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erratic simulation does not work after ubuntu updates

I have been successfully using the erratic robot simulation in Gazebo (fuerte on ubuntu 12.04). I know this is not the recommended way to use Gazebo now, but I have been using simulator_gazebo 1.6.16 (I have just installed Gazebo 1.3).

I installed the erratic robot for simulation using:

sudo apt-get install ros-diamondback-fuerte-robot

After some updates were installed (including python-rospkg, ros-fuerte-pr2-controllers, and ros-fuerte-pr2-mechanism) using the ubuntu update manager, I have not been able to launch Gazebo with the erratic robot.

For example, the output of

roslaunch erratic_navigation_apps demo_2dnav_slam.launch

(from (http://www.ros.org/wiki/simulator_gazebo/Tutorials/TeleopErraticSimulation)) is:

scott@scott-ub:~$ roslaunch erratic_navigation_apps demo_2dnav_slam.launch
... logging to /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/roslaunch-scott-ub-14417.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scott-ub:42921/

SUMMARY
========

PARAMETERS
 * /base_laser_self_filter/min_sensor_dist
 * /base_laser_self_filter/self_see_default_padding
 * /base_laser_self_filter/self_see_default_scale
 * /base_laser_self_filter/self_see_links
 * /base_laser_self_filter/sensor_frame
 * /base_shadow_filter/high_fidelity
 * /base_shadow_filter/scan_filter_chain
 * /base_shadow_filter/target_frame
 * /move_base_node/NavfnROS/allow_unknown
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/escape_vel
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/aggressive_clear/reset_distance
 * /move_base_node/clearing_radius
 * /move_base_node/conservative_clear/reset_distance
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/base_scan/sensor_frame
 * /move_base_node/global_costmap/base_scan/topic
 * /move_base_node/global_costmap/base_scan_marking/clearing
 * /move_base_node/global_costmap/base_scan_marking/data_type
 * /move_base_node/global_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/global_costmap/base_scan_marking/marking
 * /move_base_node/global_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/observation_persistence
 * /move_base_node/global_costmap/base_scan_marking/sensor_frame
 * /move_base_node/global_costmap/base_scan_marking/topic
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_cost_value
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/base_scan/sensor_frame
 * /move_base_node/local_costmap/base_scan/topic
 * /move_base_node/local_costmap/base_scan_marking/clearing
 * /move_base_node/local_costmap/base_scan_marking/data_type
 * /move_base_node/local_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/local_costmap/base_scan_marking/marking
 * /move_base_node/local_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/observation_persistence
 * /move_base_node/local_costmap/base_scan_marking/sensor_frame
 * /move_base_node/local_costmap/base_scan_marking/topic
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/recovery_behaviors
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /slam_gmapping/angularUpdate
 * /slam_gmapping/astep
 * /slam_gmapping/base_frame
 * /slam_gmapping/delta
 * /slam_gmapping/iterations
 * /slam_gmapping/kernelSize
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/linearUpdate
 * /slam_gmapping/llsamplerange
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/lsigma
 * /slam_gmapping/lskip
 * /slam_gmapping/lstep
 * /slam_gmapping/map_update_interval
 * /slam_gmapping/maxUrange
 * /slam_gmapping/odom_frame
 * /slam_gmapping/ogain
 * /slam_gmapping/particles
 * /slam_gmapping/resampleThreshold
 * /slam_gmapping/sigma
 * /slam_gmapping/srr
 * /slam_gmapping/srt
 * /slam_gmapping/str
 * /slam_gmapping/stt
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/xmax
 * /slam_gmapping/xmin
 * /slam_gmapping/ymax
 * /slam_gmapping/ymin
 * /use_sim_time

NODES
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /
    base_laser_self_filter (robot_self_filter/self_filter)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    move_base_node (move_base/move_base)
    robot_state_publisher (robot_state_publisher/state_publisher)
    slam_gmapping (gmapping/slam_gmapping)
    spawn_robot (gazebo/spawn_model)
    voxel_visualizer (costmap_2d/costmap_2d_markers)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [14436]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c6d49662-5f32-11e2-aa2b-782bcbb7d7cd
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [14449]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-2]: started with pid [14463]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo_gui-3]: started with pid [14470]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[spawn_robot-4]: started with pid [14482]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-5]: started with pid [14513]
Msg Waiting for master.[ WARN] [1358268248.051425092]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_shadow_filter-6]: started with pid [14539]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1358268248.080174488]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_laser_self_filter-7]: started with pid [14578]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[slam_gmapping-8]: started with pid [14608]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node/local_costmap/voxel_grid_throttle-9]: started with pid [14684]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node-10]: started with pid [14719]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[voxel_visualizer-11]: started with pid [14748]
loading model xml from ros parameter
[INFO] [WallTime: 1358268248.449899] [0.000000] waiting for service /gazebo/spawn_urdf_model
[ INFO] [1358268248.472712820]: Subscribed to Topics: base_scan base_scan_marking
[ WARN] [1358268248.473579197]: multiple inconsistent <genTexCoord> exists due to fixed joint reduction, overwriting previous value [false] with [true].
[ INFO] [1358268248.481060846]: Requesting the map...

