When launching a multi-robot simulation where each robot is equipped with a GPU Lidar sensor using the RGL plugin, the Gazebo server process (ign gazebo-1) crashes with a segmentation fault (exit code 139). The crash appears to happen shortly after the second robot is spawned into the world. The stack trace points directly to an unrecoverable error within the libRGLServerPluginManager.so and libRobotecGPULidar.so plugins during the update loop.
A secondary issue observed before the crash is that while lidar data is published to the generic Gazebo /world/.../points topic, it does not appear on the sensor-specific topic (e.g., /r1/lidar_link_front/points), which prevents the ros_gz_bridge from forwarding the data to ROS 2.
Environment
Operating System: [Please fill in, e.g., Ubuntu 22.04]
ROS 2 Version: Humble Hawksbill
Gazebo Version: Ignition Fortress (v6)
RGL Plugin Version: 0.20.0
GPU: NVIDIA GeForce RTX 4080
NVIDIA Driver Version: [Please fill in, e.g., 535.113.01] (Kernel driver from log: 575.57.08)
CUDA Version: 11.7
____NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia ros2 launch wheelchair_multi_agent multi_wheelchair_world.launch.py world:=final_scenario [INFO] [launch]: All log files can be found below /home/ajf/.ros/log/2025-10-13-13-30-04-661390-tayeb-Gaming-20033 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: IGN_GAZEBO_RESOURCE_PATH = /home/ajf/autonomous-wheelchair/ros2_ws/install/wheelchair_description/share:/home/ajf/.ignition/models:/opt/ros/humble/share [INFO] [ign gazebo-1]: process started with pid [20034] [INFO] [ign gazebo-2]: process started with pid [20037] [INFO] [parameter_bridge-3]: process started with pid [20039] [INFO] [robot_state_publisher-4]: process started with pid [20058] [INFO] [create-5]: process started with pid [20060] [INFO] [parameter_bridge-6]: process started with pid [20062] [INFO] [pointcloud_to_laserscan_node-7]: process started with pid [20064] [INFO] [static_transform_publisher-8]: process started with pid [20066] [parameter_bridge-3] [INFO] [1760349605.129546266] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [static_transform_publisher-8] [WARN] [1760349605.168393786] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-8] [INFO] [1760349605.177228104] [r1.footprint]: Spinning until stopped - publishing transform [static_transform_publisher-8] translation: ('0.100000', '0.000000', '0.000000') [static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-8] from '/r1/base_link' to '/r1/footprint' [ign gazebo-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [create-5] [INFO] [1760349605.185445135] [r1.ros_gz_sim]: Requesting list of world names. [robot_state_publisher-4] [INFO] [1760349605.195948349] [r1.robot_state_publisher]: got segment r1/backwheel_left [robot_state_publisher-4] [INFO] [1760349605.196004874] [r1.robot_state_publisher]: got segment r1/backwheel_right [robot_state_publisher-4] [INFO] [1760349605.196008773] [r1.robot_state_publisher]: got segment r1/base_chasis [robot_state_publisher-4] [INFO] [1760349605.196011092] [r1.robot_state_publisher]: got segment r1/base_link [robot_state_publisher-4] [INFO] [1760349605.196013185] [r1.robot_state_publisher]: got segment r1/caster_link [robot_state_publisher-4] [INFO] [1760349605.196015188] [r1.robot_state_publisher]: got segment r1/front_wheel_left [robot_state_publisher-4] [INFO] [1760349605.196017225] [r1.robot_state_publisher]: got segment r1/front_wheel_right [robot_state_publisher-4] [INFO] [1760349605.196019295] [r1.robot_state_publisher]: got segment r1/left_caster [robot_state_publisher-4] [INFO] [1760349605.196021350] [r1.robot_state_publisher]: got segment r1/lidar_link_front [robot_state_publisher-4] [INFO] [1760349605.196023335] [r1.robot_state_publisher]: got segment r1/lidar_link_rear [robot_state_publisher-4] [INFO] [1760349605.196025457] [r1.robot_state_publisher]: got segment r1/mainwheel_left [robot_state_publisher-4] [INFO] [1760349605.196027393] [r1.robot_state_publisher]: got segment r1/mainwheel_right [robot_state_publisher-4] [INFO] [1760349605.196029388] [r1.robot_state_publisher]: got segment r1/right_caster [ign gazebo-1] [Mon Oct 13 13:30:05 2025]: Logging configured: level=info, file=(disabled), stdout=true [ign gazebo-1] [13:30:05][ 7 us][info]: RGL Version 0.20.0 branch=develop commitSHA1=d1ff3b6cf618518d60a4cc6acb9231e3aa9e9e28 [ign gazebo-1] [13:30:05][ 70861 us][info]: Running on GPU: NVIDIA GeForce RTX 4080 [ign gazebo-1] [13:30:05][ 7 us][info]: Built against OptiX SDK version: 7.2.0 [ign gazebo-1] [13:30:05][ 0 us][info]: Built against OptiX ABI version: 41 [ign gazebo-1] [13:30:05][ 0 us][info]: Built against CUDA Toolkit version: 11.7 [ign gazebo-1] [13:30:05][ 2 us][info]: Installed CUDA runtime version: 11.7 [ign gazebo-1] [13:30:05][ 0 us][info]: Installed CUDA driver version: 12.9 [ign gazebo-1] [13:30:05][ 3772 us][info]: Installed NVidia kernel driver version: 575.57.08 [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [create-5] [INFO] [1760349605.706578196] [r1.ros_gz_sim]: Waiting messages on topic [robot_description]. [ign gazebo-2] [GUI] [Wrn] [Scene3D.cc:2941] The GzScene3D plugin is deprecated on v6 and will be removed on v7. Use MinimalScene together with other plugins as needed. [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:108:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:63:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [create-5] [INFO] [1760349605.807496895] [r1.ros_gz_sim]: Requested creation of entity. [create-5] [INFO] [1760349605.807533484] [r1.ros_gz_sim]: OK creation of entity. [INFO] [create-5]: process has finished cleanly [pid 20060] [INFO] [spawner-9]: process started with pid [20227] [spawner-9] [INFO] [1760349606.071817886] [r1.spawner_joint_state_broadcaster]: waiting for service /r1/controller_manager/list_controllers to become available... [parameter_bridge-6] [INFO] [1760349606.189708062] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r1/lidar_link_rear (gz.msgs.LaserScan) -> r1/scan_rear (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-6] [INFO] [1760349606.193238222] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r1/lidar_link_front (gz.msgs.PointCloudPacked) -> r1/cloud_in_front (sensor_msgs/msg/PointCloud2)] (Lazy 0) [parameter_bridge-6] [INFO] [1760349606.194396344] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r1/joint_states (ignition.msgs.Model) -> r1/joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" [ign gazebo-1] [INFO] [1760349607.233103309] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher [ign gazebo-1] [INFO] [1760349607.233119306] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description [ign gazebo-1] [INFO] [1760349607.244869851] [r1.gz_ros2_control]: connected to service!! /r1/robot_state_publisher asking for robot_description [ign gazebo-1] [INFO] [1760349607.245098089] [r1.gz_ros2_control]: Received URDF from param server [ign gazebo-1] [INFO] [1760349607.247141824] [r1.gz_ros2_control]: The position_proportional_gain has been set to: 0.1 [ign gazebo-1] [INFO] [1760349607.247165376] [r1.gz_ros2_control]: Loading joint: mainwheel_left_to_chasis [ign gazebo-1] [INFO] [1760349607.247168949] [r1.