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Spawning robot model on Gazebo fails in OS X

I'm currently running OS X 10.11.5 (El Capitan) on a MacBook Air (Intel HD Graphics 5000 1536 MB).

I have been trying to test RotorS (https://github.com/ethz-asl/rotors_simulator), a MAV gazebo simulator, as a part of next-best-view planner exploration simulation, (https://github.com/ethz-asl/nbvplanner) but as soon as the gazebo starts, the spawning of the drone process dies. As a result, no model robot is spawned to gazebo, therefore no exploration. However, models that are saved in .gazebo/models are successfully imported.

Not only this simulation, but tutorial in http://gazebosim.org/tutorials/?tut=ros_urdf also fails to load in Gazebo. (It is well imported in rviz.)

I have been trying to fix this issues for days, but I really don't know what is the problem here.

In addition, I have three catkin_ws--one that was used to install ROS in OS X, one that was used to install Octomap package, and the other that is used to build other custom packages for current research. Is this the cause of the problem? This is my .bash_profile:

export PATH=/usr/local/bin:$PATH
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
export ROS_PACKAGE_PATH=/Users/Jaeho/ros_catkin_ws:$ROS_PACKAGE_PATH
export LD_LIBRARY_PATH=/usr/lib/:$LD_LIBRARY_PATH
source /Users/Jaeho/ros_catkin_ws/install_isolated/setup.bash
source /Users/Jaeho/octo_catkin_ws/devel/setup.bash
source /Users/Jaeho/catkin_ws/devel/setup.bash

The below is the output.

$ roslaunch rotors_gazebo mav_hovering_example.launch
... logging to /Users/Jaeho/.ros/log/db2094d7-3ff6-11e6-9dce-001b39113a86/roslaunch-ijaehoui-MacBook-Air.local-8671.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

started roslaunch server http://ijaehoui-MacBook-Air.local:49828/

SUMMARY
========

PARAMETERS
 * /firefly/lee_position_controller_node/angular_rate_gain/x: 0.52
 * /firefly/lee_position_controller_node/angular_rate_gain/y: 0.52
 * /firefly/lee_position_controller_node/angular_rate_gain/z: 0.18
 * /firefly/lee_position_controller_node/attitude_gain/x: 3
 * /firefly/lee_position_controller_node/attitude_gain/y: 3
 * /firefly/lee_position_controller_node/attitude_gain/z: 0.15
 * /firefly/lee_position_controller_node/inertia/xx: 0.0347563
 * /firefly/lee_position_controller_node/inertia/xy: 0.0
 * /firefly/lee_position_controller_node/inertia/xz: 0.0
 * /firefly/lee_position_controller_node/inertia/yy: 0.0458929
 * /firefly/lee_position_controller_node/inertia/yz: 0.0
 * /firefly/lee_position_controller_node/inertia/zz: 0.0977
 * /firefly/lee_position_controller_node/mass: 1.56779
 * /firefly/lee_position_controller_node/position_gain/x: 6
 * /firefly/lee_position_controller_node/position_gain/y: 6
 * /firefly/lee_position_controller_node/position_gain/z: 6
 * /firefly/lee_position_controller_node/rotor_configuration/0/angle: 0.52359877559
 * /firefly/lee_position_controller_node/rotor_configuration/0/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/0/direction: 1.0
 * /firefly/lee_position_controller_node/rotor_configuration/0/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/0/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/1/angle: 1.57079632679
 * /firefly/lee_position_controller_node/rotor_configuration/1/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/1/direction: -1.0
 * /firefly/lee_position_controller_node/rotor_configuration/1/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/1/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/2/angle: 2.61799387799
 * /firefly/lee_position_controller_node/rotor_configuration/2/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/2/direction: 1.0
 * /firefly/lee_position_controller_node/rotor_configuration/2/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/2/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/3/angle: -2.61799387799
 * /firefly/lee_position_controller_node/rotor_configuration/3/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/3/direction: -1.0
 * /firefly/lee_position_controller_node/rotor_configuration/3/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/3/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/4/angle: -1.57079632679
 * /firefly/lee_position_controller_node/rotor_configuration/4/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/4/direction: 1.0
 * /firefly/lee_position_controller_node/rotor_configuration/4/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/4/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/5/angle: -0.52359877559
 * /firefly/lee_position_controller_node/rotor_configuration/5/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/5/direction: -1.0
 * /firefly/lee_position_controller_node/rotor_configuration/5/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/5/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/velocity_gain/x: 4.7
 * /firefly/lee_position_controller_node/velocity_gain/y: 4.7
 * /firefly/lee_position_controller_node/velocity_gain/z: 4.7
 * /firefly/robot_description: <?xml version="1....
 * /firefly/tf_prefix:
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /use_sim_time: True

