Error when using ctu_cras_norlab_spot_sensor_config_1

[lichenchen1205]

I followed the instructions and executed
LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign robotName:=CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1 ros:=true champ:=true
but
`Dbg] [SimulationRunner.cc:527] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:527] Creating postupdate worker thread (6)
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
process[bridge_logger-3]: started with pid [20573]
[ERROR] [1638274525.085019674]: Could not find parameter robot_description on parameter server
[ERROR] [1638274525.085768259]: Failed to parse urdf file
[ INFO] [1638274525.085784514]: Successfully parsed urdf file
process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/contact_sensor-3]: started with pid [20656]
[GUI] [Dbg] [RenderUtil.cc:1632] Create scene [scene]
Warning [Model.cc:212] Non-unique names detected in XML children of model with name[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1].
[Dbg] [EntityComponentManager.cc:765] Using components of type [273039548655896271] / [ign_gazebo_components.Sensor].
[Dbg] [EntityComponentManager.cc:765] Using components of type [14624144930658477562] / [ign_gazebo_components.Camera].
[Dbg] [EntityComponentManager.cc:765] Using components of type [17771214158902094494] / [ign_gazebo_components.Imu].
[Dbg] [EntityComponentManager.cc:765] Using components of type [10461520141335422054] / [ign_gazebo_components.WorldPose].
[Dbg] [EntityComponentManager.cc:765] Using components of type [9810498410555695050] / [ign_gazebo_components.AngularVelocity].
[Dbg] [EntityComponentManager.cc:765] Using components of type [17373107141547024696] / [ign_gazebo_components.LinearAcceleration].
[Dbg] [EntityComponentManager.cc:765] Using components of type [1301926277928136113] / [ign_gazebo_components.GpuLidar].
[Dbg] [EntityComponentManager.cc:765] Using components of type [9853217982010720764] / [ign_gazebo_components.Material].
[Dbg] [EntityComponentManager.cc:765] Using components of type [6437904990063664725] / [ign_gazebo_components.DepthCamera].
[Dbg] [EntityComponentManager.cc:765] Using components of type [9386381083157376121] / [ign_gazebo_components.ContactSensor].
process[rostopic_stats_logger-4]: started with pid [20676]
[Dbg] [EntityComponentManager.cc:765] Using components of type [360894313363162387] / [ign_gazebo_components.Joint].
[Dbg] [EntityComponentManager.cc:765] Using components of type [4514298940308304267] / [ign_gazebo_components.JointType].
[Dbg] [EntityComponentManager.cc:765] Using components of type [16752981946841796574] / [ign_gazebo_components.JointAxis].
[Dbg] [EntityComponentManager.cc:765] Using components of type [6791213906290467105] / [ign_gazebo_components.ThreadPitch].
[Dbg] [EntityComponentManager.cc:765] Using components of type [14863055383328686534] / [ign_gazebo_components.ParentLinkName].
[Dbg] [EntityComponentManager.cc:765] Using components of type [3888602368311486678] / [ign_gazebo_components.ChildLinkName].
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [201]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [201]
[Wrn] [GasEmitterDetectorPlugin.cc:217] Max concentration is lower than min concentration. Setting max to unbounded.
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::GasDetector] for entity [201]
[Dbg] [EntityComponentManager.cc:765] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[Dbg] [EntityComponentManager.cc:765] Using components of type [4068291309002341380] / [ign_gazebo_components.JointVelocity].
[Dbg] [EntityComponentManager.cc:765] Using components of type [16434675394613771646] / [ign_gazebo_components.JointForce].