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349607.247171984] [r1.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349607.247175076] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247177218] [r1.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349607.247179391] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247185242] [r1.gz_ros2_control]: Loading joint: mainwheel_right_to_chasis [ign gazebo-1] [INFO] [1760349607.247187294] [r1.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349607.247189306] [r1.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349607.247191383] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247193201] [r1.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349607.247194920] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247288260] [resource_manager]: Initialize hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247321246] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247342583] [resource_manager]: 'configure' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247345308] [r1.gz_ros2_control]: System Successfully configured! [ign gazebo-1] [INFO] [1760349607.247350926] [resource_manager]: Successful 'configure' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247354471] [resource_manager]: 'activate' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247357488] [resource_manager]: Successful 'activate' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247361227] [r1.gz_ros2_control]: Loading controller_manager [ign gazebo-1] [INFO] [1760349607.324986632] [r1.controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-9] [INFO] [1760349607.328842651] [r1.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ign gazebo-1] [INFO] [1760349607.329193804] [r1.controller_manager]: Configuring controller 'joint_state_broadcaster' [ign gazebo-1] [INFO] [1760349607.329282917] [r1.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ign gazebo-2] libEGL warning: egl: failed to create dri2 screen [ign gazebo-2] libEGL warning: egl: failed to create dri2 screen [ign gazebo-2] [GUI] [Wrn] [Ogre2Camera.cc:390] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute.[Wrn] [Model.hh:69] [ign gazebo-1] [ign gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] with //pose/@relative_to attribute.with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have operator<<. Component will not be serialized. [ign gazebo-2] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have operator>>. Component will not be deserialized. [ign gazebo-1] [WARN] [1760349607.485956493] [r1.gz_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [spawner-9] [INFO] [1760349607.742054513] [r1.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-9]: process has finished cleanly [pid 20227] [INFO] [spawner-10]: process started with pid [20594] [spawner-10] [INFO] [1760349608.038295459] [spawner_diff_drive]: Setting controller param "params_file" to "['/home/ajf/autonomous-wheelchair/ros2_ws/install/wheelchair_description/share/wheelchair_description/config/diff_drive_controller.yaml']" for diff_drive [ign gazebo-1] [INFO] [1760349608.040867387] [r1.controller_manager]: Loading controller 'diff_drive' [spawner-10] [INFO] [1760349608.052165832] [spawner_diff_drive]: Loaded diff_drive [ign gazebo-1] [INFO] [1760349608.052590714] [r1.controller_manager]: Configuring controller 'diff_drive' [spawner-10] [INFO] [1760349608.088028623] [spawner_diff_drive]: Configured and activated diff_drive [INFO] [spawner-10]: process has finished cleanly [pid 20594] [INFO] [robot_state_publisher-11]: process started with pid [20643] [INFO] [create-12]: process started with pid [20645] [INFO] [parameter_bridge-13]: process started with pid [20647] [INFO] [pointcloud_to_laserscan_node-14]: process started with pid [20649] [INFO] [static_transform_publisher-15]: process started with pid [20651] [static_transform_publisher-15] [WARN] [1760349610.192008575] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-15] [INFO] [1760349610.201954620] [r2.footprint]: Spinning until stopped - publishing transform [static_transform_publisher-15] translation: ('0.100000', '0.000000', '0.000000') [static_transform_publisher-15] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-15] from '/r2/base_link' to '/r2/footprint' [create-12] [INFO] [1760349610.222063996] [r2.ros_gz_sim]: Requesting list of world names. [robot_state_publisher-11] [INFO] [1760349610.241052404] [r2.robot_state_publisher]: got segment r2/backwheel_left [robot_state_publisher-11] [INFO] [1760349610.241113708] [r2.robot_state_publisher]: got segment r2/backwheel_right [robot_state_publisher-11] [INFO] [1760349610.241117556] [r2.robot_state_publisher]: got segment r2/base_chasis [robot_state_publisher-11] [INFO] [1760349610.241119988] [r2.robot_state_publisher]: got segment r2/base_link [robot_state_publisher-11] [INFO] [1760349610.241122062] [r2.robot_state_publisher]: got segment r2/caster_link [robot_state_publisher-11] [INFO] [1760349610.241124113] [r2.robot_state_publisher]: got segment r2/front_wheel_left [robot_state_publisher-11] [INFO] [1760349610.241126146] [r2.robot_state_publisher]: got segment r2/front_wheel_right [robot_state_publisher-11] [INFO] [1760349610.241128219] [r2.robot_state_publisher]: got segment r2/left_caster [robot_state_publisher-11] [INFO] [1760349610.241130332] [r2.robot_state_publisher]: got segment r2/lidar_link_front [robot_state_publisher-11] [INFO] [1760349610.241132423] [r2.robot_state_publisher]: got segment r2/lidar_link_rear [robot_state_publisher-11] [INFO] [1760349610.241134388] [r2.robot_state_publisher]: got segment r2/mainwheel_left [robot_state_publisher-11] [INFO] [1760349610.241136373] [r2.robot_state_publisher]: got segment r2/mainwheel_right [robot_state_publisher-11] [INFO] [1760349610.241138306] [r2.robot_state_publisher]: got segment r2/right_caster [create-12] [INFO] [1760349610.425228390] [r2.ros_gz_sim]: Waiting messages on topic [robot_description]. [create-12] [INFO] [1760349610.438866172] [r2.ros_gz_sim]: Requested creation of entity. [create-12] [INFO] [1760349610.438951167] [r2.ros_gz_sim]: OK creation of entity. [ign gazebo-1] [INFO] [1760349610.503789055] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher [ign gazebo-1] [INFO] [1760349610.503805338] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description [ign gazebo-1] [INFO] [1760349610.507642154] [r2.gz_ros2_control]: connected to service!! /r2/robot_state_publisher asking for robot_description [ign gazebo-1] [INFO] [1760349610.507805382] [r2.gz_ros2_control]: Received URDF from param server [ign gazebo-1] [INFO] [1760349610.508860106] [r2.gz_ros2_control]: The position_proportional_gain has been set to: 0.1 [ign gazebo-1] [INFO] [1760349610.508897849] [r2.gz_ros2_control]: Loading joint: mainwheel_left_to_chasis [ign gazebo-1] [INFO] [1760349610.508902368] [r2.