[ INFO] [1358268248.482030855]: Still waiting on map...


Msg Connected to gazebo master @ http://localhost:11345
Warning [parser.cc:348] Gazebo SDF has no gazebo element
Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE
On July 1st, 2012, this formate will no longer by supported
Convert your files using the gzsdf command line tool
You have been warned!

[ INFO] [1358268250.002014924]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1358268250.002100757]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Dbg plugin parent sensor name: robot_description
[ INFO] [1358268250.002810018]: starting diffdrive plugin in ns: //
[ INFO] [1358268250.029062963]: p3d plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1358268250.029147508]: p3d plugin missing <rpyOffset>, defaults to 0s
Dbg plugin model name: robot_description
[ INFO] [1358268250.037069510]: starting gazebo_ros_controller_manager plugin in ns: /
[ INFO] [1358268250.037196088]: Callback thread id=0x7f1b7865f420
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 14463, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/worlds/wg_collada.world __name:=gazebo __log:=/home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2.log].
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2*.log
[spawn_robot-4] process has finished cleanly
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/spawn_robot-4*.log

I'm not sure how much of the log files to post, but here is part of the master.log that contains an error (this error also occurs again later in the log file):

...
[rosmaster.master][INFO] 2013-01-15 11:44:10,003: +PUB [/base_scan/scan] /gazebo http://scott-ub:34652/
[rosmaster.master][ERROR] 2013-01-15 11:44:10,004: Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 161, in validated_f
    code, msg, val = f(*newArgs, **kwds)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 406, in searchParam
    search_key = self.param_server.search_param(caller_id, key)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/paramserver.py", line 116, in search_param
    raise ValueError("namespace must be global")
ValueError: namespace must be global

And this is the full text of the spawn_robot-4.log:

[rospy.client][INFO] 2013-01-15 11:44:08,337: init_node, name[/spawn_robot], pid[14482]
[xmlrpc][INFO] 2013-01-15 11:44:08,337: XML-RPC server binding to 0.0.0.0
[xmlrpc][INFO] 2013-01-15 11:44:08,338: Started XML-RPC server [http://scott-ub:45884/]
[rospy.init][INFO] 2013-01-15 11:44:08,338: ROS Slave URI: [http://scott-ub:45884/]
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:08,338: _ready: http://scott-ub:45884/
[rospy.registration][INFO] 2013-01-15 11:44:08,338: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2013-01-15 11:44:08,339: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2013-01-15 11:44:08,438: registered with master
[rospy.rosout][INFO] 2013-01-15 11:44:08,438: initializing /rosout core topic
[rospy.rosout][INFO] 2013-01-15 11:44:08,440: connected to core topic /rosout
[rospy.simtime][INFO] 2013-01-15 11:44:08,442: initializing /clock core topic
[rospy.simtime][INFO] 2013-01-15 11:44:08,445: connected to core topic /clock
[rosout][INFO] 2013-01-15 11:44:08,449: waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2013-01-15 11:44:08,453: topic[/clock] adding connection to [http://scott-ub:34652/], count 0
[rospy.internal][INFO] 2013-01-15 11:44:08,708: topic[/rosout] adding connection to [/rosout], count 0
[rospy.core][INFO] 2013-01-15 11:44:10,328: signal_shutdown [atexit]
[rospy.internal][WARNING] 2013-01-15 11:44:10,329: Unknown error initiating TCP/IP socket to scott-ub:32926 (http://scott-ub:34652/): Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 511, in connect
    self.socket.connect((dest_addr, dest_port))
  File "/usr/lib/python2.7/socket.py", line 224, in meth
    return getattr(self._sock,name)(*args)
error: [Errno 111] Connection refused

[rospy.internal][INFO] 2013-01-15 11:44:10,330: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:10,330: atexit

None of the other log files have errors in them. Thanks in advance for any suggestions.

click to hide/show revision 2
fixed typo in sudo apt-get install command

erratic simulation does not work after ubuntu updates

I have been successfully using the erratic robot simulation in Gazebo (fuerte on ubuntu 12.04). I know this is not the recommended way to use Gazebo now, but I have been using simulator_gazebo 1.6.16 (I have just installed Gazebo 1.3).

