1741265491.5791471 [INFO] [launch]: All log files can be found below /home/pascal/.ros/log/2025-03-06-13-51-31-578348-DESKTOP-I5L32EL-17200 1741265491.5792792 [INFO] [launch]: Default logging verbosity is set to INFO 1741265522.1071405 [INFO] [ruby $(which gz) sim-1]: process started with pid [17207] 1741265522.1073067 [INFO] [ruby $(which gz) sim-2]: process started with pid [17209] 1741265522.1074049 [INFO] [micro_ros_agent-3]: process started with pid [17211] 1741265522.1074839 [INFO] [dds_udp.parm --synthetic-clock -4]: process started with pid [17213] 1741265522.1075654 [INFO] [mavproxy.py -5]: process started with pid [17215] 1741265522.1076369 [INFO] [robot_state_publisher-6]: process started with pid [17217] 1741265522.1076970 [INFO] [parameter_bridge-7]: process started with pid [17219] 1741265522.1077576 [INFO] [rviz2-8]: process started with pid [17221] 1741265522.2266657 [INFO] [relay-9]: process started with pid [17223] 1741265522.9373722 [dds_udp.parm --synthetic-clock -4] Setting SIM_SPEEDUP=1.000000 1741265522.9375029 [dds_udp.parm --synthetic-clock -4] Ignoring stale command-line parameter '-S'Starting SITL: JSON 1741265522.9385076 [dds_udp.parm --synthetic-clock -4] JSON control interface set to 127.0.0.1:9002 1741265522.9386041 [dds_udp.parm --synthetic-clock -4] Starting sketch 'Rover' 1741265522.9386473 [dds_udp.parm --synthetic-clock -4] Starting SITL input 1741265522.9387109 [dds_udp.parm --synthetic-clock -4] Using Irlock at port : 9005 1741265522.9389193 [dds_udp.parm --synthetic-clock -4] bind port 5760 for SERIAL0 1741265522.9389968 [dds_udp.parm --synthetic-clock -4] SERIAL0 on TCP port 5760 1741265522.9391205 [dds_udp.parm --synthetic-clock -4] Waiting for connection .... 1741265522.9412947 [micro_ros_agent-3] [1741265522.941157] info | UDPv4AgentLinux.cpp | init  | running... | port: 2019 1741265522.9417500 [micro_ros_agent-3] [1741265522.941653] info | Root.cpp  | set_verbose_level  | logger setup | verbose_level: 4 1741265523.6267631 [rviz2-8] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 1741265523.7686884 [robot_state_publisher-6] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_mid_b"]/sensor[@name="sonar_mid_b_sensor"]/gz_frame_id::L227]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265523.7704206 [robot_state_publisher-6] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_l"]/sensor[@name="sonar_l_sensor"]/gz_frame_id::L299]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265523.7720134 [robot_state_publisher-6] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_rb"]/sensor[@name="sonar_rb_sensor"]/gz_frame_id::L366]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265523.7736320 [robot_state_publisher-6] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_r"]/sensor[@name="sonar_r_sensor"]/gz_frame_id::L432]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265523.7752104 [robot_state_publisher-6] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_lb"]/sensor[@name="sonar_lb_sensor"]/gz_frame_id::L499]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265523.7881405 [robot_state_publisher-6] [WARN] [1741265523.787933153] [sdformat_urdf]: SDFormat link [base_link] has a , but URDF does not support this 1741265523.7884510 [robot_state_publisher-6] [WARN] [1741265523.788078622] [sdformat_urdf]: SDFormat link [sonar_mid_b] has a , but URDF does not support this 1741265523.7885418 [robot_state_publisher-6] [WARN] [1741265523.788091654] [sdformat_urdf]: SDFormat link [sonar_l] has a , but URDF does not support this 1741265523.7885962 [robot_state_publisher-6] [WARN] [1741265523.788100705] [sdformat_urdf]: SDFormat link [sonar_rb] has a , but URDF does not support this 1741265523.7886364 [robot_state_publisher-6] [WARN] [1741265523.788108239] [sdformat_urdf]: SDFormat link [sonar_r] has a , but URDF does not support this 1741265523.7886896 [robot_state_publisher-6] [WARN] [1741265523.788115731] [sdformat_urdf]: SDFormat link [sonar_lb] has a , but URDF does not support this 1741265523.7887454 [robot_state_publisher-6] [WARN] [1741265523.788123112] [sdformat_urdf]: SDFormat link [lidar] has a , but URDF does not support this 1741265523.7888215 [robot_state_publisher-6] [WARN] [1741265523.788131614] [sdformat_urdf]: SDFormat link [camera] has a , but URDF does not support this 1741265523.7992783 [robot_state_publisher-6] [WARN] [1741265523.799044543] [kdl_parser]: 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. 