NODES
  /firefly/
    hovering_example (rotors_gazebo/hovering_example)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    lee_position_controller_node (rotors_control/lee_position_controller_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_firefly (gazebo_ros/spawn_model)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [8683]
process[gazebo_gui-2]: started with pid [8685]
process[firefly/spawn_firefly-3]: started with pid [8690]
process[firefly/lee_position_controller_node-4]: started with pid [8692]
process[firefly/hovering_example-5]: started with pid [8693]
process[firefly/robot_state_publisher-6]: started with pid [8694]
process[firefly/joint_state_publisher-7]: started with pid [8695]
[ INFO] [1467424417.879873000]: Started hovering example.
[ INFO] [1467424417.889435000]: Wait for 1 second before trying to unpause Gazebo again.
Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[firefly/spawn_firefly-3] process has died [pid 8690, exit code -11, cmd /Users/Jaeho/ros_catkin_ws/install_isolated/lib/gazebo_ros/spawn_model -param robot_description -urdf -x 0.0 -y 0.0 -z 0.1 -model firefly __name:=spawn_firefly __log:=/Users/Jaeho/.ros/log/db2094d7-3ff6-11e6-9dce-001b39113a86/firefly-spawn_firefly-3.log].
log file: /Users/Jaeho/.ros/log/db2094d7-3ff6-11e6-9dce-001b39113a86/firefly-spawn_firefly-3*.log
[ INFO] [1467424418.381077000]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1467424418.384206000]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 143.248.241.12
[ INFO] [1467424418.895236000]: Wait for 1 second before trying to unpause Gazebo again.

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 143.248.241.12
[ INFO] [1467424419.904686000]: Unpaused the Gazebo simulation.
[ INFO] [1467424419.937675000, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1467424420.095953000, 0.180000000]: Physics dynamic reconfigure ready.
[ INFO] [1467424424.995257000, 5.010000000]: Publishing waypoint on namespace //firefly: [0.000000, 0.000000, 1.000000].
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[gazebo_gui-2] process has finished cleanly
log file: /Users/Jaeho/.ros/log/db2094d7-3ff6-11e6-9dce-001b39113a86/gazebo_gui-2*.log
^C[firefly/joint_state_publisher-7] killing on exit
[firefly/robot_state_publisher-6] killing on exit
[firefly/hovering_example-5] killing on exit
[firefly/lee_position_controller_node-4] killing on exit
[gazebo-1] killing on exit
libc++abi.dylib: terminating with uncaught exception of type boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >: boost: mutex lock failed in pthread_mutex_lock: Invalid argument
shutting down processing monitor...
... shutting down processing monitor complete
done