I installed the erratic robot for simulation using:

sudo apt-get install ros-diamondback-fuerte-robotros-fuerte-erratic-robot

After some updates were installed (including python-rospkg, ros-fuerte-pr2-controllers, and ros-fuerte-pr2-mechanism) using the ubuntu update manager, I have not been able to launch Gazebo with the erratic robot.

For example, the output of

roslaunch erratic_navigation_apps demo_2dnav_slam.launch

(from (http://www.ros.org/wiki/simulator_gazebo/Tutorials/TeleopErraticSimulation)) is:

scott@scott-ub:~$ roslaunch erratic_navigation_apps demo_2dnav_slam.launch
... logging to /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/roslaunch-scott-ub-14417.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scott-ub:42921/

SUMMARY
========

PARAMETERS
 * /base_laser_self_filter/min_sensor_dist
 * /base_laser_self_filter/self_see_default_padding
 * /base_laser_self_filter/self_see_default_scale
 * /base_laser_self_filter/self_see_links
 * /base_laser_self_filter/sensor_frame
 * /base_shadow_filter/high_fidelity
 * /base_shadow_filter/scan_filter_chain
 * /base_shadow_filter/target_frame
 * /move_base_node/NavfnROS/allow_unknown
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/escape_vel
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/aggressive_clear/reset_distance
 * /move_base_node/clearing_radius
 * /move_base_node/conservative_clear/reset_distance
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/base_scan/sensor_frame
 * /move_base_node/global_costmap/base_scan/topic
 * /move_base_node/global_costmap/base_scan_marking/clearing
 * /move_base_node/global_costmap/base_scan_marking/data_type
 * /move_base_node/global_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/global_costmap/base_scan_marking/marking
 * /move_base_node/global_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/observation_persistence
 * /move_base_node/global_costmap/base_scan_marking/sensor_frame
 * /move_base_node/global_costmap/base_scan_marking/topic
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_cost_value
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/base_scan/sensor_frame
 * /move_base_node/local_costmap/base_scan/topic
 * /move_base_node/local_costmap/base_scan_marking/clearing
 * /move_base_node/local_costmap/base_scan_marking/data_type
 * /move_base_node/local_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/local_costmap/base_scan_marking/marking
 * /move_base_node/local_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/observation_persistence
 * /move_base_node/local_costmap/base_scan_marking/sensor_frame
 * /move_base_node/local_costmap/base_scan_marking/topic
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/recovery_behaviors
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /slam_gmapping/angularUpdate
 * /slam_gmapping/astep
 * /slam_gmapping/base_frame
 * /slam_gmapping/delta
 * /slam_gmapping/iterations
 * /slam_gmapping/kernelSize
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/linearUpdate
 * /slam_gmapping/llsamplerange
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/lsigma
 * /slam_gmapping/lskip
 * /slam_gmapping/lstep
 * /slam_gmapping/map_update_interval
 * /slam_gmapping/maxUrange
 * /slam_gmapping/odom_frame
 * /slam_gmapping/ogain
 * /slam_gmapping/particles
 * /slam_gmapping/resampleThreshold
 * /slam_gmapping/sigma
 * /slam_gmapping/srr
 * /slam_gmapping/srt
 * /slam_gmapping/str
 * /slam_gmapping/stt
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/xmax
 * /slam_gmapping/xmin
 * /slam_gmapping/ymax
 * /slam_gmapping/ymin
 * /use_sim_time

NODES
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /
    base_laser_self_filter (robot_self_filter/self_filter)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    move_base_node (move_base/move_base)
    robot_state_publisher (robot_state_publisher/state_publisher)
    slam_gmapping (gmapping/slam_gmapping)
    spawn_robot (gazebo/spawn_model)
    voxel_visualizer (costmap_2d/costmap_2d_markers)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [14436]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c6d49662-5f32-11e2-aa2b-782bcbb7d7cd
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [14449]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-2]: started with pid [14463]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo_gui-3]: started with pid [14470]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[spawn_robot-4]: started with pid [14482]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-5]: started with pid [14513]
Msg Waiting for master.[ WARN] [1358268248.051425092]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_shadow_filter-6]: started with pid [14539]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1358268248.080174488]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_laser_self_filter-7]: started with pid [14578]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[slam_gmapping-8]: started with pid [14608]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node/local_costmap/voxel_grid_throttle-9]: started with pid [14684]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node-10]: started with pid [14719]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[voxel_visualizer-11]: started with pid [14748]
loading model xml from ros parameter
[INFO] [WallTime: 1358268248.449899] [0.000000] waiting for service /gazebo/spawn_urdf_model
[ INFO] [1358268248.472712820]: Subscribed to Topics: base_scan base_scan_marking
[ WARN] [1358268248.473579197]: multiple inconsistent <genTexCoord> exists due to fixed joint reduction, overwriting previous value [false] with [true].
[ INFO] [1358268248.481060846]: Requesting the map...