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349610.508904871] [r2.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349610.508907379] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508909581] [r2.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349610.508911846] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508926142] [r2.gz_ros2_control]: Loading joint: mainwheel_right_to_chasis [ign gazebo-1] [INFO] [1760349610.508928243] [r2.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349610.508930195] [r2.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349610.508932134] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508933939] [r2.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349610.508935696] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508947457] [resource_manager]: Initialize hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508955174] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508961820] [resource_manager]: 'configure' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508977847] [r2.gz_ros2_control]: System Successfully configured! [ign gazebo-1] [INFO] [1760349610.508982422] [resource_manager]: Successful 'configure' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508985039] [resource_manager]: 'activate' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508988047] [resource_manager]: Successful 'activate' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508990735] [r2.gz_ros2_control]: Loading controller_manager [INFO] [create-12]: process has finished cleanly [pid 20645] [INFO] [spawner-16]: process started with pid [20758] [ign gazebo-1] [INFO] [1760349610.692260489] [r2.controller_manager]: Loading controller 'joint_state_broadcaster' [ign gazebo-1] [13:30:10][193281 us][critical]: Logging disabled due to the previous fatal error [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (22). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (233). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (195). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (230). [ign gazebo-1] Failed to update transform for entity (18). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred[Err] [Utils.cc:32] [ign gazebo-1] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity ([Err] [Scene.cc:164] 241[Err] [Scene.cc:164] 241). [ign gazebo-1] Failed to update transform for entity (14). [ign gazebo-1] [Err] [Utils.cc:32] [Err] [Utils.cc:32] [Err] [Utils.cc:32] invalid state - unrecoverable error occurredinvalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (187). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (228). [ign gazebo-1] [Err] [Utils.cc:32] ). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (10). [ign gazebo-1] 10[Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (238). [ign gazebo-1] [Err] [Scene.cc:164] ). [ign gazebo-1] 6). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] [Err] [Scene.cc:164] invalid state - unrecoverable error occurredFailed to update transform for entity ([Err] [Scene.cc:164] invalid state - unrecoverable error occurred225 [ign gazebo-1] 225 [ign gazebo-1] ). [ign gazebo-1] [Err] [Scene.cc:164] [Err] [Utils.cc:32] Failed to update transform for entity (invalid state - unrecoverable error occurredinvalid state - unrecoverable error occurred [ign gazebo-1] 235). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (235). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurredFailed to update transform for entity (Failed to update transform for entity ( [ign gazebo-1] 176). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (222[Err] [Utils.cc:32] 222). [ign gazebo-1] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred[Err] [Utils.cc:32] Failed to update transform for entity (58). [ign gazebo-1] [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (219). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (62). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (66). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (70). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (192). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (74). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (78). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (82). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (86). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (90). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (94). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (98). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (102). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (106). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (228). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (110). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (114). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (118). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (233). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Stack trace (most recent call last) in thread 20773: [ign gazebo-1] Failed to update transform for entity (230). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (225). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (222). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (198). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (190). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (241). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (182). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (238). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (179). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (162#11 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in [ign gazebo-1] ). [ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b62c21268bf, in [ign gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b62c2094ac2, in [ign gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7b62bdcdc252, in [ign gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7b62bce25c59, in [ign gazebo-1] #[Err] [Utils.cc:32] 6 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRGLServerPluginManager.so", at 0x7b627974b650, in rgl::RGLServerPluginManager::PostUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager const&) [ign gazebo-1] invalid state - unrecoverable error occurred#5 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRGLServerPluginManager.so", at 0x7b62797aa7d9, in rgl::RGLServerPluginManager::UpdateRGLEntityTransforms(ignition::gazebo::v6::EntityComponentManager const&) [ign gazebo-1] [ign gazebo-1] #4 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b627910b255, in rgl_entity_set_transform [ign gazebo-1] #3 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b627910addc, in [ign gazebo-1] #2 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b6279157f62, in Logger::configure(rgl_log_level_t, std::optionalstd::filesystem::__cxx11::path, bool) [ign gazebo-1] [Err] [Scene.cc:164] #1 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b62791cf813Failed to update transform for entity (, in spdlog::logger::set_pattern(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, spdlog::pattern_time_type) [ign gazebo-1] 158#0 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b62791cdabb, in spdlog::logger::set_formatter(std::unique_ptr<spdlog::formatter, std::default_deletespdlog::formatter >) [ign gazebo-1] ). [ign gazebo-1] Segmentation fault (Signal sent by the kernel [(nil)]) [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (154). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (150). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (146). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (142). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (138). [spawner-16] [INFO] [1760349610.706230358] [r2.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [parameter_bridge-13] [INFO] [1760349611.238337325] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r2/lidar_link_rear (gz.msgs.LaserScan) -> r2/scan_rear (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-13] [INFO] [1760349611.286644213] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r2/lidar_link_front (gz.msgs.PointCloudPacked) -> r2/cloud_in_front (sensor_msgs/msg/PointCloud2)] (Lazy 0) [parameter_bridge-13] [INFO] [1760349611.288752107] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r2/joint_states (ignition.msgs.Model) -> r2/joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [ign gazebo-1] Segmentation fault (core dumped) [ERROR] [ign gazebo-1]: process has died [pid 20034, exit code 139, cmd 'ruby /usr/bin/ign gazebo -r -s -v2 /home/ajf/autonomous-wheelchair/ros2_ws/install/wheelchair_ignition_bringup/share/wheelchair_ignition_bringup/worlds/final_scenario.sdf --force-version 6']. [INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system [INFO] [spawner-16]: sending signal 'SIGINT' to process[spawner-16] [INFO] [static_transform_publisher-15]: sending signal 'SIGINT' to process[static_transform_publisher-15] [INFO] [pointcloud_to_laserscan_node-14]: sending signal 'SIGINT' to process[pointcloud_to_laserscan_node-14] [INFO] [parameter_bridge-13]: sending signal 'SIGINT' to process[parameter_bridge-13] [INFO] [robot_state_publisher-11]: sending signal 'SIGINT' to process[robot_state_publisher-11] [INFO] [static_transform_publisher-8]: sending signal 'SIGINT' to process[static_transform_publisher-8] [INFO] [pointcloud_to_laserscan_node-7]: sending signal 'SIGINT' to process[pointcloud_to_laserscan_node-7] [INFO] [parameter_bridge-6]: sending signal 'SIGINT' to process[parameter_bridge-6] [INFO] [robot_state_publisher-4]: sending signal 'SIGINT' to process[robot_state_publisher-4] [INFO] [parameter_bridge-3]: sending signal 'SIGINT' to process[parameter_bridge-3] [INFO] [ign gazebo-2]: sending signal 'SIGINT' to process[ign gazebo-2] [static_transform_publisher-15] [INFO] [1760349611.899111214] [rclcpp]: signal_handler(signum=2) [pointcloud_to_laserscan_node-14] [INFO] [1760349611.899742155] [rclcpp]: signal_handler(signum=2) [parameter_bridge-13] [INFO] [1760349611.901010472] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-11] [INFO] [1760349611.901925745] [rclcpp]: signal_handler(signum=2) [static_transform_publisher-8] [INFO] [1760349611.902651018] [rclcpp]: signal_handler(signum=2) [pointcloud_to_laserscan_node-7] [INFO] [1760349611.903285472] [rclcpp]: signal_handler(signum=2) [parameter_bridge-6] [INFO] [1760349611.903903556] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-4] [INFO] [1760349611.904580777] [rclcpp]: signal_handler(signum=2) [parameter_bridge-3] [INFO] [1760349611.905292967] [rclcpp]: signal_handler(signum=2) [INFO] [pointcloud_to_laserscan_node-14]: process has finished cleanly [pid 20649] [INFO] [static_transform_publisher-15]: process has finished cleanly [pid 20651] [INFO] [parameter_bridge-13]: process has finished cleanly [pid 20647] [INFO] [static_transform_publisher-8]: process has finished cleanly [pid 20066] [INFO] [robot_state_publisher-4]: process has finished cleanly [pid 20058] [INFO] [parameter_bridge-6]: process has finished cleanly [pid 20062] [INFO] [pointcloud_to_laserscan_node-7]: process has finished cleanly [pid 20064] [INFO] [robot_state_publisher-11]: process has finished cleanly [pid 20643] [INFO] [parameter_bridge-3]: process has finished cleanly [pid 20039] [ERROR] [spawner-16]: process[spawner-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [ign gazebo-2]: process[ign gazebo-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [spawner-16]: sending signal 'SIGTERM' to process[spawner-16] [INFO] [ign gazebo-2]: sending signal 'SIGTERM' to process[ign gazebo-2] [ERROR] [spawner-16]: process has died [pid 20758, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c /r2/controller_manager --ros-args -r __ns:=/r2']. [ERROR] [ign gazebo-2]: process has died [pid 20037, exit code -15, cmd 'ruby /usr/bin/ign gazebo -g -v2 --force-version 6']. [INFO] [launch]: process[ign gazebo-2] was required: shutting down launched system
When launching a multi-robot simulation where each robot is equipped with a GPU Lidar sensor using the RGL plugin, the Gazebo server process (ign gazebo-1) crashes with a segmentation fault (exit code 139). The crash appears to happen shortly after the second robot is spawned into the world. The stack trace points directly to an unrecoverable error within the libRGLServerPluginManager.so and libRobotecGPULidar.so plugins during the update loop.
