The Demo not working

 When I run the command "oslaunch gbplanner smb_sim.launch" and then click "Start planner" in rviz, the vehicle does not move. The window output is as follows:
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://bbd:43021/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /gbplanner_node/AdaptiveObbParams/bounding_box_size_max: 35
 * /gbplanner_node/AdaptiveObbParams/local_pointcloud_range: 50.0
 * /gbplanner_node/AdaptiveObbParams/type: kPca
 * /gbplanner_node/BoundedSpaceParams/Global/max_val: [1000.0, 1000.0, ...
 * /gbplanner_node/BoundedSpaceParams/Global/min_val: [-1000.0, -1000.0...
 * /gbplanner_node/BoundedSpaceParams/Global/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/Local/max_extension: [20.0, 20.0, 20.0]
 * /gbplanner_node/BoundedSpaceParams/Local/max_val: [15.0, 15.0, 3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/min_extension: [-20.0, -20.0, -2...
 * /gbplanner_node/BoundedSpaceParams/Local/min_val: [-15.0, -15.0, -3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/max_val: [10.0, 10.0, 0.75]
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/min_val: [-10.0, -10.0, -0...
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/max_val: [50.0, 50.0, 10.0]
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/min_val: [-50.0, -50.0, -1...
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/type: kCuboid
 * /gbplanner_node/GeofenceParams/AreaList: ['GLeft', 'GBack'...
 * /gbplanner_node/GeofenceParams/GBack/center: [-3.0, 0.0, 0.0]
 * /gbplanner_node/GeofenceParams/GBack/size: [2.0, 6.0, 0.0]
 * /gbplanner_node/GeofenceParams/GLeft/center: [0.0, 4.0, 0.0]
 * /gbplanner_node/GeofenceParams/GLeft/size: [6.0, 2.0, 0.0]
 * /gbplanner_node/GeofenceParams/GRight/center: [0.0, -4.0, 0.0]
 * /gbplanner_node/GeofenceParams/GRight/size: [6.0, 2.0, 0.0]
 * /gbplanner_node/NoGainZones/g1/max_val: [2.0, 50.0, 20.0]
 * /gbplanner_node/NoGainZones/g1/min_val: [-50.0, -50.0, -2...
 * /gbplanner_node/NoGainZones/g1/type: kCuboid
 * /gbplanner_node/PlanningParams/augment_free_voxels_time: 1
 * /gbplanner_node/PlanningParams/auto_global_planner_enable: True
 * /gbplanner_node/PlanningParams/auto_homing_enable: True
 * /gbplanner_node/PlanningParams/bound_mode: kExtremeBound
 * /gbplanner_node/PlanningParams/cluster_vertices_for_gain: True
 * /gbplanner_node/PlanningParams/clustering_radius: 0.5
 * /gbplanner_node/PlanningParams/edge_length_max: 3.0
 * /gbplanner_node/PlanningParams/edge_length_min: 0.1
 * /gbplanner_node/PlanningParams/edge_overshoot: 0.0
 * /gbplanner_node/PlanningParams/exp_gain_voxel_size: 0.8
 * /gbplanner_node/PlanningParams/exp_sensor_list: ['VLP16']
 * /gbplanner_node/PlanningParams/free_frustum_before_planning: False
 * /gbplanner_node/PlanningParams/free_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/freespace_cloud_enable: False
 * /gbplanner_node/PlanningParams/geofence_checking_enable: True
 * /gbplanner_node/PlanningParams/global_frame_id: world
