JustPaste.it

[INFO] [1505129715.706797]: Client connected. 1 clients total.
2017-09-11 13:35:15,738 [uWSGIWorker1] [hbp_nrp_back] [INFO] /home/alban/Documents/NRP/Experiments/template_pioneer/ExDTemplatePioneer.exc
2017-09-11 13:35:15,748 [uWSGIWorker1] [hbp_nrp_back] [INFO] Requesting simulation resources
2017-09-11 13:35:15,748 [uWSGIWorker1] [hbp_nrp_back] [INFO] simulation timeout initialized
2017-09-11 13:35:15,753 [Thread-7 ] [hbp_nrp_cles] [INFO] Create new simulation request
2017-09-11 13:35:15,753 [Thread-7 ] [hbp_nrp_cles] [INFO] No simulation running, starting a new simulation.
2017-09-11 13:35:15,754 [Thread-7 ] [hbp_nrp_cles] [INFO] Preparing new simulation with environment file: /home/alban/Documents/NRP/Models/empty_world/empty_world.sdf and ExD config file: /home/alban/Documents/NRP/Experiments/template_pioneer/ExDTemplatePioneer.exc.
2017-09-11 13:35:15,754 [Thread-7 ] [hbp_nrp_cles] [INFO] Starting the experiment closed loop engine.
2017-09-11 13:35:15,754 [Thread-7 ] [hbp_nrp_cles] [INFO] Read XML Files
2017-09-11 13:35:15,774 [Thread-7 ] [hbp_nrp_cles] [INFO] Bibi: template_pioneer.bibi
2017-09-11 13:35:15,774 [Thread-7 ] [hbp_nrp_cles] [INFO] BibiAbs:/home/alban/Documents/NRP/Experiments/template_pioneer/template_pioneer.bibi
2017-09-11 13:35:15,782 [Thread-7 ] [hbp_nrp_cles] [INFO] Creating local CLELauncher object
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[INFO] [1505129715.869574]: [Client 0] Subscribed to /ros_cle_simulation/status
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

-- N E S T --

Copyright (C) 2004 The NEST Initiative
Version 2.10.0 Sep 11 2017 11:31:26

This program is provided AS IS and comes with
NO WARRANTY. See the file LICENSE for details.

Problems or suggestions?
Visit http://www.nest-simulator.org

Type 'nest.help()' to find out more about NEST.
CSAConnector: libneurosim support not available in NEST.
Falling back on PyNN's default CSAConnector.
Please re-compile NEST using --with-libneurosim=PATH
2017-09-11 13:35:16,654 [Thread-7 ] [hbp_nrp_cles] [INFO] Path is /home/alban/Documents/NRP/Experiments/template_pioneer
2017-09-11 13:35:16,654 [Thread-7 ] [hbp_nrp_cles] [INFO] Setting up backend Notificator
2017-09-11 13:35:16,656 [Thread-7 ] [hbp_nrp_cles] [INFO] ROS notificator initialized
2017-09-11 13:35:16,656 [Thread-7 ] [hbp_nrp_cles] [INFO] Creating CLE Server
2017-09-11 13:35:16,656 [Thread-7 ] [hbp_nrp_cles] [WARNING] No RNG seed specified, generating a random value.
2017-09-11 13:35:16,656 [Thread-7 ] [hbp_nrp_cles] [INFO] RNG seed = 5191600903394374801
2017-09-11 13:35:16,656 [Thread-7 ] [hbp_nrp_cles] [INFO] Looking for physicsEngine tag value in ExDConfig
2017-09-11 13:35:16,657 [Thread-7 ] [hbp_nrp_cles] [INFO] No physics engine specified explicitly. Using default setting 'ode'
... logging to /home/alban/.ros/log/3454eec8-96e5-11e7-aa2a-f48c50709a40/roslaunch-alban-GL502VSK-10265.log
2017-09-11 13:35:16,749 [Thread-3 ] [rospy.intern] [INFO] topic[/ros_cle_simulation/status] adding connection to [/rosbridge_websocket], count 0
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/alban/Documents/NRP/GazeboRosPackages/src/PioneerModel/p3dx_description/urdf/pioneer3dx.xacro

xacro.py is deprecated; please use xacro instead
started roslaunch server http://127.0.0.1:45191/