A secondary issue observed before the crash is that while lidar data is published to the generic Gazebo /world/.../points topic, it does not appear on the sensor-specific topic (e.g., /r1/lidar_link_front/points), which prevents the ros_gz_bridge from forwarding the data to ROS 2.
Environment
Operating System: [Please fill in, e.g., Ubuntu 22.04]
ROS 2 Version: Humble Hawksbill
Gazebo Version: Ignition Fortress (v6)
RGL Plugin Version: 0.20.0
GPU: NVIDIA GeForce RTX 4080
NVIDIA Driver Version: [Please fill in, e.g., 535.113.01] (Kernel driver from log: 575.57.08)
CUDA Version: 11.7
____NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia ros2 launch wheelchair_multi_agent multi_wheelchair_world.launch.py world:=final_scenario [INFO] [launch]: All log files can be found below /home/ajf/.ros/log/2025-10-13-13-30-04-661390-tayeb-Gaming-20033 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: IGN_GAZEBO_RESOURCE_PATH = /home/ajf/autonomous-wheelchair/ros2_ws/install/wheelchair_description/share:/home/ajf/.ignition/models:/opt/ros/humble/share [INFO] [ign gazebo-1]: process started with pid [20034] [INFO] [ign gazebo-2]: process started with pid [20037] [INFO] [parameter_bridge-3]: process started with pid [20039] [INFO] [robot_state_publisher-4]: process started with pid [20058] [INFO] [create-5]: process started with pid [20060] [INFO] [parameter_bridge-6]: process started with pid [20062] [INFO] [pointcloud_to_laserscan_node-7]: process started with pid [20064] [INFO] [static_transform_publisher-8]: process started with pid [20066] [parameter_bridge-3] [INFO] [1760349605.129546266] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [static_transform_publisher-8] [WARN] [1760349605.168393786] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-8] [INFO] [1760349605.177228104] [r1.footprint]: Spinning until stopped - publishing transform [static_transform_publisher-8] translation: ('0.100000', '0.000000', '0.000000') [static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-8] from '/r1/base_link' to '/r1/footprint' [ign gazebo-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [create-5] [INFO] [1760349605.185445135] [r1.ros_gz_sim]: Requesting list of world names. [robot_state_publisher-4] [INFO] [1760349605.195948349] [r1.robot_state_publisher]: got segment r1/backwheel_left [robot_state_publisher-4] [INFO] [1760349605.196004874] [r1.robot_state_publisher]: got segment r1/backwheel_right [robot_state_publisher-4] [INFO] [1760349605.196008773] [r1.robot_state_publisher]: got segment r1/base_chasis [robot_state_publisher-4] [INFO] [1760349605.196011092] [r1.robot_state_publisher]: got segment r1/base_link [robot_state_publisher-4] [INFO] [1760349605.196013185] [r1.robot_state_publisher]: got segment r1/caster_link [robot_state_publisher-4] [INFO] [1760349605.196015188] [r1.robot_state_publisher]: got segment r1/front_wheel_left [robot_state_publisher-4] [INFO] [1760349605.196017225] [r1.robot_state_publisher]: got segment r1/front_wheel_right [robot_state_publisher-4] [INFO] [1760349605.196019295] [r1.robot_state_publisher]: got segment r1/left_caster [robot_state_publisher-4] [INFO] [1760349605.196021350] [r1.robot_state_publisher]: got segment r1/lidar_link_front [robot_state_publisher-4] [INFO] [1760349605.196023335] [r1.robot_state_publisher]: got segment r1/lidar_link_rear [robot_state_publisher-4] [INFO] [1760349605.196025457] [r1.robot_state_publisher]: got segment r1/mainwheel_left [robot_state_publisher-4] [INFO] [1760349605.196027393] [r1.robot_state_publisher]: got segment r1/mainwheel_right [robot_state_publisher-4] [INFO] [1760349605.196029388] [r1.robot_state_publisher]: got segment r1/right_caster [ign gazebo-1] [Mon Oct 13 13:30:05 2025]: Logging configured: level=info, file=(disabled), stdout=true [ign gazebo-1] [13:30:05][ 7 us][info]: RGL Version 0.20.0 branch=develop commitSHA1=d1ff3b6cf618518d60a4cc6acb9231e3aa9e9e28 [ign gazebo-1] [13:30:05][ 70861 us][info]: Running on GPU: NVIDIA GeForce RTX 4080 [ign gazebo-1] [13:30:05][ 7 us][info]: Built against OptiX SDK version: 7.2.0 [ign gazebo-1] [13:30:05][ 0 us][info]: Built against OptiX ABI version: 41 [ign gazebo-1] [13:30:05][ 0 us][info]: Built against CUDA Toolkit version: 11.7 [ign gazebo-1] [13:30:05][ 2 us][info]: Installed CUDA runtime version: 11.7 [ign gazebo-1] [13:30:05][ 0 us][info]: Installed CUDA driver version: 12.9 [ign gazebo-1] [13:30:05][ 3772 us][info]: Installed NVidia kernel driver version: 575.57.08 [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [create-5] [INFO] [1760349605.706578196] [r1.ros_gz_sim]: Waiting messages on topic [robot_description]. [ign gazebo-2] [GUI] [Wrn] [Scene3D.cc:2941] The GzScene3D plugin is deprecated on v6 and will be removed on v7. Use MinimalScene together with other plugins as needed. [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:108:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:63:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... } [create-5] [INFO] [1760349605.807496895] [r1.ros_gz_sim]: Requested creation of entity. [create-5] [INFO] [1760349605.807533484] [r1.ros_gz_sim]: OK creation of entity. [INFO] [create-5]: process has finished cleanly [pid 20060] [INFO] [spawner-9]: process started with pid [20227] [spawner-9] [INFO] [1760349606.071817886] [r1.spawner_joint_state_broadcaster]: waiting for service /r1/controller_manager/list_controllers to become available... [parameter_bridge-6] [INFO] [1760349606.189708062] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r1/lidar_link_rear (gz.msgs.LaserScan) -> r1/scan_rear (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-6] [INFO] [1760349606.193238222] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r1/lidar_link_front (gz.msgs.PointCloudPacked) -> r1/cloud_in_front (sensor_msgs/msg/PointCloud2)] (Lazy 0) [parameter_bridge-6] [INFO] [1760349606.194396344] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r1/joint_states (ignition.msgs.Model) -> r1/joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [ign gazebo-2] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" [ign gazebo-1] [INFO] [1760349607.233103309] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher [ign gazebo-1] [INFO] [1760349607.233119306] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description [ign gazebo-1] [INFO] [1760349607.244869851] [r1.gz_ros2_control]: connected to service!! /r1/robot_state_publisher asking for robot_description [ign gazebo-1] [INFO] [1760349607.245098089] [r1.gz_ros2_control]: Received URDF from param server [ign gazebo-1] [INFO] [1760349607.247141824] [r1.gz_ros2_control]: The position_proportional_gain has been set to: 0.1 [ign gazebo-1] [INFO] [1760349607.247165376] [r1.gz_ros2_control]: Loading joint: mainwheel_left_to_chasis [ign gazebo-1] [INFO] [1760349607.247168949] [r1.