 * /gbplanner_node/PlanningParams/global_path_inclination_check: True
 * /gbplanner_node/PlanningParams/go_home_if_fully_explored: True
 * /gbplanner_node/PlanningParams/hanging_vertex_penalty: 5.0
 * /gbplanner_node/PlanningParams/homing_backward: False
 * /gbplanner_node/PlanningParams/interpolate_projection_distance: False
 * /gbplanner_node/PlanningParams/leafs_only_for_volumetric_gain: False
 * /gbplanner_node/PlanningParams/max_ground_height: 0.7
 * /gbplanner_node/PlanningParams/max_inclination: 0.4363323129985824
 * /gbplanner_node/PlanningParams/nearest_range: 2.5
 * /gbplanner_node/PlanningParams/nearest_range_max: 3.0
 * /gbplanner_node/PlanningParams/nearest_range_min: 0.1
 * /gbplanner_node/PlanningParams/no_gain_zones_list: ['g1']
 * /gbplanner_node/PlanningParams/nonuniform_ray_cast: True
 * /gbplanner_node/PlanningParams/num_edges_max: 5000
 * /gbplanner_node/PlanningParams/num_loops_cutoff: 2000
 * /gbplanner_node/PlanningParams/num_loops_max: 20000
 * /gbplanner_node/PlanningParams/num_vertices_max: 500
 * /gbplanner_node/PlanningParams/occupied_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/path_direction_penalty: 0.3
 * /gbplanner_node/PlanningParams/path_interpolation_distance: 0.5
 * /gbplanner_node/PlanningParams/path_length_penalty: 0.07
 * /gbplanner_node/PlanningParams/path_safety_enhance_enable: True
 * /gbplanner_node/PlanningParams/ray_cast_step_size_multiplier: 1.0
 * /gbplanner_node/PlanningParams/relaxed_corridor_multiplier: 1.5
 * /gbplanner_node/PlanningParams/robot_height: 0.6
 * /gbplanner_node/PlanningParams/rr_mode: kGraph
 * /gbplanner_node/PlanningParams/time_budget_limit: 3600
 * /gbplanner_node/PlanningParams/traverse_length_max: 6.0
 * /gbplanner_node/PlanningParams/traverse_time_max: 40.0
 * /gbplanner_node/PlanningParams/type: kAdaptiveExploration
 * /gbplanner_node/PlanningParams/unknown_voxel_gain: 60.0
 * /gbplanner_node/PlanningParams/use_current_state: True
 * /gbplanner_node/PlanningParams/use_ray_model_for_volumetric_gain: True
 * /gbplanner_node/PlanningParams/yaw_tangent_correction: True
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/sample_mode: kLocal
 * /gbplanner_node/RobotParams/bound_mode: kExtendedBound
 * /gbplanner_node/RobotParams/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/RobotParams/relax_ratio: 0.5
 * /gbplanner_node/RobotParams/safety_extension: [2.0, 3.0, 0.2]
 * /gbplanner_node/RobotParams/size: [0.8, 0.8, 0.2]
 * /gbplanner_node/RobotParams/size_extension: [0.2, 0.2, 0.2]
 * /gbplanner_node/RobotParams/size_extension_min: [0.0, 0.0, 0.0]
 * /gbplanner_node/RobotParams/type: kGroundRobot
 * /gbplanner_node/SensorParams/VLP16/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/VLP16/fov: [6.28318530717958...
 * /gbplanner_node/SensorParams/VLP16/frontier_percentage_threshold: 0.05
 * /gbplanner_node/SensorParams/VLP16/max_range: 20.0
 * /gbplanner_node/SensorParams/VLP16/resolution: [0.08726646259971...