SUMMARY
========

PARAMETERS
* /p3dx/joint1_position_controller/joint: base_left_wheel_j...
* /p3dx/joint1_position_controller/pid/d: 10.0
* /p3dx/joint1_position_controller/pid/i: 0.01
* /p3dx/joint1_position_controller/pid/p: 100.0
* /p3dx/joint1_position_controller/type: effort_controller...
* /p3dx/joint2_position_controller/joint: base_right_wheel_...
* /p3dx/joint2_position_controller/pid/d: 10.0
* /p3dx/joint2_position_controller/pid/i: 0.01
* /p3dx/joint2_position_controller/pid/p: 100.0
* /p3dx/joint2_position_controller/type: effort_controller...
* /p3dx/joint_state_controller/publish_rate: 50
* /p3dx/joint_state_controller/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.7

NODES
/p3dx/
controller_spawner (controller_manager/spawner)
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[p3dx/controller_spawner-1]: started with pid [10292]
process[robot_state_publisher-2]: started with pid [10293]
[ WARN] [1505129717.139137354]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
2017-09-11 13:35:17,179 [Thread-7 ] [hbp_nrp_cles] [INFO] gzserver arguments: --seed 5191600903394374801 -e ode
2017-09-11 13:35:17,179 [Thread-7 ] [hbp_nrp_cle.] [INFO] Starting gzserver
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[INFO] [1505129717.484474, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
Found /home/alban/.local/bin/gzserver
Starting gzserver: OK.

[ INFO] [1505129719.516886555]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1505129719.517132899]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1505129719.531790863]: Gazebo ROS Recording Plugin initialized.
[ INFO] [1505129719.534834746]: Gazebo ROS Playback Plugin initialized.
2017-09-11 13:35:20,102 [Thread-7 ] [hbp_nrp_cle.] [INFO] Restarting Gazebo web client communication adapter
Now using node v0.10.48 (npm v2.15.1)
2017-09-11 13:35:21 GMT+0200 [FRONTEND REQUEST from ::1] GET /experiments
Found /home/alban/Documents/NRP/gzweb/gzbridge/ws_server.js
Starting node: OK.