ROS environment variables

ROS_ROOT=/Users/Jaeho/ros_catkin_ws/install_isolated/share/ros
ROS_PACKAGE_PATH=/Users/Jaeho/catkin_ws/src/catkin_simple:/Users/Jaeho/catkin_ws/src/eigen_catkin:/Users/Jaeho/catkin_ws/src/gazebo_ros_demos/custom_plugin_tutorial:/Users/Jaeho/catkin_ws/src/gflags_catkin:/Users/Jaeho/catkin_ws/src/glog_catkin:/Users/Jaeho/catkin_ws/src/eigen_checks:/Users/Jaeho/catkin_ws/src/nbvplanner/kdtree:/Users/Jaeho/catkin_ws/src/mav_comm/mav_comm:/Users/Jaeho/catkin_ws/src/mav_comm/mav_msgs:/Users/Jaeho/catkin_ws/src/minkindr/minkindr:/Users/Jaeho/catkin_ws/src/minkindr_ros/minkindr_conversions:/Users/Jaeho/catkin_ws/src/octomap_mapping/octomap_mapping:/Users/Jaeho/catkin_ws/src/octomap_msgs:/Users/Jaeho/catkin_ws/src/octomap_ros:/Users/Jaeho/catkin_ws/src/octomap_mapping/octomap_server:/Users/Jaeho/catkin_ws/src/nbvplanner/prune_pointcloud:/Users/Jaeho/catkin_ws/src/rotors/rotors_comm:/Users/Jaeho/catkin_ws/src/rotors/rotors_control:/Users/Jaeho/catkin_ws/src/rotors/rotors_description:/Users/Jaeho/catkin_ws/src/rotors/rotors_evaluation:/Users/Jaeho/catkin_ws/src/rotors/rotors_gazebo_plugins:/Users/Jaeho/catkin_ws/src/rotors/rotors_gazebo:/Users/Jaeho/catkin_ws/src/rotors/rotors_joy_interface:/Users/Jaeho/catkin_ws/src/rotors/rotors_simulator:/Users/Jaeho/catkin_ws/src/gazebo_ros_demos/rrbot_control:/Users/Jaeho/catkin_ws/src/gazebo_ros_demos/rrbot_description:/Users/Jaeho/catkin_ws/src/gazebo_ros_demos/rrbot_gazebo:/Users/Jaeho/catkin_ws/src/volumetric_mapping/volumetric_map_base:/Users/Jaeho/catkin_ws/src/volumetric_mapping/volumetric_mapping:/Users/Jaeho/catkin_ws/src/volumetric_mapping/volumetric_msgs:/Users/Jaeho/catkin_ws/src/volumetric_mapping/octomap_world:/Users/Jaeho/catkin_ws/src/nbvplanner/multiagent_collision_check:/Users/Jaeho/catkin_ws/src/nbvplanner/nbvplanner:/Users/Jaeho/catkin_ws/src/nbvplanner/interface_nbvp_rotors:/Users/Jaeho/octo_catkin_ws/src/octomap_mapping/octomap_mapping:/Users/Jaeho/octo_catkin_ws/src/octomap_msgs:/Users/Jaeho/octo_catkin_ws/src/octomap_ros:/Users/Jaeho/octo_catkin_ws/src/octomap_mapping/octomap_server:/Users/Jaeho/ros_catkin_ws/install_isolated/share:/Users/Jaeho/ros_catkin_ws/install_isolated/stacks
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=/Users/Jaeho/catkin_ws/devel/share/common-lisp:/Users/Jaeho/octo_catkin_ws/devel/share/common-lisp
ROS_DISTRO=indigo
ROS_ETC_DIR=/Users/Jaeho/ros_catkin_ws/install_isolated/etc/ros

