[INFO] [launch]: All log files can be found below /home/siyuen/.ros/log/2025-07-12-22-56-15-295648-LAPTOP-6V9FOV9K-493
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [495]
[ign gazebo-1] : CommandLine Error: Option 'spirv-expand-step' registered more than once!
[ign gazebo-1] LLVM ERROR: inconsistency in registered CommandLine options
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x78528b2eae3f, in 
[ign gazebo-1] #30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x78528b2e9488, in 
[ign gazebo-1] #29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x78528b2e887f, in 
[ign gazebo-1] #28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x78528b2e8b2b, in 
[ign gazebo-1] #27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x78528b3b96a7, in 
[ign gazebo-1] #26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x78528b3cd780, in 
[ign gazebo-1] #25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12umd64.so", at 0x78529012b76a, in OpenAdapter12
[ign gazebo-1] #24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12umd64.so", at 0x78529012b9bd, in 
[ign gazebo-1] #23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x785288c3e9fc, in 
[ign gazebo-1] #22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x785288cca37e, in 
[ign gazebo-1] #21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x785288cf7afe, in 
[ign gazebo-1] #20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a02906c7, in dlopen
[ign gazebo-1] #19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a029012d, in 
[ign gazebo-1] #18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a0374b62, in _dl_catch_error
[ign gazebo-1] #17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a0374a97, in _dl_catch_exception
[ign gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a029063b, in 
[ign gazebo-1] #15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7852a0b6034d, in 
[ign gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a0374a97, in _dl_catch_exception
[ign gazebo-1] #13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7852a0b5fff5, in 
[ign gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a0374af4, in _dl_catch_exception
[ign gazebo-1] #11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7852a0b58567, in 
[ign gazebo-1] #10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7852a0b5847d, in 
[ign gazebo-1] #9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigc.so", at 0x7852611fc862, in 
[ign gazebo-1] #8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigc.so", at 0x7852615b297a, in 
[ign gazebo-1] #7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7852825abbdf, in llvm::cl::Option::addArgument()
[ign gazebo-1] #6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7852825abb5a, in 
[ign gazebo-1] #5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7852825ab80e, in 
[ign gazebo-1] #4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7852825bdf9b, in llvm::report_fatal_error(char const*, bool)
[ign gazebo-1] #3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7852825bdee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
[ign gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a02287f2, in abort
[ign gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a0242475, in raise
[ign gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7852a02969fc, in pthread_kill
[ign gazebo-1] Aborted (Signal sent by tkill() 499 1000)
[ign gazebo-1] [1;36m[Dbg] [gz.cc:161] [0m[1;36mSubscribing to [[0m[1;36m/gazebo/starting_world[0m[1;36m].[0m[1;36m[0m
[ign gazebo-1] [1;36m[Dbg] [gz.cc:163] [0m[1;36mWaiting for a world to be set from the GUI...[0m[1;36m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mReceived world [[0m[1;32m] from the GUI.[0m[1;32m[0m
[ign gazebo-1] [1;36m[Dbg] [gz.cc:167] [0m[1;36mUnsubscribing from [[0m[1;36m/gazebo/starting_world[0m[1;36m].[0m[1;36m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mIgnition Gazebo Server v[0m[1;32m6.16.0[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mLoading default world.[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing entity system service on [[0m[1;32m/[0m[1;32mentity/system/add[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mLoaded level [[0m[1;32m3[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mNo systems loaded from SDF, loading defaults[0m[1;32m[0m
[ign gazebo-1] [1;36m[Dbg] [ServerConfig.cc:1043] [0m[1;36mLoaded ([0m[1;36m3[0m[1;36m) plugins from file [0m[1;36m[[0m[1;36m/home/siyuen/.ignition/gazebo/6/server.config[0m[1;36m][0m
[ign gazebo-1] [1;36m[Dbg] [Physics.cc:804] [0m[1;36mLoaded [[0m[1;36mignition::physics::dartsim::Plugin[0m[1;36m] from library [[0m[1;36m/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so[0m[1;36m][0m[1;36m[0m