2017-09-11 13:35:23,065 [Thread-7 ] [hbp_nrp_cle.] [INFO] Cleaning model ground_plane.
Pose message filter parameters:
minimum seconds between successive messages: 0.02
minimum XYZ distance squared between successive messages: 0.00001
minimum Quaternion distance squared between successive messages: 0.00001
Mon Sep 11 2017 13:35:23 GMT+0200 (CEST) Server is listening on port 7681
2017-09-11 13:35:23,487 [Thread-7 ] [hbp_nrp_cle.] [INFO] Cleaning lights
2017-09-11 13:35:23,490 [Thread-7 ] [hbp_nrp_cle.] [INFO] Loading light "sun".
[ WARN] [1505129723.492366648]: Could not find <model> or <world> element in sdf, so name and initial position cannot be applied
Warning [parser.cc:437] Converting a deprecated SDF source[data-string].
2017-09-11 13:35:23,687 [Thread-7 ] [hbp_nrp_cle.] [INFO] Loading model "nrppanel".
2017-09-11 13:35:23,923 [Thread-7 ] [hbp_nrp_cle.] [INFO] Loading model "ground".
2017-09-11 13:35:24,155 [Thread-7 ] [hbp_nrp_cles] [INFO] Robot: p3dx/pioneer3dx.sdf
2017-09-11 13:35:24,155 [Thread-7 ] [hbp_nrp_cles] [INFO] RobotAbs: /home/alban/Documents/NRP/Models/p3dx/pioneer3dx.sdf
PhysicsEngine::CreateCollision(multiray,robot::base_link)
[ INFO] [1505129724.490725395]: Laser Plugin (robotNamespace = ), Info: the 'robotNamespace' param did not exit
[ INFO] [1505129724.490773355]: Starting Laser Plugin (ns = )!
[ INFO] [1505129724.491835636]: Laser Plugin (ns = ) <tf_prefix_>, set to ""
2017-09-11 13:35:24,505 [Thread-7 ] [hbp_nrp_cle.] [INFO] Robot control adapter initialized
2017-09-11 13:35:24,516 [Thread-7 ] [hbp_nrp_cle.] [INFO] neuronal simulator initialized
2017-09-11 13:35:24,517 [Thread-7 ] [BrainLoader ] [INFO] Loading brain model from python: /home/alban/Documents/NRP/Models/brain_model/idle_brain.py
2017-09-11 13:35:24,536 [Thread-7 ] [hbp_nrp_cle.] [INFO] Saving brain source
2017-09-11 13:35:24,536 [Thread-7 ] [hbp_nrp_cle.] [INFO] Initialize transfer functions node tfnode
2017-09-11 13:35:24,536 [Thread-7 ] [hbp_nrp_cle.] [INFO] PyNN communication adapter initialized
2017-09-11 13:35:24,536 [Thread-7 ] [hbp_nrp_cle.] [WARNING] ROS node already initialized with another name
2017-09-11 13:35:24,537 [Thread-7 ] [hbp_nrp_cles] [INFO] Preparing CLE Server
2017-09-11 13:35:24,542 [Thread-7 ] [hbp_nrp_cles] [INFO] Registering ROS Service handlers
2017-09-11 13:35:24,548 [Thread-13 ] [rospy.intern] [INFO] topic[/ros_cle_simulation/0/lifecycle] adding connection to [http://127.0.0.1:39571/], count 0
2017-09-11 13:35:24,548 [Thread-14 ] [rospy.intern] [INFO] topic[/ros_cle_simulation/0/lifecycle] adding connection to [http://127.0.0.1:41333/], count 0
2017-09-11 13:35:24,550 [Thread-3 ] [rospy.intern] [INFO] topic[/ros_cle_simulation/0/lifecycle] adding connection to [/ros_cle_simulation_10133_1505129688753], count 0
2017-09-11 13:35:24,561 [Thread-7 ] [hbp_nrp_cle.] [INFO] Initialize transfer function csv_spike_monitor transfers to robot /monitor/spike_recorder : SpikeEvent using ['t', <hbp_nrp_cle.tf_framework._CSVRecorder.MapCSVRecorder object at 0x7fde32904150>, <hbp_nrp_cle.tf_framework._Neuron2Robot.MapSpikeSink object at 0x7fde329042d0>]
2017-09-11 13:35:24,561 [Thread-7 ] [hbp_nrp_cle.] [INFO] ROS publisher created: topic name = /monitor/spike_recorder, topic type = <class 'cle_ros_msgs.msg._SpikeEvent.SpikeEvent'>
2017-09-11 13:35:24,563 [Thread-7 ] [hbp_nrp_cle.] [INFO] Communication object with type "<class 'hbp_nrp_cle.brainsim.BrainInterface.ISpikeRecorder'>" requested (device)
2017-09-11 13:35:24,568 [Thread-7 ] [hbp_nrp_cle.] [INFO] Initialize transfer function csv_joint_state_monitor transfers to neurons ['t', <hbp_nrp_cle.tf_framework._Robot2Neuron.MapRobotSubscriber object at 0x7fde7876c0d0>, <hbp_nrp_cle.tf_framework._CSVRecorder.MapCSVRecorder object at 0x7fde7876c750>]
2017-09-11 13:35:24,570 [Thread-7 ] [hbp_nrp_cle.] [INFO] ROS subscriber created: topic name = /joint_states, topic type = <class 'sensor_msgs.msg._JointState.JointState'>
2017-09-11 13:35:24,573 [Thread-7 ] [hbp_nrp_cle.] [INFO] Initialize transfer function csv_robot_position transfers to neurons ['t', <hbp_nrp_cle.tf_framework._Robot2Neuron.MapRobotSubscriber object at 0x7fde7876c110>, <hbp_nrp_cle.tf_framework._CSVRecorder.MapCSVRecorder object at 0x7fde7876c450>]
2017-09-11 13:35:24,576 [Thread-7 ] [hbp_nrp_cle.] [INFO] ROS subscriber created: topic name = /gazebo/model_states, topic type = <class 'gazebo_msgs.msg._ModelStates.ModelStates'>
2017-09-11 13:35:24,578 [Thread-7 ] [hbp_nrp_cle.] [INFO] Initialize transfer function all_neurons_spike_monitor monitors (root).record
2017-09-11 13:35:24,579 [Thread-7 ] [hbp_nrp_cle.] [INFO] ROS publisher created: topic name = /monitor/spike_recorder, topic type = <class 'cle_ros_msgs.msg._SpikeEvent.SpikeEvent'>
2017-09-11 13:35:24,579 [Thread-7 ] [hbp_nrp_cle.] [INFO] Communication object with type "<class 'hbp_nrp_cle.brainsim.BrainInterface.ISpikeRecorder'>" requested (device)