rviz info

[ INFO] [1467425543.325525000]: rviz version 1.11.14
[ INFO] [1467425543.325582000]: compiled against Qt version 4.8.7
[ INFO] [1467425543.325591000]: compiled against OGRE version 1.7.4 (Cthugha)
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1467425544.264289000]: Creating resource group General
[ INFO] [1467425544.264382000]: Creating resource group Internal
[ INFO] [1467425544.264407000]: Creating resource group Autodetect
[ INFO] [1467425544.264544000]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1467425544.265044000]: Registering ResourceManager for type Material
[ INFO] [1467425544.265113000]: Registering ResourceManager for type Mesh
[ INFO] [1467425544.265158000]: Registering ResourceManager for type Skeleton
[ INFO] [1467425544.265233000]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [1467425544.265309000]: OverlayElementFactory for type Panel registered.
[ INFO] [1467425544.265353000]: OverlayElementFactory for type BorderPanel registered.
[ INFO] [1467425544.265387000]: OverlayElementFactory for type TextArea registered.
[ INFO] [1467425544.265431000]: Registering ResourceManager for type Font
[ INFO] [1467425544.265481000]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [1467425544.265524000]: ArchiveFactory for archive type Zip registered.
[ INFO] [1467425544.265561000]: DDS codec registering
[ INFO] [1467425544.265622000]: FreeImage version: 3.17.0
[ INFO] [1467425544.265659000]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details
[ INFO] [1467425544.266037000]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,rgb,rgba,bw,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti,x3f,webp,jxr,wdp,hdp
[ INFO] [1467425544.266110000]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [1467425544.266365000]: Registering ResourceManager for type Compositor
[ INFO] [1467425544.266809000]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [1467425544.266859000]: MovableObjectFactory for type 'Light' registered.
[ INFO] [1467425544.266887000]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO] [1467425544.266929000]: MovableObjectFactory for type 'ManualObject' registered.
[ INFO] [1467425544.266974000]: MovableObjectFactory for type 'BillboardChain' registered.
[ INFO] [1467425544.267015000]: MovableObjectFactory for type 'RibbonTrail' registered.
[ INFO] [1467425544.267767000]: *-*-* OGRE Initialising
[ INFO] [1467425544.267816000]: *-*-* Version 1.7.4 (Cthugha)
[ INFO] [1467425544.267866000]: Loading library /usr/local/Cellar/ogre/1.7.4/lib/libRenderSystem_GL
[ INFO] [1467425544.282832000]: Installing plugin: GL RenderSystem
[ INFO] [1467425544.282927000]: OpenGL Rendering Subsystem created.
[ INFO] [1467425544.297851000]: Plugin successfully installed
[ INFO] [1467425544.297905000]: Loading library /usr/local/Cellar/ogre/1.7.4/lib/libPlugin_OctreeSceneManager
[ INFO] [1467425544.306683000]: Installing plugin: Octree & Terrain Scene Manager
[ INFO] [1467425544.306746000]: Plugin successfully installed
[ INFO] [1467425544.306767000]: Loading library /usr/local/Cellar/ogre/1.7.4/lib/libPlugin_ParticleFX
[ INFO] [1467425544.314623000]: Installing plugin: ParticleFX
[ INFO] [1467425544.314689000]: Particle Emitter Type 'Point' registered
[ INFO] [1467425544.314728000]: Particle Emitter Type 'Box' registered
[ INFO] [1467425544.314754000]: Particle Emitter Type 'Ellipsoid' registered
[ INFO] [1467425544.314770000]: Particle Emitter Type 'Cylinder' registered
[ INFO] [1467425544.314783000]: Particle Emitter Type 'Ring' registered
[ INFO] [1467425544.314798000]: Particle Emitter Type 'HollowEllipsoid' registered
[ INFO] [1467425544.314816000]: Particle Affector Type 'LinearForce' registered
[ INFO] [1467425544.314833000]: Particle Affector Type 'ColourFader' registered
[ INFO] [1467425544.314848000]: Particle Affector Type 'ColourFader2' registered
[ INFO] [1467425544.314866000]: Particle Affector Type 'ColourImage' registered
[ INFO] [1467425544.314882000]: Particle Affector Type 'ColourInterpolator' registered