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349607.247171984] [r1.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349607.247175076] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247177218] [r1.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349607.247179391] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247185242] [r1.gz_ros2_control]: Loading joint: mainwheel_right_to_chasis [ign gazebo-1] [INFO] [1760349607.247187294] [r1.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349607.247189306] [r1.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349607.247191383] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247193201] [r1.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349607.247194920] [r1.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349607.247288260] [resource_manager]: Initialize hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247321246] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247342583] [resource_manager]: 'configure' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247345308] [r1.gz_ros2_control]: System Successfully configured! [ign gazebo-1] [INFO] [1760349607.247350926] [resource_manager]: Successful 'configure' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247354471] [resource_manager]: 'activate' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247357488] [resource_manager]: Successful 'activate' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349607.247361227] [r1.gz_ros2_control]: Loading controller_manager [ign gazebo-1] [INFO] [1760349607.324986632] [r1.controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-9] [INFO] [1760349607.328842651] [r1.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ign gazebo-1] [INFO] [1760349607.329193804] [r1.controller_manager]: Configuring controller 'joint_state_broadcaster' [ign gazebo-1] [INFO] [1760349607.329282917] [r1.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ign gazebo-2] libEGL warning: egl: failed to create dri2 screen [ign gazebo-2] libEGL warning: egl: failed to create dri2 screen [ign gazebo-2] [GUI] [Wrn] [Ogre2Camera.cc:390] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute.[Wrn] [Model.hh:69] [ign gazebo-1] [ign gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] with //pose/@relative_to attribute.with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have operator<<. Component will not be serialized. [ign gazebo-2] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have operator>>. Component will not be deserialized. [ign gazebo-1] [WARN] [1760349607.485956493] [r1.gz_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [spawner-9] [INFO] [1760349607.742054513] [r1.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-9]: process has finished cleanly [pid 20227] [INFO] [spawner-10]: process started with pid [20594] [spawner-10] [INFO] [1760349608.038295459] [spawner_diff_drive]: Setting controller param "params_file" to "['/home/ajf/autonomous-wheelchair/ros2_ws/install/wheelchair_description/share/wheelchair_description/config/diff_drive_controller.yaml']" for diff_drive [ign gazebo-1] [INFO] [1760349608.040867387] [r1.controller_manager]: Loading controller 'diff_drive' [spawner-10] [INFO] [1760349608.052165832] [spawner_diff_drive]: Loaded diff_drive [ign gazebo-1] [INFO] [1760349608.052590714] [r1.controller_manager]: Configuring controller 'diff_drive' [spawner-10] [INFO] [1760349608.088028623] [spawner_diff_drive]: Configured and activated diff_drive [INFO] [spawner-10]: process has finished cleanly [pid 20594] [INFO] [robot_state_publisher-11]: process started with pid [20643] [INFO] [create-12]: process started with pid [20645] [INFO] [parameter_bridge-13]: process started with pid [20647] [INFO] [pointcloud_to_laserscan_node-14]: process started with pid [20649] [INFO] [static_transform_publisher-15]: process started with pid [20651] [static_transform_publisher-15] [WARN] [1760349610.192008575] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-15] [INFO] [1760349610.201954620] [r2.footprint]: Spinning until stopped - publishing transform [static_transform_publisher-15] translation: ('0.100000', '0.000000', '0.000000') [static_transform_publisher-15] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-15] from '/r2/base_link' to '/r2/footprint' [create-12] [INFO] [1760349610.222063996] [r2.ros_gz_sim]: Requesting list of world names. [robot_state_publisher-11] [INFO] [1760349610.241052404] [r2.robot_state_publisher]: got segment r2/backwheel_left [robot_state_publisher-11] [INFO] [1760349610.241113708] [r2.robot_state_publisher]: got segment r2/backwheel_right [robot_state_publisher-11] [INFO] [1760349610.241117556] [r2.robot_state_publisher]: got segment r2/base_chasis [robot_state_publisher-11] [INFO] [1760349610.241119988] [r2.robot_state_publisher]: got segment r2/base_link [robot_state_publisher-11] [INFO] [1760349610.241122062] [r2.robot_state_publisher]: got segment r2/caster_link [robot_state_publisher-11] [INFO] [1760349610.241124113] [r2.robot_state_publisher]: got segment r2/front_wheel_left [robot_state_publisher-11] [INFO] [1760349610.241126146] [r2.robot_state_publisher]: got segment r2/front_wheel_right [robot_state_publisher-11] [INFO] [1760349610.241128219] [r2.robot_state_publisher]: got segment r2/left_caster [robot_state_publisher-11] [INFO] [1760349610.241130332] [r2.robot_state_publisher]: got segment r2/lidar_link_front [robot_state_publisher-11] [INFO] [1760349610.241132423] [r2.robot_state_publisher]: got segment r2/lidar_link_rear [robot_state_publisher-11] [INFO] [1760349610.241134388] [r2.robot_state_publisher]: got segment r2/mainwheel_left [robot_state_publisher-11] [INFO] [1760349610.241136373] [r2.robot_state_publisher]: got segment r2/mainwheel_right [robot_state_publisher-11] [INFO] [1760349610.241138306] [r2.robot_state_publisher]: got segment r2/right_caster [create-12] [INFO] [1760349610.425228390] [r2.ros_gz_sim]: Waiting messages on topic [robot_description]. [create-12] [INFO] [1760349610.438866172] [r2.ros_gz_sim]: Requested creation of entity. [create-12] [INFO] [1760349610.438951167] [r2.ros_gz_sim]: OK creation of entity. [ign gazebo-1] [INFO] [1760349610.503789055] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_state_publisher [ign gazebo-1] [INFO] [1760349610.503805338] [GazeboSimROS2ControlPlugin]: robot_param_node is robot_description [ign gazebo-1] [INFO] [1760349610.507642154] [r2.gz_ros2_control]: connected to service!! /r2/robot_state_publisher asking for robot_description [ign gazebo-1] [INFO] [1760349610.507805382] [r2.gz_ros2_control]: Received URDF from param server [ign gazebo-1] [INFO] [1760349610.508860106] [r2.gz_ros2_control]: The position_proportional_gain has been set to: 0.1 [ign gazebo-1] [INFO] [1760349610.508897849] [r2.gz_ros2_control]: Loading joint: mainwheel_left_to_chasis [ign gazebo-1] [INFO] [1760349610.508902368] [r2.