 * /gbplanner_node/SensorParams/VLP16/rotations: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/VLP16/type: kLidar
 * /gbplanner_node/SensorParams/sensor_list: ['VLP16']
 * /gbplanner_node/accumulate_icp_corrections: True
 * /gbplanner_node/allow_clear: True
 * /gbplanner_node/clear_sphere_for_planning: False
 * /gbplanner_node/clear_sphere_radius: 0.8
 * /gbplanner_node/clearing_ray_weight_factor: 0.01
 * /gbplanner_node/color_mode: colors
 * /gbplanner_node/enable_icp: False
 * /gbplanner_node/esdf_max_distance_m: 2.0
 * /gbplanner_node/icp_refine_roll_pitch: False
 * /gbplanner_node/integration_order_mode: sorted
 * /gbplanner_node/max_consecutive_ray_collisions: 0
 * /gbplanner_node/max_ray_length_m: 50.0
 * /gbplanner_node/max_weight: 200
 * /gbplanner_node/mesh_min_weight: 1e-4
 * /gbplanner_node/method: fast
 * /gbplanner_node/min_ray_length_m: 0.5
 * /gbplanner_node/min_time_between_msgs_sec: 0.0
 * /gbplanner_node/occupancy_min_distance_voxel_size_factor: 1.0
 * /gbplanner_node/pointcloud_queue_size: 1000
 * /gbplanner_node/publish_esdf_map: True
 * /gbplanner_node/publish_pointclouds: True
 * /gbplanner_node/publish_slices: False
 * /gbplanner_node/publish_traversable: True
 * /gbplanner_node/publish_tsdf_info: False
 * /gbplanner_node/publish_tsdf_map: True
 * /gbplanner_node/slice_level: 1.0
 * /gbplanner_node/sparsity_compensation_factor: 100.0
 * /gbplanner_node/timestamp_tolerance_sec: 0.001
 * /gbplanner_node/traversability_radius: 0.4
 * /gbplanner_node/truncation_distance: 0.6
 * /gbplanner_node/tsdf_voxel_size: 0.2
 * /gbplanner_node/tsdf_voxels_per_side: 16
 * /gbplanner_node/update_mesh_every_n_sec: 0.5
 * /gbplanner_node/use_const_weight: False
 * /gbplanner_node/use_freespace_pointcloud: True
 * /gbplanner_node/use_sparsity_compensation_factor: True
 * /gbplanner_node/use_symmetric_weight_drop_off: False
 * /gbplanner_node/use_tf_transforms: True
 * /gbplanner_node/use_weight_dropoff: True
 * /gbplanner_node/verbose: False
 * /gbplanner_node/voxel_carving_enabled: True
 * /gbplanner_node/weight_ray_by_range: False
 * /gbplanner_node/world_frame: world
 * /message_to_tf/frame_id: world
 * /message_to_tf/odometry_topic: ground_truth/state
 * /pci_general_ros_node/RobotDynamics/dt: 0.05
 * /pci_general_ros_node/RobotDynamics/v_homing_max: 0.3
 * /pci_general_ros_node/RobotDynamics/v_init_max: 0.3
 * /pci_general_ros_node/RobotDynamics/v_max: 0.3
 * /pci_general_ros_node/RobotDynamics/yaw_rate_max: 0.5
 * /pci_general_ros_node/init_motion/x_forward: 3.0
 * /pci_general_ros_node/init_motion/z_drop: 1.7
 * /pci_general_ros_node/init_motion/z_takeoff: 2.5
 * /pci_general_ros_node/init_motion_enable: False
 * /pci_general_ros_node/output_type: kAction
 * /pci_general_ros_node/planner_trigger_lead_time: 0.0
 * /pci_general_ros_node/robot_type: kGround
 * /pci_general_ros_node/run_mode: kSim
 * /pci_general_ros_node/smooth_heading_enable: True
 * /pci_general_ros_node/trigger_mode: kManual
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.17.0
 * /smb_front_left_wheel_velocity_controller/base_frame_id: base_link
 * /smb_front_left_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_front_left_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_front_left_wheel_velocity_controller/has_velocity_limits: True
 * /smb_front_left_wheel_velocity_controller/joint: LF_WHEEL
 * /smb_front_left_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_front_left_wheel_velocity_controller/max_velocity: 3.0
 * /smb_front_left_wheel_velocity_controller/pid/d: 10.0
 * /smb_front_left_wheel_velocity_controller/pid/i: 0.01
 * /smb_front_left_wheel_velocity_controller/pid/p: 100.0
 * /smb_front_left_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_left_wheel_velocity_controller/publish_rate: 50
 * /smb_front_left_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_left_wheel_velocity_controller/type: velocity_controll...
 * /smb_front_left_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_front_right_wheel_velocity_controller/base_frame_id: base_link
 * /smb_front_right_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_front_right_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_front_right_wheel_velocity_controller/has_velocity_limits: True
 * /smb_front_right_wheel_velocity_controller/joint: RF_WHEEL
 * /smb_front_right_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_front_right_wheel_velocity_controller/max_velocity: 3.0
 * /smb_front_right_wheel_velocity_controller/pid/d: 10.0
 * /smb_front_right_wheel_velocity_controller/pid/i: 0.01
 * /smb_front_right_wheel_velocity_controller/pid/p: 100.0
 * /smb_front_right_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_right_wheel_velocity_controller/publish_rate: 50
 * /smb_front_right_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_front_right_wheel_velocity_controller/type: velocity_controll...