[ INFO] [1467425544.314898000]: Particle Affector Type 'Scaler' registered
[ INFO] [1467425544.314914000]: Particle Affector Type 'Rotator' registered
[ INFO] [1467425544.314935000]: Particle Affector Type 'DirectionRandomiser' registered
[ INFO] [1467425544.314951000]: Particle Affector Type 'DeflectorPlane' registered
[ INFO] [1467425544.314966000]: Plugin successfully installed
[ INFO] [1467425544.315021000]: CPU Identifier & Features
[ INFO] [1467425544.315038000]: -------------------------
[ INFO] [1467425544.315051000]:  *   CPU ID: GenuineIntel: Intel(R) Core(TM) i5-4250U CPU @ 1.30GHz
[ INFO] [1467425544.315070000]:  *      SSE: yes
[ INFO] [1467425544.315082000]:  *     SSE2: yes
[ INFO] [1467425544.315094000]:  *     SSE3: yes
[ INFO] [1467425544.315106000]:  *      MMX: yes
[ INFO] [1467425544.315118000]:  *   MMXEXT: yes
[ INFO] [1467425544.315130000]:  *    3DNOW: no
[ INFO] [1467425544.315143000]:  * 3DNOWEXT: no
[ INFO] [1467425544.315155000]:  *     CMOV: yes
[ INFO] [1467425544.315166000]:  *      TSC: yes
[ INFO] [1467425544.315179000]:  *      FPU: yes
[ INFO] [1467425544.315191000]:  *      PRO: yes
[ INFO] [1467425544.315203000]:  *       HT: no
[ INFO] [1467425544.315220000]: -------------------------
[ INFO] [1467425544.315245000]: ********************************************
***  Starting Mac OS X OpenGL Subsystem  ***
********************************************
[ INFO] [1467425544.315374000]: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed  miscParams: FSAA=4 externalGLControl= externalWindowHandle=0 macAPI=cocoa macAPICocoaUseNSView=true
[ INFO] [1467425544.315411000]: Creating a Cocoa Compatible Render System
[ INFO] [1467425544.320160000]: Mac Cocoa Window: Rendering on an external plain NSView*
[ INFO] [1467425544.320347000]: GL_VERSION = 2.1 INTEL-10.14.66
[ INFO] [1467425544.320386000]: GL_VENDOR = Intel Inc.
[ INFO] [1467425544.320406000]: GL_RENDERER = Intel HD Graphics 5000 OpenGL Engine
[ INFO] [1467425544.320433000]: GL_EXTENSIONS = GL_ARB_color_buffer_float GL_ARB_depth_buffer_float GL_ARB_depth_clamp GL_ARB_depth_texture GL_ARB_draw_buffers GL_ARB_draw_elements_base_vertex GL_ARB_draw_instanced GL_ARB_fragment_program GL_ARB_fragment_program_shadow GL_ARB_fragment_shader GL_ARB_framebuffer_object GL_ARB_framebuffer_sRGB GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_instanced_arrays GL_ARB_multisample GL_ARB_multitexture GL_ARB_occlusion_query GL_ARB_pixel_buffer_object GL_ARB_point_parameters GL_ARB_point_sprite GL_ARB_provoking_vertex GL_ARB_seamless_cube_map GL_ARB_shader_objects GL_ARB_shader_texture_lod GL_ARB_shading_language_100 GL_ARB_shadow GL_ARB_sync GL_ARB_texture_border_clamp GL_ARB_texture_compression GL_ARB_texture_compression_rgtc GL_ARB_texture_cube_map GL_ARB_texture_env_add GL_ARB_texture_env_combine GL_ARB_texture_env_crossbar GL_ARB_texture_env_dot3 GL_ARB_texture_float GL_ARB_texture_mirrored_repeat GL_ARB_texture_non_power_of_two GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_transpose_matrix GL_ARB_vertex_array_bgra GL_ARB_vertex_blend GL_ARB_vertex_buffer_object GL_ARB_vertex_program GL_ARB_vertex_shader GL_ARB_window_pos GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_equation_separate GL_EXT_blend_func_separate GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_clip_volume_hint GL_EXT_debug_label GL_EXT_debug_marker GL_EXT_draw_buffers2 GL_EXT_draw_range_elements GL_EXT_fog_coord GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_framebuffer_object GL_EXT_framebuffer_sRGB GL_EXT_geometry_shader4 GL_EXT_gpu_program_parameters GL_EXT_gpu_shader4 GL_EXT_multi_draw_arrays GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_provoking_vertex GL_EXT_rescale_normal GL_EXT_secondary_color GL_EXT_separate_specular_color GL_EXT_shadow_funcs GL_EXT_stencil_two_side GL_EXT_stencil_wrap GL_EXT_texture_array GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_s3tc GL_EXT_texture_env_add GL_EXT_texture_filter_anisotropic GL_EXT_texture_integer GL_EXT_texture_lod_bias GL_EXT_texture_rectangle