[ INFO] [1358268248.482030855]: Still waiting on map...


Msg Connected to gazebo master @ http://localhost:11345
Warning [parser.cc:348] Gazebo SDF has no gazebo element
Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE
On July 1st, 2012, this formate will no longer by supported
Convert your files using the gzsdf command line tool
You have been warned!

[ INFO] [1358268250.002014924]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1358268250.002100757]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Dbg plugin parent sensor name: robot_description
[ INFO] [1358268250.002810018]: starting diffdrive plugin in ns: //
[ INFO] [1358268250.029062963]: p3d plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1358268250.029147508]: p3d plugin missing <rpyOffset>, defaults to 0s
Dbg plugin model name: robot_description
[ INFO] [1358268250.037069510]: starting gazebo_ros_controller_manager plugin in ns: /
[ INFO] [1358268250.037196088]: Callback thread id=0x7f1b7865f420
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 14463, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/worlds/wg_collada.world __name:=gazebo __log:=/home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2.log].
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2*.log
[spawn_robot-4] process has finished cleanly
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/spawn_robot-4*.log

I'm not sure how much of the log files to post, but here is part of the master.log that contains an error (this error also occurs again later in the log file):

...
[rosmaster.master][INFO] 2013-01-15 11:44:10,003: +PUB [/base_scan/scan] /gazebo http://scott-ub:34652/
[rosmaster.master][ERROR] 2013-01-15 11:44:10,004: Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 161, in validated_f
    code, msg, val = f(*newArgs, **kwds)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 406, in searchParam
    search_key = self.param_server.search_param(caller_id, key)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/paramserver.py", line 116, in search_param
    raise ValueError("namespace must be global")
ValueError: namespace must be global

And this is the full text of the spawn_robot-4.log:

[rospy.client][INFO] 2013-01-15 11:44:08,337: init_node, name[/spawn_robot], pid[14482]
[xmlrpc][INFO] 2013-01-15 11:44:08,337: XML-RPC server binding to 0.0.0.0
[xmlrpc][INFO] 2013-01-15 11:44:08,338: Started XML-RPC server [http://scott-ub:45884/]
[rospy.init][INFO] 2013-01-15 11:44:08,338: ROS Slave URI: [http://scott-ub:45884/]
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:08,338: _ready: http://scott-ub:45884/
[rospy.registration][INFO] 2013-01-15 11:44:08,338: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2013-01-15 11:44:08,339: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2013-01-15 11:44:08,438: registered with master
[rospy.rosout][INFO] 2013-01-15 11:44:08,438: initializing /rosout core topic
[rospy.rosout][INFO] 2013-01-15 11:44:08,440: connected to core topic /rosout
[rospy.simtime][INFO] 2013-01-15 11:44:08,442: initializing /clock core topic
[rospy.simtime][INFO] 2013-01-15 11:44:08,445: connected to core topic /clock
[rosout][INFO] 2013-01-15 11:44:08,449: waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2013-01-15 11:44:08,453: topic[/clock] adding connection to [http://scott-ub:34652/], count 0
[rospy.internal][INFO] 2013-01-15 11:44:08,708: topic[/rosout] adding connection to [/rosout], count 0
[rospy.core][INFO] 2013-01-15 11:44:10,328: signal_shutdown [atexit]
[rospy.internal][WARNING] 2013-01-15 11:44:10,329: Unknown error initiating TCP/IP socket to scott-ub:32926 (http://scott-ub:34652/): Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 511, in connect
    self.socket.connect((dest_addr, dest_port))
  File "/usr/lib/python2.7/socket.py", line 224, in meth
    return getattr(self._sock,name)(*args)
error: [Errno 111] Connection refused

[rospy.internal][INFO] 2013-01-15 11:44:10,330: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:10,330: atexit

None of the other log files have errors in them. Thanks in advance for any suggestions.

click to hide/show revision 3
added output from using groovy (with simulator_gazebo and run_gazebo script)

erratic simulation does not work after ubuntu updates

I have been successfully using the erratic robot simulation in Gazebo (fuerte on ubuntu 12.04). I know this is not the recommended way to use Gazebo now, but I have been using simulator_gazebo 1.6.16 (I have just installed Gazebo 1.3).

