[INFO] [launch]: All log files can be found below /home/siyuen/.ros/log/2025-08-22-00-25-43-247749-LAPTOP-6V9FOV9K-456 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [457] [ign gazebo-1] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [ign gazebo-1] [Wrn] [LocalCache.cc:162] Server directory does not exist [/home/siyuen/.ignition/fuel/fuel.gazebosim.org] [ign gazebo-1] [Wrn] [LocalCache.cc:162] Server directory does not exist [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org] [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [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 0x7e8b27bbbe3f, in [ign gazebo-1] #30 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7e8b27bba488, in [ign gazebo-1] #29 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7e8b27bb987f, in [ign gazebo-1] #28 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7e8b27bb9b2b, in [ign gazebo-1] #27 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7e8b27c8a6a7, in [ign gazebo-1] #26 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7e8b27c9e780, in [ign gazebo-1] #25 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12umd64.so", at 0x7e8b3ef0776a, in OpenAdapter12 [ign gazebo-1] #24 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12umd64.so", at 0x7e8b3ef079bd, in [ign gazebo-1] #23 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x7e8b1e5ba9fc, in [ign gazebo-1] #22 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x7e8b1e64637e, in [ign gazebo-1] #21 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x7e8b1e673afe, in [ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b514906c7, in dlopen [ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b5149012d, in [ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b51574b62, in _dl_catch_error [ign gazebo-1] #17 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b51574a97, in _dl_catch_exception [ign gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b5149063b, in [ign gazebo-1] #15 Object "/lib64/ld-linux-x86-64.so.2", at 0x7e8b51d2734d, in [ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b51574a97, in _dl_catch_exception [ign gazebo-1] #13 Object "/lib64/ld-linux-x86-64.so.2", at 0x7e8b51d26ff5, in [ign gazebo-1] #12 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b51574af4, in _dl_catch_exception [ign gazebo-1] #11 Object "/lib64/ld-linux-x86-64.so.2", at 0x7e8b51d1f567, in [ign gazebo-1] #10 Object "/lib64/ld-linux-x86-64.so.2", at 0x7e8b51d1f47d, in [ign gazebo-1] #9 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigc.so", at 0x7e8a881fc862, in [ign gazebo-1] #8 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigc.so", at 0x7e8a885b297a, in [ign gazebo-1] #7 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7e8b18acabdf, in llvm::cl::Option::addArgument() [ign gazebo-1] #6 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7e8b18acab5a, in [ign gazebo-1] #5 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7e8b18aca80e, in [ign gazebo-1] #4 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7e8b18adcf9b, 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 0x7e8b18adcee8, in llvm::report_fatal_error(llvm::Twine const&, bool) [ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b514287f2, in abort [ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b51442475, in raise [ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7e8b514969fc, in pthread_kill [ign gazebo-1] Aborted (Signal sent by tkill() 461 1000) [ign gazebo-1] [Wrn] [FuelClient.cc:1978] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org to https://fuel.gazebosim.org [ign gazebo-1] [Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world]. [ign gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI... [ign gazebo-1] [Msg] Received world [https://fuel.gazebosim.org/1.0/OpenRobotics/worlds/NAO joint control] from the GUI. [ign gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world]. [ign gazebo-1] [Msg] Ignition Gazebo Server v6.16.0 [ign gazebo-1] [Msg] Downloading world [fuel.gazebosim.org/openrobotics/worlds/nao joint control] [ign gazebo-1] [Dbg] [FuelClient.cc:2002] Downloading from a referral link [https://gz-fuel-resources-production.s3.amazonaws.com/OpenRobotics/bbaf507f-7072-438a-88b1-08ab16f2bba1/.zips/1.zip?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAS5OHIRKDBY6VUUFF%2F20250821%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Date=20250821T162704Z&X-Amz-Expires=3600&X-Amz-SignedHeaders=host&X-Amz-Signature=38b69463f428a88e64ae1ef0365bcedf4e03e7e7072bcdfe4d5c60021d2cca71] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.gazebosim.org/openrobotics/worlds/nao joint control/1/nao_world.sdf] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.gazebosim.org/openrobotics/worlds/nao joint control/1/thumbnails/1.png] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.gazebosim.org/openrobotics/worlds/nao joint control/1/thumbnails/2.png] [ign gazebo-1] [Msg] Saved world at: [ign gazebo-1]  /home/siyuen/.ignition/fuel/fuel.gazebosim.org/openrobotics/worlds/nao joint control/1 [ign gazebo-1] [Msg] Loading SDF world file[/home/siyuen/.ignition/fuel/fuel.gazebosim.org/openrobotics/worlds/nao joint control/1/nao_world.sdf]. [ign gazebo-1] [Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller] [ign gazebo-1] [Dbg] [FuelClient.cc:2002] Downloading from a referral link [https://gz-fuel-resources-production.s3.amazonaws.com/OpenRobotics/95ebdb1c-c63a-4c65-b8bf-8d55ac75a92f/.zips/2.zip?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAS5OHIRKDBY6VUUFF%2F20250821%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Date=20250821T162708Z&X-Amz-Expires=3600&X-Amz-SignedHeaders=host&X-Amz-Signature=6dc4508f5207f11b425b4b1c7dc6b0f5a59cf237e08b3e7f25452893539881bc] [ign gazebo-1] [Dbg] [SignalHandler.cc:141] Received signal[2]. [ign gazebo-1] [Dbg] [ServerPrivate.cc:110] Server received signal[2] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/materials/texture/textureNAO.png] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/HeadPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/HeadYaw.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LAnklePitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LAnkleRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LElbowRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LFinger11.