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349610.508904871] [r2.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349610.508907379] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508909581] [r2.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349610.508911846] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508926142] [r2.gz_ros2_control]: Loading joint: mainwheel_right_to_chasis [ign gazebo-1] [INFO] [1760349610.508928243] [r2.gz_ros2_control]: State: [ign gazebo-1] [INFO] [1760349610.508930195] [r2.gz_ros2_control]: position [ign gazebo-1] [INFO] [1760349610.508932134] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508933939] [r2.gz_ros2_control]: Command: [ign gazebo-1] [INFO] [1760349610.508935696] [r2.gz_ros2_control]: velocity [ign gazebo-1] [INFO] [1760349610.508947457] [resource_manager]: Initialize hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508955174] [resource_manager]: Successful initialization of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508961820] [resource_manager]: 'configure' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508977847] [r2.gz_ros2_control]: System Successfully configured! [ign gazebo-1] [INFO] [1760349610.508982422] [resource_manager]: Successful 'configure' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508985039] [resource_manager]: 'activate' hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508988047] [resource_manager]: Successful 'activate' of hardware 'GazeboSimSystem' [ign gazebo-1] [INFO] [1760349610.508990735] [r2.gz_ros2_control]: Loading controller_manager [INFO] [create-12]: process has finished cleanly [pid 20645] [INFO] [spawner-16]: process started with pid [20758] [ign gazebo-1] [INFO] [1760349610.692260489] [r2.controller_manager]: Loading controller 'joint_state_broadcaster' [ign gazebo-1] [13:30:10][193281 us][critical]: Logging disabled due to the previous fatal error [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (22). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (233). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (195). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (230). [ign gazebo-1] Failed to update transform for entity (18). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred[Err] [Utils.cc:32] [ign gazebo-1] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity ([Err] [Scene.cc:164] 241[Err] [Scene.cc:164] 241). [ign gazebo-1] Failed to update transform for entity (14). [ign gazebo-1] [Err] [Utils.cc:32] [Err] [Utils.cc:32] [Err] [Utils.cc:32] invalid state - unrecoverable error occurredinvalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (187). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (228). [ign gazebo-1] [Err] [Utils.cc:32] ). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (10). [ign gazebo-1] 10[Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (238). [ign gazebo-1] [Err] [Scene.cc:164] ). [ign gazebo-1] 6). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] [Err] [Scene.cc:164] invalid state - unrecoverable error occurredFailed to update transform for entity ([Err] [Scene.cc:164] invalid state - unrecoverable error occurred225 [ign gazebo-1] 225 [ign gazebo-1] ). [ign gazebo-1] [Err] [Scene.cc:164] [Err] [Utils.cc:32] Failed to update transform for entity (invalid state - unrecoverable error occurredinvalid state - unrecoverable error occurred [ign gazebo-1] 235). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (235). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurredFailed to update transform for entity (Failed to update transform for entity ( [ign gazebo-1] 176). [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (222[Err] [Utils.cc:32] 222). [ign gazebo-1] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred[Err] [Utils.cc:32] Failed to update transform for entity (58). [ign gazebo-1] [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (219). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (62). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (66). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (70). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (192). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (74). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (78). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (82). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (86). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (90). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (94). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (98). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (102). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (106). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (228). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (110). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (114). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (118). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (233). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Stack trace (most recent call last) in thread 20773: [ign gazebo-1] Failed to update transform for entity (230). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (225). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (222). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (198). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (190). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (241). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (182). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (238). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (179). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (162#11 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in [ign gazebo-1] ). [ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b62c21268bf, in [ign gazebo-1] #9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b62c2094ac2, in [ign gazebo-1] #8 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7b62bdcdc252, in [ign gazebo-1] #7 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7b62bce25c59, in [ign gazebo-1] #[Err] [Utils.cc:32] 6 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRGLServerPluginManager.so", at 0x7b627974b650, in rgl::RGLServerPluginManager::PostUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager const&) [ign gazebo-1] invalid state - unrecoverable error occurred#5 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRGLServerPluginManager.so", at 0x7b62797aa7d9, in rgl::RGLServerPluginManager::UpdateRGLEntityTransforms(ignition::gazebo::v6::EntityComponentManager const&) [ign gazebo-1] [ign gazebo-1] #4 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b627910b255, in rgl_entity_set_transform [ign gazebo-1] #3 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b627910addc, in [ign gazebo-1] #2 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b6279157f62, in Logger::configure(rgl_log_level_t, std::optionalstd::filesystem::__cxx11::path, bool) [ign gazebo-1] [Err] [Scene.cc:164] #1 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b62791cf813Failed to update transform for entity (, in spdlog::logger::set_pattern(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, spdlog::pattern_time_type) [ign gazebo-1] 158#0 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libRobotecGPULidar.so", at 0x7b62791cdabb, in spdlog::logger::set_formatter(std::unique_ptr<spdlog::formatter, std::default_deletespdlog::formatter >) [ign gazebo-1] ). [ign gazebo-1] Segmentation fault (Signal sent by the kernel [(nil)]) [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (154). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (150). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (146). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (142). [ign gazebo-1] [Err] [Utils.cc:32] invalid state - unrecoverable error occurred [ign gazebo-1] [Err] [Scene.cc:164] Failed to update transform for entity (138). [spawner-16] [INFO] [1760349610.706230358] [r2.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [parameter_bridge-13] [INFO] [1760349611.238337325] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r2/lidar_link_rear (gz.msgs.LaserScan) -> r2/scan_rear (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-13] [INFO] [1760349611.286644213] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r2/lidar_link_front (gz.msgs.PointCloudPacked) -> r2/cloud_in_front (sensor_msgs/msg/PointCloud2)] (Lazy 0) [parameter_bridge-13] [INFO] [1760349611.288752107] [ros_gz_bridge]: Creating GZ->ROS Bridge: [r2/joint_states (ignition.msgs.Model) -> r2/joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [ign gazebo-1] Segmentation fault (core dumped) [ERROR] [ign gazebo-1]: process has died [pid 20034, exit code 139, cmd 'ruby /usr/bin/ign gazebo -r -s -v2 /home/ajf/autonomous-wheelchair/ros2_ws/install/wheelchair_ignition_bringup/share/wheelchair_ignition_bringup/worlds/final_scenario.sdf --force-version 6']. [INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system [INFO] [spawner-16]: sending signal 'SIGINT' to process[spawner-16] [INFO] [static_transform_publisher-15]: sending signal 'SIGINT' to process[static_transform_publisher-15] [INFO] [pointcloud_to_laserscan_node-14]: sending signal 'SIGINT' to process[pointcloud_to_laserscan_node-14] [INFO] [parameter_bridge-13]: sending signal 'SIGINT' to process[parameter_bridge-13] [INFO] [robot_state_publisher-11]: sending signal 'SIGINT' to process[robot_state_publisher-11] [INFO] [static_transform_publisher-8]: sending signal 'SIGINT' to process[static_transform_publisher-8] [INFO] [pointcloud_to_laserscan_node-7]: sending signal 'SIGINT' to process[pointcloud_to_laserscan_node-7] [INFO] [parameter_bridge-6]: sending signal 'SIGINT' to process[parameter_bridge-6] [INFO] [robot_state_publisher-4]: sending signal 'SIGINT' to process[robot_state_publisher-4] [INFO] [parameter_bridge-3]: sending signal 'SIGINT' to process[parameter_bridge-3] [INFO] [ign gazebo-2]: sending signal 'SIGINT' to process[ign gazebo-2] [static_transform_publisher-15] [INFO] [1760349611.899111214] [rclcpp]: signal_handler(signum=2) [pointcloud_to_laserscan_node-14] [INFO] [1760349611.899742155] [rclcpp]: signal_handler(signum=2) [parameter_bridge-13] [INFO] [1760349611.901010472] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-11] [INFO] [1760349611.901925745] [rclcpp]: signal_handler(signum=2) [static_transform_publisher-8] [INFO] [1760349611.902651018] [rclcpp]: signal_handler(signum=2) [pointcloud_to_laserscan_node-7] [INFO] [1760349611.903285472] [rclcpp]: signal_handler(signum=2) [parameter_bridge-6] [INFO] [1760349611.903903556] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-4] [INFO] [1760349611.904580777] [rclcpp]: signal_handler(signum=2) [parameter_bridge-3] [INFO] [1760349611.905292967] [rclcpp]: signal_handler(signum=2) [INFO] [pointcloud_to_laserscan_node-14]: process has finished cleanly [pid 20649] [INFO] [static_transform_publisher-15]: process has finished cleanly [pid 20651] [INFO] [parameter_bridge-13]: process has finished cleanly [pid 20647] [INFO] [static_transform_publisher-8]: process has finished cleanly [pid 20066] [INFO] [robot_state_publisher-4]: process has finished cleanly [pid 20058] [INFO] [parameter_bridge-6]: process has finished cleanly [pid 20062] [INFO] [pointcloud_to_laserscan_node-7]: process has finished cleanly [pid 20064] [INFO] [robot_state_publisher-11]: process has finished cleanly [pid 20643] [INFO] [parameter_bridge-3]: process has finished cleanly [pid 20039] [ERROR] [spawner-16]: process[spawner-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [ign gazebo-2]: process[ign gazebo-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [spawner-16]: sending signal 'SIGTERM' to process[spawner-16] [INFO] [ign gazebo-2]: sending signal 'SIGTERM' to process[ign gazebo-2] [ERROR] [spawner-16]: process has died [pid 20758, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c /r2/controller_manager --ros-args -r __ns:=/r2']. [ERROR] [ign gazebo-2]: process has died [pid 20037, exit code -15, cmd 'ruby /usr/bin/ign gazebo -g -v2 --force-version 6']. [INFO] [launch]: process[ign gazebo-2] was required: shutting down launched system