 * /smb_front_right_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_joint_publisher/publish_rate: 50
 * /smb_joint_publisher/type: joint_state_contr...
 * /smb_path_tracker_node/critical_angle: 0.52
 * /smb_path_tracker_node/desired_vel: 0.5
 * /smb_path_tracker_node/look_ahead_distance: 0.5
 * /smb_path_tracker_node/look_ahead_error_margin: 0.2
 * /smb_path_tracker_node/max_ang_vel: 0.5
 * /smb_rear_left_wheel_velocity_controller/base_frame_id: base_link
 * /smb_rear_left_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_rear_left_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_rear_left_wheel_velocity_controller/has_velocity_limits: True
 * /smb_rear_left_wheel_velocity_controller/joint: LH_WHEEL
 * /smb_rear_left_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_rear_left_wheel_velocity_controller/max_velocity: 3.0
 * /smb_rear_left_wheel_velocity_controller/pid/d: 10.0
 * /smb_rear_left_wheel_velocity_controller/pid/i: 0.01
 * /smb_rear_left_wheel_velocity_controller/pid/p: 100.0
 * /smb_rear_left_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_left_wheel_velocity_controller/publish_rate: 50
 * /smb_rear_left_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_left_wheel_velocity_controller/type: velocity_controll...
 * /smb_rear_left_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_rear_right_wheel_velocity_controller/base_frame_id: base_link
 * /smb_rear_right_wheel_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_rear_right_wheel_velocity_controller/has_acceleration_limits: True
 * /smb_rear_right_wheel_velocity_controller/has_velocity_limits: True
 * /smb_rear_right_wheel_velocity_controller/joint: RH_WHEEL
 * /smb_rear_right_wheel_velocity_controller/max_acceleration: 3.0
 * /smb_rear_right_wheel_velocity_controller/max_velocity: 3.0
 * /smb_rear_right_wheel_velocity_controller/pid/d: 10.0
 * /smb_rear_right_wheel_velocity_controller/pid/i: 0.01
 * /smb_rear_right_wheel_velocity_controller/pid/p: 100.0
 * /smb_rear_right_wheel_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_right_wheel_velocity_controller/publish_rate: 50
 * /smb_rear_right_wheel_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_rear_right_wheel_velocity_controller/type: velocity_controll...
 * /smb_rear_right_wheel_velocity_controller/velocity_rolling_window_size: 2
 * /smb_teleop_twist_joy_node/max_velocity_angular: 1.5
 * /smb_teleop_twist_joy_node/max_velocity_linear: 1
 * /smb_velocity_controller/angular/z/has_acceleration_limits: True
 * /smb_velocity_controller/angular/z/has_velocity_limits: True
 * /smb_velocity_controller/angular/z/max_acceleration: 2
 * /smb_velocity_controller/angular/z/max_velocity: 1
 * /smb_velocity_controller/base_frame_id: base_link
 * /smb_velocity_controller/cmd_vel_timeout: 0.25
 * /smb_velocity_controller/enable_odom_tf: False
 * /smb_velocity_controller/estimate_velocity_from_position: False
 * /smb_velocity_controller/left_wheel: ['LF_WHEEL', 'LH_...
 * /smb_velocity_controller/linear/x/has_acceleration_limits: True
 * /smb_velocity_controller/linear/x/has_velocity_limits: True
 * /smb_velocity_controller/linear/x/max_acceleration: 3
 * /smb_velocity_controller/linear/x/max_velocity: 1.5
 * /smb_velocity_controller/pid/d: 10.0
 * /smb_velocity_controller/pid/i: 0.01
 * /smb_velocity_controller/pid/p: 100.0
 * /smb_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_velocity_controller/publish_rate: 50
 * /smb_velocity_controller/right_wheel: ['RF_WHEEL', 'RH_...
 * /smb_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /smb_velocity_controller/type: diff_drive_contro...
