridge-4] [INFO] [1699303670.050856253] [red_standard_robot1.ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/red_standard_robot1/link/front_rplidar_a2/sensor/front_rplidar_a2/scan (ignition.msgs.LaserScan) -> /world/default/model/red_standard_robot1/link/front_rplidar_a2/sensor/front_rplidar_a2/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [ruby $(which ign) gazebo-1] Authorization required, but no authorization protocol specified [ruby $(which ign) gazebo-1] qt.qpa.xcb: could not connect to display :0 [ruby $(which ign) gazebo-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found. [ruby $(which ign) gazebo-1] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. [ruby $(which ign) gazebo-1] [ruby $(which ign) gazebo-1] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb. [ruby $(which ign) gazebo-1] [ruby $(which ign) gazebo-1] Stack trace (most recent call last): [ruby $(which ign) gazebo-1] #31 Object "ign gazebo gui", at 0x55dc732d717e, in [ruby $(which ign) gazebo-1] #30 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c1cbe19, in ruby_run_node [ruby $(which ign) gazebo-1] #29 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c1c8317, in [ruby $(which ign) gazebo-1] #28 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c35d30c, in rb_vm_exec [ruby $(which ign) gazebo-1] #27 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c357c96, in [ruby $(which ign) gazebo-1] #26 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c354fc5, in [ruby $(which ign) gazebo-1] #25 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c352c34, in [ruby $(which ign) gazebo-1] #24 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c29ea1e, in [ruby $(which ign) gazebo-1] #23 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c1c99ac, in rb_protect [ruby $(which ign) gazebo-1] #22 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c361c61, in rb_yield [ruby $(which ign) gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c35d30c, in rb_vm_exec [ruby $(which ign) gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c357c96, in [ruby $(which ign) gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c354fc5, in [ruby $(which ign) gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c352c34, in [ruby $(which ign) gazebo-1] #17 Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7fd0686e144b, in [ruby $(which ign) gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7fd06c320088, in rb_nogvl [ruby $(which ign) gazebo-1] #15 Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7fd0686e0d6b, in [ruby $(which ign) gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7fd0686b3492, in [ruby $(which ign) gazebo-1] #13 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7fd0686b6e2d, in [ruby $(which ign) gazebo-1] #12 Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.15.0", at 0x7fd067c1286c, in runGui [ruby $(which ign) gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fd067a345b7, in ignition::gazebo::v6::gui::runGui(int&, char**, char const*, char const*, int, char const*) [ruby $(which ign) gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x7fd067a32553, in ignition::gazebo::v6::gui::createGui(int&, char**, char const*, char const*, bool, char const*, int, char const*) [ruby $(which ign) gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x7fd066770068, in ignition::gui::Application::Application(int&, char**, ignition::gui::WindowType) [ruby $(which ign) gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7fd0661f3cec, in QApplicationPrivate::init() [ruby $(which ign) gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x7fd0650dbb6f, in QGuiApplicationPrivate::init() [ruby $(which ign) gazebo-1] #6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fd066a95b16, in QCoreApplicationPrivate::init() [ruby $(which ign) gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x7fd0650d8c07, in QGuiApplicationPrivate::createEventDispatcher() [ruby $(which ign) gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x7fd0650d8712, in QGuiApplicationPrivate::createPlatformIntegration() [ruby $(which ign) gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fd066865ba2, in QMessageLogger::fatal(char const*, ...) const [ruby $(which ign) gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd06bf237f2, in abort [ruby $(which ign) gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd06bf3d475, in raise [ruby $(which ign) gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd06bf919fc, in pthread_kill [ruby $(which ign) gazebo-1] Aborted (Signal sent by tkill() 4224 0) [ruby $(which ign) gazebo-1] [Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world]. [ruby $(which ign) gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI... [ruby $(which ign) gazebo-1] [Msg] Received world [/simulator_ws/install/rmua19_gazebo_simulator/share/rmua19_gazebo_simulator/resource/worlds/rmua19_world.sdf] from the GUI. [ruby $(which ign) gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world]. [ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo Server v6.15.0 [ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/simulator_ws/install/rmua19_gazebo_simulator/share/rmua19_gazebo_simulator/resource/worlds/rmua19_world.sdf]. [ruby $(which ign) gazebo-1] [Dbg] [SignalHandler.cc:141] Received signal[2]. [ruby $(which ign) gazebo-1] [Dbg] [ServerPrivate.cc:110] Server received signal[2] [ruby $(which ign) gazebo-1] [Msg] Serving entity system service on [/entity/system/add] [ruby $(which ign) gazebo-1] [Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Physics] for entity [1] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1] [ruby $(which ign) gazebo-1] [Msg] Create service on [/world/default/create] [ruby $(which ign) gazebo-1] [Msg] Remove service on [/world/default/remove] [ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/default/set_pose] [ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/default/set_pose_vector] [ruby $(which ign) gazebo-1] [Msg] Light configuration service on [/world/default/light_config] [ruby $(which ign) gazebo-1] [Msg] Physics service on [/world/default/set_physics] [ruby $(which ign) gazebo-1] [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates] [ruby $(which ign) gazebo-1] [Msg] Enable collision service on [/world/default/enable_collision] [ruby $(which ign) gazebo-1] [Msg] Disable collision service on [/world/default/disable_collision] [ruby $(which ign) gazebo-1] [Msg] Material service on [/world/default/visual_config] [ruby $(which ign) gazebo-1] [Msg] Material service on [/world/default/wheel_slip] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1] [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 [1] [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] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Imu] for entity [1] [ruby $(which ign) gazebo-1] [Msg] Loaded level [3] [create-2] [INFO] [1699303670.584726566] [ros_gz_sim]: Requested creation of entity. [create-2] [INFO] [1699303670.584861693] [ros_gz_sim]: OK creation of entity. [INFO] [create-2]: process has finished cleanly [pid 4170] [ruby $(which ign) gazebo-1] [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control] [ruby $(which ign) gazebo-1] [Msg] Serving GUI information on [/world/default/gui/info] [ruby $(which ign) gazebo-1] [Msg] World [default] initialized with [default_physics] physics profile. [ruby $(which ign) gazebo-1] [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf] [ruby $(which ign) gazebo-1] [Msg] Serving world names on [/gazebo/worlds] [ruby $(which ign) gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [ruby $(which ign) gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get]. [ruby $(which ign) gazebo-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [ruby $(which ign) gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths]. [ruby $(which ign) gazebo-1] [Msg] Server control service on [/server_control]. [ruby $(which ign) gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic [ruby $(which ign) gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 4 [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) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (2) [ruby $(which ign) gazebo-1] [Msg] LightBarController subscribing to int32 messages on [red_standard_robot1/color/set_state] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::LightBarController] for entity [43] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointStatePublisher] for entity [43] [ruby $(which ign) gazebo-1] [Msg] MecanumDrive2 subscribing to twist messages on [red_standard_robot1/cmd_vel] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::MecanumDrive2] for entity [43] [ruby $(which ign) gazebo-1] [Dbg] [JointController.cc:142] [JointController] Velocity mode [ruby $(which ign) gazebo-1] [Msg] JointController subscribing to Double messages on [/model/red_standard_robot1/joint/gimbal_yaw_joint/cmd_vel] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointController] for entity [43] [ruby $(which ign) gazebo-1] [Dbg] [JointController.cc:142] [JointController] Velocity