GL_EXT_texture_shared_exponent GL_EXT_texture_sRGB GL_EXT_texture_sRGB_decode GL_EXT_timer_query GL_EXT_transform_feedback GL_EXT_vertex_array_bgra GL_APPLE_aux_depth_stencil GL_APPLE_client_storage GL_APPLE_element_array GL_APPLE_fence GL_APPLE_float_pixels GL_APPLE_flush_buffer_range GL_APPLE_flush_render GL_APPLE_object_purgeable GL_APPLE_packed_pixels GL_APPLE_pixel_buffer GL_APPLE_rgb_422 GL_APPLE_row_bytes GL_APPLE_specular_vector GL_APPLE_texture_range GL_APPLE_transform_hint GL_APPLE_vertex_array_object GL_APPLE_vertex_array_range GL_APPLE_vertex_point_size GL_APPLE_vertex_program_evaluators GL_APPLE_ycbcr_422 GL_ATI_separate_stencil GL_ATI_texture_env_combine3 GL_ATI_texture_float GL_ATI_texture_mirror_once GL_IBM_rasterpos_clip GL_NV_blend_square GL_NV_conditional_render GL_NV_depth_clamp GL_NV_fog_distance GL_NV_light_max_exponent GL_NV_texgen_reflection GL_NV_texture_barrier GL_SGIS_generate_mipmap GL_SGIS_texture_edge_clamp GL_SGIS_texture_lod
[ INFO] [1467425544.320841000]: ***************************
[ INFO] [1467425544.320877000]: *** GL Renderer Started ***
[ INFO] [1467425544.320905000]: ***************************
[ INFO] [1467425544.325440000]: Registering ResourceManager for type GpuProgram
[ INFO] [1467425544.325599000]: GLSL support detected
[ INFO] [1467425544.325639000]: GL: Using GL_EXT_framebuffer_object for rendering to textures (best)
[ INFO] [1467425544.329018000]: FBO PF_UNKNOWN depth/stencil support: D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.335281000]: FBO PF_R5G6B5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.336371000]: FBO PF_B5G6R5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.337363000]: FBO PF_A4R4G4B4 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.338384000]: FBO PF_A1R5G5B5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.339364000]: FBO PF_R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.340329000]: FBO PF_B8G8R8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.341292000]: FBO PF_A8R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.342424000]: FBO PF_B8G8R8A8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.343813000]: FBO PF_A2R10G10B10 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.344918000]: FBO PF_A2B10G10R10 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.345841000]: FBO PF_FLOAT16_RGB depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.346749000]: FBO PF_FLOAT16_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.347645000]: FBO PF_FLOAT32_RGB depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.348537000]: FBO PF_FLOAT32_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.349479000]: FBO PF_X8R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.350770000]: FBO PF_X8B8G8R8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.351724000]: FBO PF_SHORT_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.352629000]: FBO PF_R3G3B2 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.353678000]: FBO PF_SHORT_RGB depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8
[ INFO] [1467425544.353746000]: [GL] : Valid FBO targets PF_UNKNOWN PF_R5G6B5 PF_B5G6R5 PF_A4R4G4B4 PF_A1R5G5B5 PF_R8G8B8 PF_B8G8R8 PF_A8R8G8B8 PF_B8G8R8A8 PF_A2R10G10B10 PF_A2B10G10R10 PF_FLOAT16_RGB PF_FLOAT16_RGBA PF_FLOAT32_RGB PF_FLOAT32_RGBA PF_X8R8G8B8 PF_X8B8G8R8 PF_SHORT_RGBA PF_R3G3B2 PF_SHORT_RGB
[ INFO] [1467425544.353789000]: RenderSystem capabilities
[ INFO] [1467425544.353808000]: -------------------------
[ INFO] [1467425544.353823000]: RenderSystem Name: OpenGL Rendering Subsystem
[ INFO] [1467425544.353847000]: GPU Vendor: intel
[ INFO] [1467425544.353862000]: Device Name: Intel HD Graphics 5000 OpenGL Engine
[ INFO] [1467425544.353891000]: Driver Version: 2.1.0.0
[ INFO] [1467425544.353909000]:  * Fixed function pipeline: yes
[ INFO] [1467425544.353925000]:  * Hardware generation of mipmaps: no
[ INFO] [1467425544.353939000]:  * Texture blending: yes
[ INFO] [1467425544.353953000]:  * Anisotropic texture filtering: yes