 * /smb_velocity_controller/velocity_rolling_window_size: 2
 * /smb_velocity_controller/wheel_radius_multiplier: 1.0
 * /smb_velocity_controller/wheel_separation: 0.6604
 * /smb_velocity_controller/wheel_separation_multiplier: 1.0
 * /twist_mux/locks: [{'name': 'e_stop...
 * /twist_mux/topics: [{'name': 'joy', ...
 * /use_sim_time: True

NODES
  /
    controller_spawner (controller_manager/spawner)
    front_lidar_relay (topic_tools/relay)
    gazebo (gazebo_ros/gzserver)
    gbplanner_node (gbplanner/gbplanner_node)
    gbplanner_ui (rviz/rviz)
    joy_node (joy/joy_node)
    message_to_tf (smb_gazebo/message_to_tf)
    odom_to_world_tf (tf/static_transform_publisher)
    pci_general_ros_node (pci_general/pci_general_ros_node)
    pose_throttler (topic_tools/throttle)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    smb_path_tracker_node (smb_path_tracker/smb_path_tracker_ros_node)
    smb_teleop_twist_joy_node (smb_teleop_twist_joy/smb_teleop_twist_joy_node)
    spawn_smb_model (gazebo_ros/spawn_model)
    tf_53 (tf/static_transform_publisher)
    twist_marker_server (interactive_marker_twist_server/marker_server)
    twist_mux (twist_mux/twist_mux)
    vlp_relay (topic_tools/relay)

auto-starting new master
process[master]: started with pid [230485]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to af944054-7c22-11f0-b11d-15120643c2ce
process[rosout-1]: started with pid [230499]
started core service [/rosout]
process[tf_53-2]: started with pid [230506]
process[gazebo-3]: started with pid [230507]
process[spawn_smb_model-4]: started with pid [230509]
process[robot_state_publisher-5]: started with pid [230518]
process[message_to_tf-6]: started with pid [230519]
process[odom_to_world_tf-7]: started with pid [230520]
process[controller_spawner-8]: started with pid [230526]
process[twist_mux-9]: started with pid [230533]
process[twist_marker_server-10]: started with pid [230538]
process[joy_node-11]: started with pid [230544]
process[smb_teleop_twist_joy_node-12]: started with pid [230550]
[ INFO] [1755514887.533969774]: [twist_marker_server] Initialized.
process[smb_path_tracker_node-13]: started with pid [230558]
[ERROR] [1755514887.543458817]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[vlp_relay-14]: started with pid [230564]
process[front_lidar_relay-15]: started with pid [230567]
process[pose_throttler-16]: started with pid [230576]
process[gbplanner_node-17]: started with pid [230587]
process[pci_general_ros_node-18]: started with pid [230592]
process[gbplanner_ui-19]: started with pid [230597]
[ INFO] [1755514887.771947215]: rviz version 1.14.25
[ INFO] [1755514887.771987723]: compiled against Qt version 5.12.8
[ INFO] [1755514887.771999317]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1755514887.782589903]: Forcing OpenGl version 0.
/gbplanner_node/SensorParams/VLP16 0, 0, 0
[ INFO] [1755514888.206157988]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1755514888.207000488]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1755514888.673723413]: Stereo is NOT SUPPORTED
[ INFO] [1755514888.673788296]: OpenGL device: NVIDIA GeForce RTX 3070 Laptop GPU/PCIe/SSE2
[ INFO] [1755514888.673810226]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1755514889.163959246]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1755514889.181041270]: Physics dynamic reconfigure ready.
Warning [Model.cc:216] Non-unique name[rgb_cam_front] detected 2 times in XML children of model with name[/].
Warning [Model.cc:216] Non-unique name[rgb_cam_left] detected 2 times in XML children of model with name[/].
Warning [Model.cc:216] Non-unique name[rgb_cam_right] detected 2 times in XML children of model with name[/].
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1755514893.188623213, 251.970000000]: Lidar laser plugin ready, 32 lasers
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1755514893.327064489, 251.970000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1755514893.329100235, 251.970000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Topic [default///base_link/camera1/image] is not valid.
[ INFO] [1755514893.329994419, 251.970000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1755514893.331837751, 251.970000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Topic [///joint_cmd] is not valid.