mode [ruby $(which ign) gazebo-1] [Msg] JointController subscribing to Double messages on [/model/red_standard_robot1/joint/gimbal_pitch_joint/cmd_vel] [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointController] for entity [43] [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:188] [red_standard_robot1 ProjectileShooter Info]: [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:189] Shooter name: small_shooter [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:190] Shooter offset: 0.15 0 0 0 -0 0 [ruby $(which ign) gazebo-1] Authorization required, but no authorization protocol specified [ruby $(which ign) gazebo-1] [Wrn] [Ogre2RenderEngine.cc:401] Unable to open display: :0. Trying to run in headless mode. [ruby $(which ign) gazebo-1] Authorization required, but no authorization protocol specified [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:191] Projectile name: rm_projectile_17mm [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:192] Shoot CMD Topic: red_standard_robot1/small_shooter/shoot [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:193] Set Vel Topic: red_standard_robot1/small_shooter/set_vel [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:194] Shoot Info Topic: /referee_system/shoot_info [ruby $(which ign) gazebo-1] [Dbg] [ProjectileShooter.cc:195] Attack Info Topic: /referee_system/attack_info [ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::ProjectileShooter] for entity [43] [ruby $(which ign) gazebo-1] [Dbg] [UserCommands.cc:1303] Created entity [43] named [red_standard_robot1] [ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:594] Initialization needed [ruby $(which ign) gazebo-1] [Dbg] [Sensors.cc:258] Initializing render context [ruby $(which ign) gazebo-1] [Msg] Loading plugin [ignition-rendering-ogre2] [ruby $(which ign) gazebo-1] [Dbg] [ImuSensor.cc:148] IMU data for [red_standard_robot1::chassis::chassis_imu] advertised on [world/default/model/red_standard_robot1/link/chassis/sensor/chassis_imu/imu] [ruby $(which ign) gazebo-1] [Dbg] [ImuSensor.cc:148] IMU data for [red_standard_robot1::gimbal_pitch::gimbal_imu] advertised on [world/default/model/red_standard_robot1/link/gimbal_pitch/sensor/gimbal_imu/imu] [ruby $(which ign) gazebo-1] [Msg] Serving scene information on [/world/default/scene/info] [ruby $(which ign) gazebo-1] [Msg] Serving graph information on [/world/default/scene/graph] [ruby $(which ign) gazebo-1] [Msg] Serving full state on [/world/default/state] [ruby $(which ign) gazebo-1] [Msg] Serving full state (async) on [/world/default/state_async] [ruby $(which ign) gazebo-1] [Msg] Publishing scene information on [/world/default/scene/info] [ruby $(which ign) gazebo-1] [Msg] Publishing entity deletions on [/world/default/scene/deletion] [ruby $(which ign) gazebo-1] [Msg] Publishing state changes on [/world/default/state] [ruby $(which ign) gazebo-1] [Msg] Publishing pose messages on [/world/default/pose/info] [ruby $(which ign) gazebo-1] [Msg] Publishing dynamic pose messages on [/world/default/dynamic_pose/info] [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:523] [Dbg] [SimulationRunner.cc:523] 2[Dbg] [SimulationRunner.cc:523] [Dbg] [SimulationRunner.cc:523] 2Exiting postupdate worker thread (0))Exiting postupdate worker thread (1) [ruby $(which ign) gazebo-1] [ruby $(which ign) gazebo-1] ) [ruby $(which ign) gazebo-1] [Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 6 [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) [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] [SimulationRunner.cc:507] Creating postupdate worker thread (4) [ruby $(which ign) gazebo-1] [Wrn] [Ogre2Camera.cc:390] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. [ruby $(which ign) gazebo-1] [Dbg] [RenderUtil.cc:2588] Create scene Escalating to SIGKILL on [Ignition Gazebo Server] [INFO] [ruby $(which ign) gazebo-1]: process has finished cleanly [pid 4168] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [rmua19_robot_base-3] [INFO] [1699303709.680311771] [rclcpp]: signal_handler(signum=2) [parameter_bridge-4] [INFO] [1699303709.680404340] [rclcpp]: signal_handler(signum=2) [INFO] [rmua19_robot_base-3]: process has finished cleanly [pid 4173] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring... [INFO] [parameter_bridge-4]: process has finished cleanly [pid 4175] root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ^C root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# root@frankvp11-ThinkPad-L13-Gen-3:/simulator_ws# ls build install log src