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::JointStatePublisher] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_hip_x/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_hip_x/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_hip_y/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_hip_y/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_knee/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_knee/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_left_knee/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_hip_x/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_hip_x/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_hip_y/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_hip_y/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_knee/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_knee/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/front_right_knee/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_hip_x/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_hip_x/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_hip_y/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_hip_y/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_knee/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_knee/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_left_knee/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_hip_x/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_hip_x/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_hip_x/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_hip_y/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_hip_y/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_hip_y/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] ApplyJointForce subscribing to Double messages on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_knee/cmd_force]
[Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [201]
[Dbg] [configurable_joint_position_controller.cpp:271] [ConfigurableJointPositionController] system parameters:
[Dbg] [configurable_joint_position_controller.cpp:272] p_gain: [250]
[Dbg] [configurable_joint_position_controller.cpp:273] i_gain: [0.2]
[Dbg] [configurable_joint_position_controller.cpp:274] d_gain: [5]
[Dbg] [configurable_joint_position_controller.cpp:275] i_max: [1]
[Dbg] [configurable_joint_position_controller.cpp:276] i_min: [-1]
[Dbg] [configurable_joint_position_controller.cpp:277] cmd_max: [1000]
[Dbg] [configurable_joint_position_controller.cpp:278] cmd_min: [-1000]
[Dbg] [configurable_joint_position_controller.cpp:279] cmd_offset: [0]
[Dbg] [configurable_joint_position_controller.cpp:283] Initial target: [initial position]
[Dbg] [configurable_joint_position_controller.cpp:286] Topic: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_knee/0/cmd_pos]
[Dbg] [configurable_joint_position_controller.cpp:287] PID config service: [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint/rear_right_knee/0/set_pos_pid]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::ConfigurableJointPositionController] for entity [201]
[Msg] MultiJointControlSystem was configured for joint front_left_hip_x
[Msg] MultiJointControlSystem was configured for joint front_left_hip_y
[Msg] MultiJointControlSystem was configured for joint front_left_knee
[Msg] MultiJointControlSystem was configured for joint front_right_hip_x
[Msg] MultiJointControlSystem was configured for joint front_right_hip_y
[Msg] MultiJointControlSystem was configured for joint front_right_knee
process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/state_estimator-4]: started with pid [20723]
[Msg] MultiJointControlSystem was configured for joint rear_left_hip_x
[Msg] MultiJointControlSystem was configured for joint rear_left_hip_y
[Msg] MultiJointControlSystem was configured for joint rear_left_knee
[Msg] MultiJointControlSystem was configured for joint rear_right_hip_x
[Msg] MultiJointControlSystem was configured for joint rear_right_hip_y
[Msg] MultiJointControlSystem was configured for joint rear_right_knee
[Msg] MultiJointCommandSystem subscribing to JointState commands on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint_commands] and JointTrajectory commands on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/joint_trajectory]
[Dbg] [SimulationRunner.cc:866] Loaded system [subt::MultiJointCommandSystem] for entity [201]
process[tf_world_static-5]: started with pid [20728]
[Msg] LogicalContactSystem publishing on [/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/leg_collisions] is handling the following groups:

• 'front_left' with collisions ['front_left_lower_leg_collision', 'front_left_lower_leg_collision_1']
• 'front_right' with collisions ['front_right_lower_leg_collision', 'front_right_lower_leg_collision_1']
• 'rear_left' with collisions ['rear_left_lower_leg_collision', 'rear_left_lower_leg_collision_1']
• 'rear_right' with collisions ['rear_right_lower_leg_collision', 'rear_right_lower_leg_collision_1']
  [Dbg] [SimulationRunner.cc:866] Loaded system [subt::LogicalContactSystem] for entity [201]
  [Dbg] [EntityComponentManager.cc:765] Using components of type [4154590335585354845] / [ign_gazebo_components.BatterySoC].
  [Msg] LinearBatteryPlugin configured. Battery name: linear_battery
  [Dbg] [LinearBatteryPlugin.cc:345] Battery initial voltage: 12.694
  [Dbg] [SimulationRunner.cc:866] Loaded system [ignition::gazebo::systems::LinearBatteryPlugin] for entity [201]
  [Dbg] [SimulationRunner.cc:866] Loaded system [subt::MonoCameraSystem] for entity [258]
  [Dbg] [SimulationRunner.cc:866] Loaded system [subt::MonoCameraSystem] for entity [261]
  [Dbg] [SimulationRunner.cc:866] Loaded system [subt::MonoCameraSystem] for entity [264]
  [Dbg] [SimulationRunner.cc:866] Loaded system [subt::MonoCameraSystem] for entity [267]
  [Dbg] [SimulationRunner.cc:866] Loaded system [subt::MonoCameraSystem] for entity [270]
  [Dbg] [UserCommands.cc:861] Created entity [201] named [CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1]
  [CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/champ_controller-2] process has died [pid 20571, exit code -11, cmd /home/developer/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/developer/.ros/log/9df1bc1c-51d0-11ec-ade3-2cf05dd6d644/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1-champ_controller-2.log].
  log file: /home/developer/.ros/log/9df1bc1c-51d0-11ec-ade3-2cf05dd6d644/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1-champ_controller-2*.log
  [CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/champ_controller-2] restarting process
  [Dbg] [EntityComponentManager.cc:765] Using components of type [9986606447706164306] / [ign_gazebo_components.SensorTopic].
  [Dbg] [EntityComponentManager.cc:765] Using components of type [12013502194675979273] / [ign_gazebo_components.ContactSensorData].
  [Msg] Contact system publishing on world/example/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/link/front_left_lower_leg/sensor/contact/contact
  [Msg] Contact system publishing on world/example/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/link/front_right_lower_leg/sensor/contact/contact
  [Msg] Contact system publishing on world/example/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/link/rear_left_lower_leg/sensor/contact/contact
  [Msg] Contact system publishing on world/example/model/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/link/rear_right_lower_leg/sensor/contact/contact
  [ERROR] [1638274525.284110052]: Could not find parameter robot_description on parameter server
  [ERROR] [1638274525.285210200]: Failed to parse urdf file
  [ INFO] [1638274525.285463883]: Successfully parsed urdf file
  process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/root_pub-5]: started with pid [20799]
  process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/champ_controller-2]: started with pid [20842]
  [ERROR] [1638274525.436899600]: Could not find parameter robot_description on parameter server
  [ERROR] [1638274525.437504460]: Failed to parse urdf file
  [ INFO] [1638274525.437523814]: Successfully parsed urdf file
  process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/base_to_footprint_ekf-6]: started with pid [20888]
  [CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/state_estimator-4] process has died [pid 20723, exit code -11, cmd /home/developer/subt_ws/install/lib/champ_base/state_estimation_node joint_states:=joint_state __name:=state_estimator __log:=/home/developer/.ros/log/9df1bc1c-51d0-11ec-ade3-2cf05dd6d644/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1-state_estimator-4.log].
  log file: /home/developer/.ros/log/9df1bc1c-51d0-11ec-ade3-2cf05dd6d644/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1-state_estimator-4*.log
  [CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/state_estimator-4] restarting process
  process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/footprint_to_odom_ekf-7]: started with pid [20953]
  process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/state_estimator-4]: started with pid [20955]
  [ERROR] [1638274525.623883657]: Could not find parameter robot_description on parameter server
  [ERROR] [1638274525.625433675]: Failed to parse urdf file
  [ INFO] [1638274525.625456218]: Successfully parsed urdf file
  [ WARN] [1638274525.664520882, 1584.276000000]: Failed to meet update rate! Took 1584.2760000000000673
  [ WARN] [1638274525.665288043, 1584.276000000]: Failed to meet update rate! Took 1584.2560000000000855
  process[CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/rviz-8]: started with pid [20988]
  [CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1/champ_controller-2] process has died [pid 20842, exit code -11, cmd /home/developer/subt_ws/install/lib/champ_base/quadruped_controller_node __name:=champ_controller __log:=/home/developer/.ros/log/9df1bc1c-51d0-11ec-ade3-2cf05dd6d644/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1-champ_controller-2.log].
  log file: /home/developer/.ros/log/9df1bc1c-51d0-11ec-ade3-2cf05dd6d644/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1-champ_controller-2*.log
  `
  I tested it on the computer and in docker and got the same result. How can I solve this problem?