[ INFO] [1467425544.353976000]:  * Dot product texture operation: yes
[ INFO] [1467425544.354028000]:  * Cube mapping: yes
[ INFO] [1467425544.354045000]:  * Hardware stencil buffer: yes
[ INFO] [1467425544.354079000]:    - Stencil depth: 8
[ INFO] [1467425544.354098000]:    - Two sided stencil support: yes
[ INFO] [1467425544.354113000]:    - Wrap stencil values: yes
[ INFO] [1467425544.354127000]:  * Hardware vertex / index buffers: yes
[ INFO] [1467425544.354147000]:  * Vertex programs: yes
[ INFO] [1467425544.354163000]:  * Number of floating-point constants for vertex programs: 1024
[ INFO] [1467425544.354180000]:  * Number of integer constants for vertex programs: 0
[ INFO] [1467425544.354196000]:  * Number of boolean constants for vertex programs: 0
[ INFO] [1467425544.354211000]:  * Fragment programs: yes
[ INFO] [1467425544.354227000]:  * Number of floating-point constants for fragment programs: 1024
[ INFO] [1467425544.354244000]:  * Number of integer constants for fragment programs: 0
[ INFO] [1467425544.354259000]:  * Number of boolean constants for fragment programs: 0
[ INFO] [1467425544.354280000]:  * Geometry programs: yes
[ INFO] [1467425544.354296000]:  * Number of floating-point constants for geometry programs: 4096
[ INFO] [1467425544.354313000]:  * Number of integer constants for geometry programs: 0
[ INFO] [1467425544.354329000]:  * Number of boolean constants for geometry programs: 0
[ INFO] [1467425544.354347000]:  * Supported Shader Profiles: arbfp1 arbvp1 glsl gp4gp gpu_gp nvgp4
[ INFO] [1467425544.354362000]:  * Texture Compression: yes
[ INFO] [1467425544.354375000]:    - DXT: yes
[ INFO] [1467425544.354388000]:    - VTC: no
[ INFO] [1467425544.354400000]:    - PVRTC: no
[ INFO] [1467425544.354412000]:  * Scissor Rectangle: yes
[ INFO] [1467425544.354426000]:  * Hardware Occlusion Query: yes
[ INFO] [1467425544.354439000]:  * User clip planes: yes
[ INFO] [1467425544.354452000]:  * VET_UBYTE4 vertex element type: yes
[ INFO] [1467425544.354466000]:  * Infinite far plane projection: yes
[ INFO] [1467425544.354479000]:  * Hardware render-to-texture: yes
[ INFO] [1467425544.354492000]:  * Floating point textures: yes
[ INFO] [1467425544.354505000]:  * Non-power-of-two textures: yes
[ INFO] [1467425544.354518000]:  * Volume textures: yes
[ INFO] [1467425544.354533000]:  * Multiple Render Targets: 8
[ INFO] [1467425544.354547000]:    - With different bit depths: yes
[ INFO] [1467425544.354560000]:  * Point Sprites: yes
[ INFO] [1467425544.354579000]:  * Extended point parameters: yes
[ INFO] [1467425544.354603000]:  * Max Point Size: 255.875
[ INFO] [1467425544.354617000]:  * Vertex texture fetch: yes
[ INFO] [1467425544.354631000]:  * Number of world matrices: 0
[ INFO] [1467425544.354646000]:  * Number of texture units: 16
[ INFO] [1467425544.354660000]:  * Stencil buffer depth: 8
[ INFO] [1467425544.354675000]:  * Number of vertex blend matrices: 0
[ INFO] [1467425544.354690000]:    - Max vertex textures: 16
[ INFO] [1467425544.354704000]:    - Vertex textures shared: yes
[ INFO] [1467425544.354717000]:  * Render to Vertex Buffer : no
[ INFO] [1467425544.354730000]:  * GL 1.5 without VBO workaround: no
[ INFO] [1467425544.354742000]:  * Frame Buffer objects: yes
[ INFO] [1467425544.354755000]:  * Frame Buffer objects (ARB extension): no
[ INFO] [1467425544.354767000]:  * Frame Buffer objects (ATI extension): no
[ INFO] [1467425544.354780000]:  * PBuffer support: yes
[ INFO] [1467425544.354792000]:  * GL 1.5 without HW-occlusion workaround: no
[ INFO] [1467425544.354815000]: Registering ResourceManager for type Texture
[ INFO] [1467425544.355009000]: Using FSAA from GL_ARB_multisample extension.
[ INFO] [1467425544.355086000]: DefaultWorkQueue('Root') initialising on thread 0x7fff77ac6000.
[ INFO] [1467425544.355254000]: DefaultWorkQueue('Root')::WorkerFunc - thread 0x700000635000 starting.
[ INFO] [1467425544.355305000]: DefaultWorkQueue('Root')::WorkerFunc - thread 0x7000006b8000 starting.
[ INFO] [1467425544.355361000]: Particle Renderer Type 'billboard' registered