2017-09-11 13:35:24,582 [Thread-17 ] [rospy.intern] [INFO] topic[/gazebo/model_states] adding connection to [http://127.0.0.1:34017/], count 0
2017-09-11 13:35:24,586 [Thread-7 ] [hbp_nrp_cle.] [INFO] Initialize transfer function turn_around transfers to robot /robot/cmd_vel : Twist using ['t', <hbp_nrp_cle.tf_framework._Neuron2Robot.MapSpikeSink object at 0x7fde7876c890>]
2017-09-11 13:35:24,586 [Thread-7 ] [hbp_nrp_cle.] [INFO] ROS publisher created: topic name = /robot/cmd_vel, topic type = <class 'geometry_msgs.msg._Twist.Twist'>
2017-09-11 13:35:24,591 [Thread-7 ] [hbp_nrp_cle.] [INFO] Communication object with type "<class 'hbp_nrp_cle.brainsim.BrainInterface.ILeakyIntegratorAlpha'>" requested (device)
2017-09-11 13:35:24,593 [Thread-3 ] [rospy.intern] [INFO] topic[/ros_cle_simulation/0/lifecycle] adding connection to [/nrp_backend], count 1
2017-09-11 13:35:24,594 [Thread-7 ] [hbp_nrp_cles] [INFO] CLELauncher Finished.
2017-09-11 13:35:24,594 [Thread-7 ] [hbp_nrp_cles] [INFO] Initialization done
2017-09-11 13:35:24,594 [Thread-7 ] [hbp_nrp_cles] [INFO] Spawning new thread that will manage the experiment execution.
2017-09-11 13:35:24,594 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/reset
2017-09-11 13:35:24,596 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/extend_timeout
2017-09-11 13:35:24,598 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/get_transfer_functions
2017-09-11 13:35:24,599 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/add_transfer_function
[ INFO] [1505129724.600391976]: Loading gazebo_ros_control plugin
[ INFO] [1505129724.600580186]: Starting gazebo_ros_control plugin in namespace: /p3dx
2017-09-11 13:35:24,601 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/edit_transfer_function
[ INFO] [1505129724.601428562]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
2017-09-11 13:35:24,602 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/get_structured_transfer_functions
2017-09-11 13:35:24,603 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/set_structured_transfer_function
2017-09-11 13:35:24,604 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/delete_transfer_function
2017-09-11 13:35:24,608 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/get_brain
2017-09-11 13:35:24,610 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/set_brain
2017-09-11 13:35:24,611 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/get_populations
2017-09-11 13:35:24,613 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/get_CSV_recorders_files
2017-09-11 13:35:24,614 [uWSGIWorker1] [hbp_nrp_back] [INFO] Connecting to ROS service /ros_cle_simulation/0/simulation_recorder
2017-09-11 13:35:24,615 [uWSGIWorker1] [hbp_nrp_back] [INFO] simulation initialized
2017-09-11 13:35:24,616 [/ros_cle_sim] [transitions.] [INFO] Initiating transition from state created to state paused...
2017-09-11 13:35:24,617 [/ros_cle_sim] [transitions.] [INFO] Executing callback 'initialize' before transition.
2017-09-11 13:35:24,617 [/ros_cle_sim] [transitions.] [INFO] Exited state created
2017-09-11 13:35:24,617 [/ros_cle_sim] [transitions.] [INFO] Entered state paused
2017-09-11 13:35:24,617 [/ros_cle_sim] [transitions.] [INFO] Executed callback '<transitions.extensions.locking.LockedMethod instance at 0x7fde328edcb0>' after transition.
[ERROR] [1505129724.703035301]: No valid hardware interface element found in joint 'base_left_wheel_joint'.
[ERROR] [1505129724.703080154]: Failed to load joints for transmission 'base_link_left_wheel_trans'.
[ERROR] [1505129724.703091037]: No valid hardware interface element found in joint 'base_right_wheel_joint'.
[ERROR] [1505129724.703100373]: Failed to load joints for transmission 'base_link_right_wheel_trans'.
2017-09-11 13:35:24 GMT+0200 [FRONTEND REQUEST from ::1] GET /experiments
[ INFO] [1505129724.779907546]: Loaded gazebo_ros_control.
[ INFO] [1505129724.786272334]: DiffDrive missing <robotNamespace>, defaults is robot
[ INFO] [1505129724.786402363]: Starting plugin DiffDrive(ns = robot/)!
[ WARN] [1505129724.786458251]: DiffDrive(ns = robot/): missing <rosDebugLevel> default is na
[ INFO] [1505129724.787731283]: DiffDrive(ns = robot/): <tf_prefix> = robot
[ WARN] [1505129724.787958356]: DiffDrive(ns = robot/): missing <publishWheelTF> default is false
[ WARN] [1505129724.787987454]: DiffDrive(ns = robot/): missing <publishWheelJointState> default is false
[ WARN] [1505129724.787998889]: DiffDrive(ns = robot/): missing <legacyMode> default is ture
[ERROR] [1505129724.788013461]: GazeboRosDiffDrive Plugin missing <legacyMode>, defaults to true
This setting assumes you have a old package, where the right and left wheel are changed to fix a former code issue
To get rid of this error just set <legacyMode> to false if you just created a new package.
To fix an old package you have to exchange left wheel by the right wheel.
If you do not want to fix this issue in an old package or your z axis points down instead of the ROS standard defined in REP 103
just set <legacyMode> to true.