1741265523.7996356 [robot_state_publisher-6] [INFO] [1741265523.799151223] [robot_state_publisher]: got segment base_link 1741265523.7998407 [robot_state_publisher-6] [INFO] [1741265523.799223709] [robot_state_publisher]: got segment camera 1741265523.7999101 [robot_state_publisher-6] [INFO] [1741265523.799231063] [robot_state_publisher]: got segment lidar 1741265523.7999537 [robot_state_publisher-6] [INFO] [1741265523.799234952] [robot_state_publisher]: got segment sonar_l 1741265523.7999997 [robot_state_publisher-6] [INFO] [1741265523.799238189] [robot_state_publisher]: got segment sonar_lb 1741265523.8000402 [robot_state_publisher-6] [INFO] [1741265523.799241379] [robot_state_publisher]: got segment sonar_mid_b 1741265523.8000946 [robot_state_publisher-6] [INFO] [1741265523.799244708] [robot_state_publisher]: got segment sonar_r 1741265523.8001530 [robot_state_publisher-6] [INFO] [1741265523.799246982] [robot_state_publisher]: got segment sonar_rb 1741265523.8002040 [robot_state_publisher-6] [INFO] [1741265523.799249055] [robot_state_publisher]: got segment wheel_lb 1741265523.8002529 [robot_state_publisher-6] [INFO] [1741265523.799251200] [robot_state_publisher]: got segment wheel_lf 1741265523.8002946 [robot_state_publisher-6] [INFO] [1741265523.799262392] [robot_state_publisher]: got segment wheel_rb 1741265523.8003404 [robot_state_publisher-6] [INFO] [1741265523.799280160] [robot_state_publisher]: got segment wheel_rf 1741265525.5853667 [rviz2-8] [INFO] [1741265525.585154173] [rviz2]: Stereo is NOT SUPPORTED 1741265525.5856667 [rviz2-8] [INFO] [1741265525.585239434] [rviz2]: OpenGl version: 4.2 (GLSL 4.2) 1741265525.8174841 [rviz2-8] [INFO] [1741265525.817288861] [rviz2]: Stereo is NOT SUPPORTED 1741265529.1837220 [dds_udp.parm --synthetic-clock -4] Connection on serial port 5760 1741265529.2448070 [dds_udp.parm --synthetic-clock -4] Loaded defaults from /mnt/h/plattform/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/sam_car.parm,/mnt/h/plattform/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm 1741265529.2451203 [dds_udp.parm --synthetic-clock -4] bind port 5762 for SERIAL1 1741265529.2452066 [dds_udp.parm --synthetic-clock -4] SERIAL1 on TCP port 5762 1741265529.2452524 [dds_udp.parm --synthetic-clock -4] bind port 5763 for SERIAL2 1741265529.2453017 [dds_udp.parm --synthetic-clock -4] SERIAL2 on TCP port 5763 1741265529.2456009 [dds_udp.parm --synthetic-clock -4] Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000 1741265530.1610630 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265530.7610927 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265531.3611796 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265531.9611723 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265532.2209363 [mavproxy.py -5] Connect tcp:127.0.0.1:5760 source_system=255 1741265532.2210691 [mavproxy.py -5] Log Directory: 1741265532.2211220 [mavproxy.py -5] Telemetry log: mav.tlog 1741265532.2211726 [mavproxy.py -5] Waiting for heartbeat from tcp:127.0.0.1:5760 1741265532.2212129 [mavproxy.py -5] link 1 down 1741265532.5610886 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265533.1611123 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265533.2357285 [rviz2-8] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_mid_b"]/sensor[@name="sonar_mid_b_sensor"]/gz_frame_id::L227]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265533.2373786 [rviz2-8] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_l"]/sensor[@name="sonar_l_sensor"]/gz_frame_id::L299]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265533.2390745 [rviz2-8] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_rb"]/sensor[@name="sonar_rb_sensor"]/gz_frame_id::L366]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265533.2407601 [rviz2-8] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_r"]/sensor[@name="sonar_r_sensor"]/gz_frame_id::L432]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265533.2425406 [rviz2-8] Warning [Utils.cc:132] [/sdf/model[@name="my_model"]/link[@name="sonar_lb"]/sensor[@name="sonar_lb_sensor"]/gz_frame_id::L499]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor]. 1741265533.2560587 [rviz2-8] [WARN] [1741265533.255855068] [sdformat_urdf]: SDFormat link [base_link] has a , but URDF does not support this 1741265533.2563682 [rviz2-8] [WARN] [1741265533.256067887] [sdformat_urdf]: SDFormat link [sonar_mid_b] has a , but URDF does not support this 1741265533.2564566 [rviz2-8] [WARN] [1741265533.256082187] [sdformat_urdf]: SDFormat link [sonar_l] has a , but URDF does not support this 1741265533.2565038 [rviz2-8] [WARN] [1741265533.256093773] [sdformat_urdf]: SDFormat link [sonar_rb] has a , but URDF does not support this 1741265533.2565446 [rviz2-8] [WARN] [1741265533.256103296] [sdformat_urdf]: SDFormat link [sonar_r] has a , but URDF does not support this 1741265533.2565906 [rviz2-8] [WARN] [1741265533.256113367] [sdformat_urdf]: SDFormat link [sonar_lb] has a , but URDF does not support this 1741265533.2566478 [rviz2-8] [WARN] [1741265533.256120916] [sdformat_urdf]: SDFormat link [lidar] has a , but URDF does not support this 1741265533.2566895 [rviz2-8] [WARN] [1741265533.256128916] [sdformat_urdf]: SDFormat link [camera] has a , but URDF does not support this 1741265533.7610953 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265534.2250361 [rviz2-8] [INFO] [1741265534.224713620] [rviz2]: Stereo is NOT SUPPORTED 1741265534.3611965 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265534.9610767 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265535.5612962 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265536.1613271 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265536.7610943 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265537.3613067 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265537.9610906 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265538.5612967 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265539.1610651 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265539.7611525 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265540.3610687 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265540.9610927 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265541.5611546 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265542.1611052 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265542.7610602 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265543.3612425 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265543.9610579 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265544.5610683 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265545.1614997 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265545.7611623 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265546.3610668 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265546.9610944 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265547.5611305 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265548.1610920 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265548.7610869 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265549.3612266 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265549.9611676 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265550.5611458 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265551.1611669 