I installed the erratic robot for simulation using:

sudo apt-get install ros-fuerte-erratic-robot

After some updates were installed (including python-rospkg, ros-fuerte-pr2-controllers, and ros-fuerte-pr2-mechanism) using the ubuntu update manager, I have not been able to launch Gazebo with the erratic robot.

For example, the output of

roslaunch erratic_navigation_apps demo_2dnav_slam.launch

(from (http://www.ros.org/wiki/simulator_gazebo/Tutorials/TeleopErraticSimulation)) is:

scott@scott-ub:~$ roslaunch erratic_navigation_apps demo_2dnav_slam.launch
... logging to /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/roslaunch-scott-ub-14417.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scott-ub:42921/

SUMMARY
========

PARAMETERS
 * /base_laser_self_filter/min_sensor_dist
 * /base_laser_self_filter/self_see_default_padding
 * /base_laser_self_filter/self_see_default_scale
 * /base_laser_self_filter/self_see_links
 * /base_laser_self_filter/sensor_frame
 * /base_shadow_filter/high_fidelity
 * /base_shadow_filter/scan_filter_chain
 * /base_shadow_filter/target_frame
 * /move_base_node/NavfnROS/allow_unknown
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/escape_vel
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/aggressive_clear/reset_distance
 * /move_base_node/clearing_radius
 * /move_base_node/conservative_clear/reset_distance
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/base_scan/sensor_frame
 * /move_base_node/global_costmap/base_scan/topic
 * /move_base_node/global_costmap/base_scan_marking/clearing
 * /move_base_node/global_costmap/base_scan_marking/data_type
 * /move_base_node/global_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/global_costmap/base_scan_marking/marking
 * /move_base_node/global_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/observation_persistence
 * /move_base_node/global_costmap/base_scan_marking/sensor_frame
 * /move_base_node/global_costmap/base_scan_marking/topic
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_cost_value
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/base_scan/sensor_frame
 * /move_base_node/local_costmap/base_scan/topic
 * /move_base_node/local_costmap/base_scan_marking/clearing
 * /move_base_node/local_costmap/base_scan_marking/data_type
 * /move_base_node/local_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/local_costmap/base_scan_marking/marking
 * /move_base_node/local_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/observation_persistence
 * /move_base_node/local_costmap/base_scan_marking/sensor_frame
 * /move_base_node/local_costmap/base_scan_marking/topic
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/recovery_behaviors
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /slam_gmapping/angularUpdate
 * /slam_gmapping/astep
 * /slam_gmapping/base_frame
 * /slam_gmapping/delta
 * /slam_gmapping/iterations
 * /slam_gmapping/kernelSize
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/linearUpdate
 * /slam_gmapping/llsamplerange
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/lsigma
 * /slam_gmapping/lskip
 * /slam_gmapping/lstep
 * /slam_gmapping/map_update_interval
 * /slam_gmapping/maxUrange
 * /slam_gmapping/odom_frame
 * /slam_gmapping/ogain
 * /slam_gmapping/particles
 * /slam_gmapping/resampleThreshold
 * /slam_gmapping/sigma
 * /slam_gmapping/srr
 * /slam_gmapping/srt
 * /slam_gmapping/str
 * /slam_gmapping/stt
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/xmax
 * /slam_gmapping/xmin
 * /slam_gmapping/ymax
 * /slam_gmapping/ymin
 * /use_sim_time

NODES
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /
    base_laser_self_filter (robot_self_filter/self_filter)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    move_base_node (move_base/move_base)
    robot_state_publisher (robot_state_publisher/state_publisher)
    slam_gmapping (gmapping/slam_gmapping)
    spawn_robot (gazebo/spawn_model)
    voxel_visualizer (costmap_2d/costmap_2d_markers)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [14436]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c6d49662-5f32-11e2-aa2b-782bcbb7d7cd
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [14449]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-2]: started with pid [14463]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo_gui-3]: started with pid [14470]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[spawn_robot-4]: started with pid [14482]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-5]: started with pid [14513]
Msg Waiting for master.[ WARN] [1358268248.051425092]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_shadow_filter-6]: started with pid [14539]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1358268248.080174488]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_laser_self_filter-7]: started with pid [14578]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[slam_gmapping-8]: started with pid [14608]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node/local_costmap/voxel_grid_throttle-9]: started with pid [14684]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node-10]: started with pid [14719]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[voxel_visualizer-11]: started with pid [14748]
loading model xml from ros parameter
[INFO] [WallTime: 1358268248.449899] [0.000000] waiting for service /gazebo/spawn_urdf_model
[ INFO] [1358268248.472712820]: Subscribed to Topics: base_scan base_scan_marking
[ WARN] [1358268248.473579197]: multiple inconsistent <genTexCoord> exists due to fixed joint reduction, overwriting previous value [false] with [true].
[ INFO] [1358268248.481060846]: Requesting the map...