[ WARN] [1505129724.788229360]: DiffDrive(ns = robot/): missing <wheelAcceleration> default is 0
[ WARN] [1505129724.788244772]: DiffDrive(ns = robot/): missing <wheelTorque> default is 5
[ WARN] [1505129724.788740470]: DiffDrive(ns = robot/): missing <odometrySource> default is 1
[ WARN] [1505129724.789040890]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1
[ INFO] [1505129724.790341691]: DiffDrive(ns = robot/): Try to subscribe to cmd_vel!
[ INFO] [1505129724.793568986]: DiffDrive(ns = robot/): Subscribe to cmd_vel!
[ INFO] [1505129724.794219364]: DiffDrive(ns = robot/): Advertise odom on odom !
2017-09-11 13:35:24,986 [Thread-3 ] [rospy.intern] [INFO] topic[/robot/cmd_vel] adding connection to [/gazebo], count 0
[INFO] [1505129725.020791, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1505129725.021847, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1505129725.022741, 0.000000]: Loading controller: joint1_position_controller
[ERROR] [1505129725.024382526]: Could not load controller 'joint1_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1505129725.024417800]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1505129726.025627, 0.000000]: Failed to load joint1_position_controller
[INFO] [1505129726.025921, 0.000000]: Loading controller: joint2_position_controller
[ERROR] [1505129726.027705396]: Could not load controller 'joint2_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1505129726.027736770]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1505129727.028944, 0.000000]: Failed to load joint2_position_controller
[INFO] [1505129727.029245, 0.000000]: Loading controller: joint_state_controller
[ERROR] [1505129727.031302272]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1505129727.031337726]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1505129728.032598, 0.000000]: Failed to load joint_state_controller