[ign gazebo-1] [1;36m[Dbg] [SystemManager.cc:70] [0m[1;36mLoaded system [[0m[1;36mgz::sim::systems::Physics[0m[1;36m] for entity [[0m[1;36m1[0m[1;36m][0m[1;36m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mCreate service on [[0m[1;32m/world/default/create[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mRemove service on [[0m[1;32m/world/default/remove[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPose service on [[0m[1;32m/world/default/set_pose[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPose service on [[0m[1;32m/world/default/set_pose_vector[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mLight configuration service on [[0m[1;32m/world/default/light_config[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPhysics service on [[0m[1;32m/world/default/set_physics[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mSphericalCoordinates service on [[0m[1;32m/world/default/set_spherical_coordinates[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mEnable collision service on [[0m[1;32m/world/default/enable_collision[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mDisable collision service on [[0m[1;32m/world/default/disable_collision[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mMaterial service on [[0m[1;32m/world/default/visual_config[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mMaterial service on [[0m[1;32m/world/default/wheel_slip[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;36m[Dbg] [SystemManager.cc:70] [0m[1;36mLoaded system [[0m[1;36mgz::sim::systems::UserCommands[0m[1;36m] for entity [[0m[1;36m1[0m[1;36m][0m[1;36m[0m
[ign gazebo-1] [1;36m[Dbg] [SystemManager.cc:70] [0m[1;36mLoaded system [[0m[1;36mgz::sim::systems::SceneBroadcaster[0m[1;36m] for entity [[0m[1;36m1[0m[1;36m][0m[1;36m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing world controls on [[0m[1;32m/world/default[0m[1;32m/control], [[0m[1;32m/world/default[0m[1;32m/control/state] and [[0m[1;32m/world/default[0m[1;32m/playback/control][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing GUI information on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mgui/info[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mWorld [[0m[1;32mdefault[0m[1;32m] initialized with [[0m[1;32mdefault_physics[0m[1;32m] physics profile.[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing world SDF generation service on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mgenerate_world_sdf[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing world names on [[0m[1;32m/gazebo/worlds[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mResource path add service on [[0m[1;32m/gazebo/resource_paths/add[0m[1;32m].[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mResource path get service on [[0m[1;32m/gazebo/resource_paths/get[0m[1;32m].[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mResource path resolve service on [[0m[1;32m/gazebo/resource_paths/resolve[0m[1;32m].[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mResource paths published on [[0m[1;32m/gazebo/resource_paths[0m[1;32m].[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServer control service on [[0m[1;32m/server_control[0m[1;32m].[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mFound no publishers on /stats, adding root stats topic[0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mFound no publishers on /clock, adding root clock topic[0m[1;32m[0m
[ign gazebo-1] [1;36m[Dbg] [SimulationRunner.cc:496] [0m[1;36mCreating PostUpdate worker threads: [0m[1;36m2[0m[1;36m[0m
[ign gazebo-1] [1;36m[Dbg] [SimulationRunner.cc:507] [0m[1;36mCreating postupdate worker thread ([0m[1;36m0[0m[1;36m)[0m[1;36m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing scene information on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mscene/info[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing graph information on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mscene/graph[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing full state on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mstate[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mServing full state (async) on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mstate_async[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPublishing scene information on [[0m[1;32m/world/default/scene/info[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPublishing entity deletions on [[0m[1;32m/world/default/scene/deletion[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPublishing state changes on [[0m[1;32m/world/default/state[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPublishing pose messages on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mpose/info[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;32m[Msg] [0m[1;32mPublishing dynamic pose messages on [[0m[1;32m/world/default[0m[1;32m/[0m[1;32mdynamic_pose/info[0m[1;32m][0m[1;32m[0m
[ign gazebo-1] [1;36m[Dbg] [SignalHandler.cc:141] [0m[1;36mReceived signal[[0m[1;36m2[0m[1;36m].[0m
[ign gazebo-1] [1;36m[Dbg] [ServerPrivate.cc:110] [0m[1;36mServer received signal[[0m[1;36m2[0m[1;36m][0m
[ign gazebo-1] [1;36m[Dbg] [gz.cc:410] [0m[1;36mShutting down ign-gazebo-server[0m[1;36m[0m
[ign gazebo-1] [1;36m[Dbg] [SimulationRunner.cc:523] [0m[1;36mExiting postupdate worker thread ([0m[1;36m0[0m[1;36m)[0m[1;36m[0m
[INFO] [ign gazebo-1]: process has finished cleanly [pid 495]
[INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system