[ INFO] [1358268248.482030855]: Still waiting on map...


Msg Connected to gazebo master @ http://localhost:11345
Warning [parser.cc:348] Gazebo SDF has no gazebo element
Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE
On July 1st, 2012, this formate will no longer by supported
Convert your files using the gzsdf command line tool
You have been warned!

[ INFO] [1358268250.002014924]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1358268250.002100757]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Dbg plugin parent sensor name: robot_description
[ INFO] [1358268250.002810018]: starting diffdrive plugin in ns: //
[ INFO] [1358268250.029062963]: p3d plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1358268250.029147508]: p3d plugin missing <rpyOffset>, defaults to 0s
Dbg plugin model name: robot_description
[ INFO] [1358268250.037069510]: starting gazebo_ros_controller_manager plugin in ns: /
[ INFO] [1358268250.037196088]: Callback thread id=0x7f1b7865f420
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 14463, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/worlds/wg_collada.world __name:=gazebo __log:=/home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2.log].
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2*.log
[spawn_robot-4] process has finished cleanly
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/spawn_robot-4*.log

I'm not sure how much of the log files to post, but here is part of the master.log that contains an error (this error also occurs again later in the log file):

...
[rosmaster.master][INFO] 2013-01-15 11:44:10,003: +PUB [/base_scan/scan] /gazebo http://scott-ub:34652/
[rosmaster.master][ERROR] 2013-01-15 11:44:10,004: Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 161, in validated_f
    code, msg, val = f(*newArgs, **kwds)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 406, in searchParam
    search_key = self.param_server.search_param(caller_id, key)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/paramserver.py", line 116, in search_param
    raise ValueError("namespace must be global")
ValueError: namespace must be global

And this is the full text of the spawn_robot-4.log:

[rospy.client][INFO] 2013-01-15 11:44:08,337: init_node, name[/spawn_robot], pid[14482]
[xmlrpc][INFO] 2013-01-15 11:44:08,337: XML-RPC server binding to 0.0.0.0
[xmlrpc][INFO] 2013-01-15 11:44:08,338: Started XML-RPC server [http://scott-ub:45884/]
[rospy.init][INFO] 2013-01-15 11:44:08,338: ROS Slave URI: [http://scott-ub:45884/]
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:08,338: _ready: http://scott-ub:45884/
[rospy.registration][INFO] 2013-01-15 11:44:08,338: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2013-01-15 11:44:08,339: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2013-01-15 11:44:08,438: registered with master
[rospy.rosout][INFO] 2013-01-15 11:44:08,438: initializing /rosout core topic
[rospy.rosout][INFO] 2013-01-15 11:44:08,440: connected to core topic /rosout
[rospy.simtime][INFO] 2013-01-15 11:44:08,442: initializing /clock core topic
[rospy.simtime][INFO] 2013-01-15 11:44:08,445: connected to core topic /clock
[rosout][INFO] 2013-01-15 11:44:08,449: waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2013-01-15 11:44:08,453: topic[/clock] adding connection to [http://scott-ub:34652/], count 0
[rospy.internal][INFO] 2013-01-15 11:44:08,708: topic[/rosout] adding connection to [/rosout], count 0
[rospy.core][INFO] 2013-01-15 11:44:10,328: signal_shutdown [atexit]
[rospy.internal][WARNING] 2013-01-15 11:44:10,329: Unknown error initiating TCP/IP socket to scott-ub:32926 (http://scott-ub:34652/): Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 511, in connect
    self.socket.connect((dest_addr, dest_port))
  File "/usr/lib/python2.7/socket.py", line 224, in meth
    return getattr(self._sock,name)(*args)
error: [Errno 111] Connection refused

[rospy.internal][INFO] 2013-01-15 11:44:10,330: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:10,330: atexit

None of the other log files have errors in them. Thanks in advance for any suggestions.

EDIT: I tried in groovy (there is not a debian for erratic in groovy, so I downloaded and compiled the source).