[ INFO] [1467425544.355413000]: DefaultWorkQueue('Root')::WorkerFunc - thread 0x70000073b000 starting.
[ INFO] [1467425544.355449000]: DefaultWorkQueue('Root')::WorkerFunc - thread 0x7000007be000 starting.
[ INFO] [1467425544.355702000]: SceneManagerFactory for type 'OctreeSceneManager' registered.
[ INFO] [1467425544.355735000]: SceneManagerFactory for type 'TerrainSceneManager' registered.
[ INFO] [1467425544.355757000]: Stereo is NOT SUPPORTED
[ INFO] [1467425544.355825000]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1467425544.356102000]: Creating resource group rviz
[ INFO] [1467425544.356647000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.357045000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/textures' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.357528000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/fonts' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.358063000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/models' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.359094000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/materials' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.360025000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/materials/scripts' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.361587000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/materials/glsl120' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.362253000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/materials/glsl120/nogp' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.362988000]: Added resource location '/Users/Jaeho/ros_catkin_ws/install_isolated/share/rviz/ogre_media/materials/scripts120' of type 'FileSystem' to resource group 'rviz'
[ INFO] [1467425544.363748000]: Parsing scripts for resource group Autodetect
[ INFO] [1467425544.363808000]: Finished parsing scripts for resource group Autodetect
[ INFO] [1467425544.363837000]: Parsing scripts for resource group General
[ INFO] [1467425544.363867000]: Finished parsing scripts for resource group General
[ INFO] [1467425544.363889000]: Parsing scripts for resource group Internal
[ INFO] [1467425544.363915000]: Finished parsing scripts for resource group Internal
[ INFO] [1467425544.363941000]: Parsing scripts for resource group rviz
[ INFO] [1467425544.369127000]: Parsing script glsl120.program
[ INFO] [1467425544.389441000]: Parsing script nogp.program
[ INFO] [1467425544.404610000]: Parsing script default_pick_and_depth.material
[ INFO] [1467425544.406409000]: Parsing script indexed_8bit_image.material
[ INFO] [1467425544.407507000]: Parsing script point_cloud_point.material
[ INFO] [1467425544.409071000]: Parsing script point_cloud_tile.material
[ INFO] [1467425544.410974000]: Parsing script point_cloud_box.material
[ INFO] [1467425544.411676000]: Parsing script point_cloud_flat_square.material
[ INFO] [1467425544.412383000]: Parsing script point_cloud_sphere.material
[ INFO] [1467425544.413155000]: Parsing script point_cloud_square.material
[ INFO] [1467425544.413866000]: Parsing script arial.fontdef
[ INFO] [1467425544.414273000]: Finished parsing scripts for resource group rviz
[ INFO] [1467425544.455765000]: GLRenderSystem::_createRenderWindow "OgreWindow(1)", 100x30 windowed  miscParams: FSAA=4 externalGLControl= externalWindowHandle=140619855457712 macAPI=cocoa macAPICocoaUseNSView=true
[ INFO] [1467425544.455816000]: Creating a Cocoa Compatible Render System
[ INFO] [1467425544.456870000]: Mac Cocoa Window: Rendering on an external plain NSView*
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1467425544.665308000]: Mesh: Loading rviz_sphere.mesh.
[ INFO] [1467425544.687655000]: Texture: SelectionRect0Texture: Loading 1 faces(PF_R8G8B8A8,1x1x1) with 0 generated mipmaps from Image. Internal format is PF_A8R8G8B8,1x1x1.
[ INFO] [1467425544.765222000]: Mesh: Loading rviz_cylinder.mesh.
[ INFO] [1467425544.766249000]: Mesh: Loading rviz_cone.mesh.
[ INFO] [1467425545.291162000]: Using FSAA from GL_ARB_multisample extension.