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LFinger12.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LFinger13.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LFinger21.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LFinger22.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LFinger23.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LHipPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LHipRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LHipYawPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LKneePitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LShoulderPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LShoulderRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LThumb1.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LThumb2.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/LWristYaw.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RAnklePitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RAnkleRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RElbowRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RFinger11.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RFinger12.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RFinger13.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RFinger21.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RFinger22.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RFinger23.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RHipPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RHipRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RHipYawPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RKneePitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RShoulderPitch.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RShoulderRoll.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RThumb1.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RThumb2.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/RWristYaw.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/meshes/V40/Torso.dae] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/model.config] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/model.sdf] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/thumbnails/1.png] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/thumbnails/2.png] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/thumbnails/3.png] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/thumbnails/4.png] [ign gazebo-1] [Dbg] [Zip.cc:180] Created file [/home/siyuen/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/nao with ignition position controller/2/thumbnails/5.png] [ign gazebo-1] [Msg] Serving entity system service on [/entity/system/add] [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] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Physics] for entity [1] [ign gazebo-1] [Msg] Create service on [/world/nao_world/create] [ign gazebo-1] [Msg] Remove service on [/world/nao_world/remove] [ign gazebo-1] [Msg] Pose service on [/world/nao_world/set_pose] [ign gazebo-1] [Msg] Pose service on [/world/nao_world/set_pose_vector] [ign gazebo-1] [Msg] Light configuration service on [/world/nao_world/light_config] [ign gazebo-1] [Msg] Physics service on [/world/nao_world/set_physics] [ign gazebo-1] [Msg] SphericalCoordinates service on [/world/nao_world/set_spherical_coordinates] [ign gazebo-1] [Msg] Enable collision service on [/world/nao_world/enable_collision] [ign gazebo-1] [Msg] Disable collision service on [/world/nao_world/disable_collision] [ign gazebo-1] [Msg] Material service on [/world/nao_world/visual_config] [ign gazebo-1] [Msg] Material service on [/world/nao_world/wheel_slip] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/HeadYaw/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/HeadPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LHipYawPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LHipRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LHipPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LKneePitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LAnklePitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LAnkleRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LShoulderPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LShoulderRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LElbowYaw/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LElbowRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/LWristYaw/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RHipYawPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RHipRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RHipPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RKneePitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RAnklePitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RAnkleRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RShoulderPitch/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RShoulderRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RElbowYaw/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213] i_max: [1] [ign gazebo-1] [Dbg] [JointPositionController.cc:214] i_min: [-1] [ign gazebo-1] [Dbg] [JointPositionController.cc:215] cmd_max: [1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:216] cmd_min: [-1000] [ign gazebo-1] [Dbg] [JointPositionController.cc:217] cmd_offset: [0] [ign gazebo-1] [Dbg] [JointPositionController.cc:218] Topic: [/model/Nao/joint/RElbowRoll/0/cmd_pos] [ign gazebo-1] [Dbg] [JointPositionController.cc:219] initial_position: [0] [ign gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::JointPositionController] for entity [4] [ign gazebo-1] [Dbg] [JointPositionController.cc:209] [JointPositionController] system parameters: [ign gazebo-1] [Dbg] [JointPositionController.cc:210] p_gain: [10] [ign gazebo-1] [Dbg] [JointPositionController.cc:211] i_gain: [0.1] [ign gazebo-1] [Dbg] [JointPositionController.cc:212] d_gain: [0.01] [ign gazebo-1] [Dbg] [JointPositionController.cc:213]Escalating to SIGKILL on [Ignition Gazebo Server] [INFO] [ign gazebo-1]: process has finished cleanly [pid 457] [INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system