Service [///joint_cmd_req] is not valid.
[ INFO] [1755514893.356438933, 251.970000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1755514893.359757322, 251.970000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1755514893.370713320, 251.970000000]: Lidar GPU laser plugin ready, 16 lasers
[spawn_smb_model-4] process has finished cleanly
log file: /home/bbd/.ros/log/af944054-7c22-11f0-b11d-15120643c2ce/spawn_smb_model-4*.log
[WARN] [1755514917.959439, 276.360000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-8] process has finished cleanly
log file: /home/bbd/.ros/log/af944054-7c22-11f0-b11d-15120643c2ce/controller_spawner-8*.log
[ INFO] [1755514926.743565566, 285.120000000]: Planning iteration 0
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[ INFO] [1755514947.923795287, 306.210000000]: Planning iteration 36
[ INFO] [1755514948.515437203, 306.800000000]: Planning iteration 37
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[ INFO] [1755514949.643538684, 307.920000000]: Planning iteration 39
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[ INFO] [1755514954.212986905, 312.460000000]: Planning iteration 46
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[ INFO] [1755514956.557071673, 314.800000000]: Planning iteration 50
[ INFO] [1755514957.097733124, 315.340000000]: Planning iteration 51
[ INFO] [1755514957.692172824, 315.930000000]: Planning iteration 52
[ INFO] [1755514958.271991444, 316.510000000]: Planning iteration 53
[ INFO] [1755514958.894488162, 317.130000000]: Planning iteration 54
[ INFO] [1755514959.477948607, 317.710000000]: Planning iteration 55
[ INFO] [1755514960.060632761, 318.290000000]: Planning iteration 56
[ INFO] [1755514960.612043337, 318.840000000]: Planning iteration 57
[ INFO] [1755514961.192377806, 319.410000000]: Planning iteration 58
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[ INFO] [1755514962.417844967, 320.630000000]: Planning iteration 60
[ INFO] [1755514962.994240363, 321.200000000]: Planning iteration 61
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[ INFO] [1755514964.110711305, 322.310000000]: Planning iteration 63
[ INFO] [1755514964.703069441, 322.900000000]: Planning iteration 64
[ INFO] [1755514965.654033638, 323.850000000]: Planning iteration 65
[ INFO] [1755514966.194205425, 324.390000000]: Planning iteration 66
[ INFO] [1755514966.766262323, 324.960000000]: Planning iteration 67
[ INFO] [1755514967.717502323, 325.910000000]: Planning iteration 68
[ WARN] [1755514967.876849239, 326.070000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514967.877983818, 326.070000000]: Global planner triggered
[ INFO] [1755514968.407181517, 326.600000000]: Planning iteration 69
[ INFO] [1755514969.360364652, 327.550000000]: Planning iteration 70
[ INFO] [1755514969.971796764, 328.160000000]: Planning iteration 71
[ INFO] [1755514970.655175188, 328.840000000]: Planning iteration 72
[ INFO] [1755514971.646702254, 329.830000000]: Planning iteration 73
[ WARN] [1755514972.096025909, 330.280000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514972.096059922, 330.280000000]: Global planner triggered
[ INFO] [1755514972.608112948, 330.790000000]: Planning iteration 74
[ INFO] [1755514973.148992369, 331.330000000]: Planning iteration 75
[ INFO] [1755514974.115019809, 332.290000000]: Planning iteration 76
[ INFO] [1755514975.137290352, 333.300000000]: Planning iteration 77
[ INFO] [1755514975.941552886, 334.100000000]: Planning iteration 78
[ WARN] [1755514976.399121912, 334.550000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514976.399157182, 334.550000000]: Global planner triggered
[ INFO] [1755514976.908012854, 335.060000000]: Planning iteration 79
[ INFO] [1755514977.902370461, 336.050000000]: Planning iteration 80
[ INFO] [1755514978.642982619, 336.790000000]: Planning iteration 81
[ INFO] [1755514979.217788553, 337.360000000]: Planning iteration 82
[ INFO] [1755514979.801446921, 337.940000000]: Planning iteration 83