When using simulator_gazebo (1.2.5), executing

roslaunch erratic_navigation_apps demo_2dnav_slam.launch

results in

... logging to /home/scott/.ros/log/b7ffc898-6980-11e2-bc25-782bcbb7d7cd/roslaunch-scott-ub-8096.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scott-ub:36638/

SUMMARY
========

PARAMETERS
 * /base_laser_self_filter/min_sensor_dist
 * /base_laser_self_filter/self_see_default_padding
 * /base_laser_self_filter/self_see_default_scale
 * /base_laser_self_filter/self_see_links
 * /base_laser_self_filter/sensor_frame
 * /base_shadow_filter/high_fidelity
 * /base_shadow_filter/scan_filter_chain
 * /base_shadow_filter/target_frame
 * /move_base_node/NavfnROS/allow_unknown
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/escape_vel
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/aggressive_clear/reset_distance
 * /move_base_node/clearing_radius
 * /move_base_node/conservative_clear/reset_distance
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/base_scan/sensor_frame
 * /move_base_node/global_costmap/base_scan/topic
 * /move_base_node/global_costmap/base_scan_marking/clearing
 * /move_base_node/global_costmap/base_scan_marking/data_type
 * /move_base_node/global_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/global_costmap/base_scan_marking/marking
 * /move_base_node/global_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/observation_persistence
 * /move_base_node/global_costmap/base_scan_marking/sensor_frame
 * /move_base_node/global_costmap/base_scan_marking/topic
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_cost_value
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/base_scan/sensor_frame
 * /move_base_node/local_costmap/base_scan/topic
 * /move_base_node/local_costmap/base_scan_marking/clearing
 * /move_base_node/local_costmap/base_scan_marking/data_type
 * /move_base_node/local_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/local_costmap/base_scan_marking/marking
 * /move_base_node/local_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/observation_persistence
 * /move_base_node/local_costmap/base_scan_marking/sensor_frame
 * /move_base_node/local_costmap/base_scan_marking/topic
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/recovery_behaviors
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /slam_gmapping/angularUpdate
 * /slam_gmapping/astep
 * /slam_gmapping/base_frame
 * /slam_gmapping/delta
 * /slam_gmapping/iterations
 * /slam_gmapping/kernelSize
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/linearUpdate
 * /slam_gmapping/llsamplerange
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/lsigma
 * /slam_gmapping/lskip
 * /slam_gmapping/lstep
 * /slam_gmapping/map_update_interval
 * /slam_gmapping/maxUrange
 * /slam_gmapping/odom_frame
 * /slam_gmapping/ogain
 * /slam_gmapping/particles
 * /slam_gmapping/resampleThreshold
 * /slam_gmapping/sigma
 * /slam_gmapping/srr
 * /slam_gmapping/srt
 * /slam_gmapping/str
 * /slam_gmapping/stt
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/xmax
 * /slam_gmapping/xmin
 * /slam_gmapping/ymax
 * /slam_gmapping/ymin
 * /use_sim_time

NODES
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /
    base_laser_self_filter (robot_self_filter/self_filter)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    move_base_node (move_base/move_base)
    robot_state_publisher (robot_state_publisher/state_publisher)
    slam_gmapping (gmapping/slam_gmapping)
    spawn_robot (gazebo/spawn_model)
    voxel_visualizer (costmap_2d/costmap_2d_markers)

auto-starting new master
process[master]: started with pid [8120]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b7ffc898-6980-11e2-bc25-782bcbb7d7cd
process[rosout-1]: started with pid [8133]
started core service [/rosout]
process[gazebo-2]: started with pid [8147]
Gazebo multi-robot simulator, version 1.2.5
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

process[gazebo_gui-3]: started with pid [8170]
Warning [parser.cc:358] Converting a deprecatd SDF source[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/wg_collada.world].
  Version[1.0] to Version[1.2]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [Converter.cc:191] Deprecated SDF Values in original file:
<background rgba='0.5 0.5 0.5 1'