[peci1]

You're right, that is an error in the models. I sent a fix for this to the master branch (#1045). With this fix, I can launch the command you mentioned correctly.

[lichenchen1205]

Thank you very much for your help. I can run this command according to your method, but when I start it, the robot will always lie there, as shown in the picture.and I useroslaunch champ_teleop teleop.launch，but I can’t use the keyboard to move it.

You're right, that is an error in the models. I sent a fix for this to the master branch (#1045). With this fix, I can launch the command you mentioned correctly.

[lichenchen1205]

Another question, how do I change the world the spot is in? I replaced the example.sdf file in subt_ws/src/subt/submitted_models/bosdyn_spot/worlds, it will appear to load the environment but the robot fails to load or both failed， is there a correct way?
@peci1

[peci1]

Hi, if you followed the official install instructions, you should edit the files in subt_ws/install instead of subt_ws/src (or edit them in src and call a catkin_make).

Depending on your use-case, it might however be better to launch the robot using the official instructions at https://github.com/osrf/subt/wiki/Catkin%20System%20Setup and launch the additional CHAMP nodes calling the roslaunch commands mentioned here:

subt/submitted_models/bosdyn_spot/launch/example.ign

Lines 182 to 192 in 8c1e339

	<!-- subt_spot package is not part of the SubT simulator. You have to download it separately from https://github.com/ctu-vras/subt_spot . -->
	<% if local_variables.include?(:champ) and champ %>
	<executable name='champ'>
	<command>roslaunch --wait subt_spot champ.launch name:=<%=robotName%></command>
	</executable>
	<% end %>
	<% if local_variables.include?(:teleop) and teleop %>
	<executable name='teleop'>
	<command>env ROS_NAMESPACE=<%=robotName%> roslaunch --wait champ_teleop teleop.launch joy:=true</command>
	</executable>
	<% end %>

[lichenchen1205]

Hi, if you followed the official install instructions, you should edit the files in subt_ws/install instead of subt_ws/src (or edit them in src and call a catkin_make).

Depending on your use-case, it might however be better to launch the robot using the official instructions at https://github.com/osrf/subt/wiki/Catkin%20System%20Setup and launch the additional CHAMP nodes calling the roslaunch commands mentioned here:

subt/submitted_models/bosdyn_spot/launch/example.ign

Lines 182 to 192 in 8c1e339

	<!-- subt_spot package is not part of the SubT simulator. You have to download it separately from https://github.com/ctu-vras/subt_spot . -->
	<% if local_variables.include?(:champ) and champ %>
	<executable name='champ'>
	<command>roslaunch --wait subt_spot champ.launch name:=<%=robotName%></command>
	</executable>
	<% end %>
	<% if local_variables.include?(:teleop) and teleop %>
	<executable name='teleop'>
	<command>env ROS_NAMESPACE=<%=robotName%> roslaunch --wait champ_teleop teleop.launch joy:=true</command>
	</executable>
	<% end %>

thanks so much,now I can change the world,another question ，how can i get the ground truth of robots ? I edit the common.rb and set <publish_nested_model_pose>true</publish_nested_model_pose>,but when I call roslaunch --wait subt_spot champ.launch name:=X1，the tf status was warnning in rviz.

[peci1]

I don't think this kind of ground truth publishing is compatible with subt_spot. The <publish_nested_model_pose>true</publish_nested_model_pose> generates transform world->X1, and subt_spot publishes the odometry, which is odom->X1. Thus, X1 frame has two parents. You'll have to find a different way of processing the ground truth. We are currently using a custom Ignition-ROS program that subscribes /world/$WORLD/pose/info ign topic and publishes the inverse transform as X1->X1_ground_truth. This is not logically correct, but it works and allows having odom as the parent of X1. It also works around the slowness of the ground truth transform (that is fixed by #759, which has not yet been merged). Another option is to not publish a TF, but just an odom message.

[peci1]

You can also try to edit champ.launch from subt_spot and disable the odometry nodes if you only need the ground truth pose.

[lichenchen1205]

You can also try to edit champ.launch from subt_spot and disable the odometry nodes if you only need the ground truth pose.

In fact, I need both the odometer and the ground truth. I think it is possible to record world->odom when the robot starts, and publish it as static tf.