[ INFO] [1755514980.469929852, 338.600000000]: Planning iteration 84
[ INFO] [1755514981.406056310, 339.530000000]: Planning iteration 85
[ WARN] [1755514981.911185018, 340.030000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514981.911228390, 340.030000000]: Global planner triggered
[ INFO] [1755514981.911822254, 340.030000000]: SMB Path Tracker: Reached end of path
[ INFO] [1755514982.050524869, 340.170000000]: Planning iteration 86
[ INFO] [1755514982.963378744, 341.080000000]: Planning iteration 87
[ INFO] [1755514983.925634866, 342.040000000]: Planning iteration 88
[ INFO] [1755514984.766821306, 342.880000000]: Planning iteration 89
[ INFO] [1755514985.738359669, 343.850000000]: Planning iteration 90
[ INFO] [1755514986.679050209, 344.790000000]: Planning iteration 91
[ WARN] [1755514986.858539819, 344.960000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514986.858576555, 344.960000000]: Global planner triggered
[ INFO] [1755514986.859155683, 344.960000000]: SMB Path Tracker: Reached end of path
[ INFO] [1755514986.989870433, 345.100000000]: Planning iteration 92
[ INFO] [1755514987.931432946, 346.040000000]: Planning iteration 93
[ INFO] [1755514988.988302221, 347.090000000]: Planning iteration 94
[ INFO] [1755514989.678754064, 347.780000000]: Planning iteration 95
[ WARN] [1755514990.089532569, 348.190000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514990.089567350, 348.190000000]: Global planner triggered
[ INFO] [1755514990.089915092, 348.190000000]: SMB Path Tracker: Reached end of path
[ INFO] [1755514990.229252777, 348.330000000]: Planning iteration 96
[ INFO] [1755514991.163305699, 349.260000000]: Planning iteration 97
[ INFO] [1755514992.104215539, 350.200000000]: Planning iteration 98
[ INFO] [1755514993.007956812, 351.100000000]: Planning iteration 99
[ WARN] [1755514993.488600343, 351.580000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755514993.488637220, 351.580000000]: Global planner triggered
[ INFO] [1755514993.489036854, 351.580000000]: SMB Path Tracker: Reached end of path
[ INFO] [1755514993.637480710, 351.730000000]: Planning iteration 100
[ INFO] [1755514994.558701754, 352.650000000]: Planning iteration 101
[ INFO] [1755514995.640743021, 353.730000000]: Planning iteration 102
[ INFO] [1755514996.511379815, 354.600000000]: Planning iteration 103
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[ INFO] [1755514998.507146432, 356.590000000]: Planning iteration 105
[ INFO] [1755514999.269123298, 357.350000000]: Planning iteration 106
[ INFO] [1755514999.844780036, 357.920000000]: Planning iteration 107
[ WARN] [1755515000.274565607, 358.350000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755515000.274602763, 358.350000000]: Global planner triggered
[ INFO] [1755515000.274969991, 358.350000000]: SMB Path Tracker: Reached end of path
[ INFO] [1755515000.425583618, 358.500000000]: Planning iteration 108
[ INFO] [1755515001.418704943, 359.490000000]: Planning iteration 109
[ INFO] [1755515002.448657428, 360.520000000]: Planning iteration 110
[ INFO] [1755515003.312837633, 361.380000000]: Planning iteration 111
[ INFO] [1755515004.194238496, 362.260000000]: Planning iteration 112
[ INFO] [1755515005.175212740, 363.240000000]: Planning iteration 113
[ INFO] [1755515005.745136101, 363.810000000]: Planning iteration 114
[ INFO] [1755515006.656120790, 364.720000000]: Planning iteration 115
[ INFO] [1755515007.620911035, 365.680000000]: Planning iteration 116
[ INFO] [1755515008.540143748, 366.600000000]: Planning iteration 117
[ INFO] [1755515009.492551338, 367.550000000]: Planning iteration 118
[ WARN] [1755515010.016642270, 368.070000000]: [GBPLANNER] Very low local gain. Triggering global planner
[ INFO] [1755515010.016685851, 368.070000000]: Global planner triggered



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The Demo not working #65

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The Demo not working #65

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