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265551.7611654 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265552.3611093 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265552.9611988 [dds_udp.parm --synthetic-clock -4] No JSON sensor message received, resending servos 1741265553.4691029 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) 1741265553.4730802 [rviz2-8] [INFO] [1741265553.468741666] [rclcpp]: signal_handler(signum=2) 1741265553.4737272 [robot_state_publisher-6] [INFO] [1741265553.468762669] [rclcpp]: signal_handler(signum=2) 1741265553.4739425 [ERROR] [micro_ros_agent-3]: process has died [pid 17211, exit code -2, cmd '/mnt/h/plattform/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --middleware dds --verbose 4 --port 2019 --ros-args -r __node:=micro_ros_agent -r __ns:=/']. 1741265553.4819438 [ERROR] [dds_udp.parm --synthetic-clock -4]: process has died [pid 17213, exit code -2, cmd 'ardurover --model json --speedup 1 --slave 0 --sim-address=127.0.0.1 --instance 0 --defaults /mnt/h/plattform/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/sam_car.parm,/mnt/h/plattform/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm --synthetic-clock ']. 1741265553.5530541 [mavproxy.py -5] Connection reset or closed by peer on TCP socket 1741265553.5532322 [mavproxy.py -5] Attempting reconnect 1741265553.5533092 [mavproxy.py -5] [Errno 111] Connection refused sleeping 1741265553.5533469 [mavproxy.py -5] Unloading module link 1741265553.5533886 [mavproxy.py -5] Unloading module log 1741265553.5534337 [mavproxy.py -5] Unloading module signing 1741265553.5534770 [mavproxy.py -5] Unloading module wp 1741265553.5535257 [mavproxy.py -5] Unloading module rally 1741265553.5535703 [mavproxy.py -5] Unloading module fence 1741265553.5536149 [mavproxy.py -5] Unloading module ftp 1741265553.5536640 [mavproxy.py -5] Unloading module param 1741265553.5537179 [mavproxy.py -5] Unloading module relay 1741265553.5537601 [mavproxy.py -5] Unloading module tuneopt 1741265553.5537989 [mavproxy.py -5] Unloading module arm 1741265553.5538375 [mavproxy.py -5] Unloading module mode 1741265553.5538826 [mavproxy.py -5] Unloading module calibration 1741265553.5539227 [mavproxy.py -5] Unloading module rc 1741265553.5539615 [mavproxy.py -5] Unloading module auxopt 1741265553.5540068 [mavproxy.py -5] Unloading module misc 1741265553.5540495 [mavproxy.py -5] Unloading module cmdlong 1741265553.5540891 [mavproxy.py -5] Unloading module battery 1741265553.5541320 [mavproxy.py -5] Unloading module terrain 1741265553.5541723 [mavproxy.py -5] Unloading module output 1741265553.5542157 [mavproxy.py -5] Unloading module adsb 1741265553.5542552 [mavproxy.py -5] Unloading module layout 1741265553.5789735 [INFO] [relay-9]: process has finished cleanly [pid 17223] 1741265553.5827723 [ERROR] [ruby $(which gz) sim-1]: process has died [pid 17207, exit code -2, cmd 'ruby $(which gz) sim -v4 -s -r /mnt/h/plattform/install/ardupilot_gz_gazebo/share/ardupilot_gz_gazebo/worlds/sam_playpen.sdf --force-version 8']. 1741265553.5829751 [INFO] [robot_state_publisher-6]: process has finished cleanly [pid 17217] 1741265553.5833359 [INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system 1741265553.5866978 [INFO] [parameter_bridge-7]: process has finished cleanly [pid 17219] 1741265553.6299329 [ERROR] [mavproxy.py -5]: process has died [pid 17215, exit code -2, cmd 'mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive ']. 1741265553.8533223 [ERROR] [ruby $(which gz) sim-2]: process has died [pid 17209, exit code -2, cmd 'ruby $(which gz) sim -v4 -g --force-version 8']. 1741265553.8535810 [INFO] [launch]: process[ruby $(which gz) sim-2] was required: shutting down launched system 1741265553.8565199 [ERROR] [rviz2-8]: process has died [pid 17221, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /mnt/h/plattform/install/ardupilot_gz_bringup/share/ardupilot_gz_bringup/rviz/sam.rviz --ros-args'].