Warning [Converter.cc:191] Deprecated SDF Values in original file:
<background

Gazebo multi-robot simulator, version 1.2.5
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master[ INFO] [1359401238.297721514]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://localhost:11345
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
process[spawn_robot-4]: started with pid [8208]
process[robot_state_publisher-5]: started with pid [8209]
/opt/ros/groovy/lib/robot_state_publisher/state_publisher
[ WARN] [1359401238.509989899]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ERROR] [1359401238.512125486]: Material [Green] color has no rgba
[ERROR] [1359401238.512163917]: Material [Green] not defined in file
[ERROR] [1359401238.512226471]: Material [Blue] color has no rgba
[ERROR] [1359401238.512240719]: Material [Blue] not defined in file
[ERROR] [1359401238.512312242]: Material [Black] color has no rgba
[ERROR] [1359401238.512326624]: Material [Black] not defined in file
[ERROR] [1359401238.512398933]: Material [Black] color has no rgba
[ERROR] [1359401238.512414554]: Material [Black] not defined in file
[ERROR] [1359401238.512454940]: Material [Black] color has no rgba
[ERROR] [1359401238.512467869]: Material [Black] not defined in file
[ WARN] [1359401238.512779639]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[base_shadow_filter-6]: started with pid [8233]
process[base_laser_self_filter-7]: started with pid [8332]
process[slam_gmapping-8]: started with pid [8367]
process[move_base_node/local_costmap/voxel_grid_throttle-9]: started with pid [8368]
process[move_base_node-10]: started with pid [8442]
process[voxel_visualizer-11]: started with pid [8468]
[ INFO] [1359401239.481263489]: Subscribed to Topics: base_scan base_scan_marking
[ INFO] [1359401239.488517705]: Requesting the map...

[ INFO] [1359401239.489302008]: Still waiting on map...

loading model xml from ros parameter
[INFO] [WallTime: 1359401239.585223] [0.000000] waiting for service /gazebo/spawn_urdf_model
Error [TrimeshShape.cc:59] <mesh><filename>/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/Media/models/willowgarage2.stl</filename></mesh> is deprecated.
Error [TrimeshShape.cc:61] Use <mesh><uri>file:///opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/Media/models/willowgarage2.stl</uri></mesh>
Warning [parser.cc:374] Gazebo SDF has no <gazebo> element in file[data-string]
Warning [parser_urdf.cc:437] do nothing with canonicalBody
Dbg [base_footprint] has no parent joint
Warning [parser.cc:313] parse from urdf.
[ INFO] [1359401240.463746266]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1359401240.463824837]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
spawn status:  SpawnModel: successfully spawned model
Dbg plugin parent sensor name: robot_description
[ INFO] [1359401240.545290761]: starting diffdrive plugin in ns: 
[ INFO] [1359401240.608129322]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1359401240.608335488]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1359401240.608380390]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
[ INFO] [1359401240.608418552]: pluginlib WARNING: PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.
Dbg plugin model name: robot_description
[ INFO] [1359401240.608567660]: starting gazebo_ros_controller_manager plugin in ns: 
[ INFO] [1359401240.608693151]: Callback thread id=0x7f275c7ada00
[spawn_robot-4] process has finished cleanly
log file: /home/scott/.ros/log/b7ffc898-6980-11e2-bc25-782bcbb7d7cd/spawn_robot-4*.log
Dbg plugin parent sensor name: robot_description
[ INFO] [1359401266.210791346, 0.001000000]: starting diffdrive plugin in ns: 
Dbg plugin model name: robot_description
[ INFO] [1359401266.213961598, 0.001000000]: starting gazebo_ros_controller_manager plugin in ns: 
[ INFO] [1359401266.214127828, 0.001000000]: Callback thread id=0x7f275c81f820
[ERROR] [1359401266.436481894, 0.001000000]: Tried to advertise a service that is already advertised in this node [/pr2_controller_manager/list_controllers]
[ERROR] [1359401266.436593701, 0.001000000]: Tried to advertise a service that is already advertised in this node [/pr2_controller_manager/list_controller_types]
[ERROR] [1359401266.436684166, 0.001000000]: Tried to advertise a service that is already advertised in this node [/pr2_controller_manager/load_controller]
[ERROR] [1359401266.436768297, 0.001000000]: Tried to advertise a service that is already advertised in this node [/pr2_controller_manager/unload_controller]
[ERROR] [1359401266.436869158, 0.001000000]: Tried to advertise a service that is already advertised in this node [/pr2_controller_manager/switch_controller]
[ERROR] [1359401266.436943296, 0.001000000]: Tried to advertise a service that is already advertised in this node [/pr2_controller_manager/reload_controller_libraries]
[ INFO] [1359401266.457805476, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1359401266.495811250, 0.056000000]: Starting to spin physics dynamic reconfigure node...
[ WARN] [1359401267.061316070, 0.601000000]: Message from [/base_shadow_filter] has a non-fully-qualified frame_id [base_footprint]. Resolved locally to [/base_footprint].  This is will likely not work in multi-robot systems.  This message will only print once.
 -maxUrange 4 -maxUrange 3.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02
 -linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5
 -xmin -10 -xmax 10 -ymin -10 -ymax 10 -delta 0.025 -particles 80
[ INFO] [1359401267.063221833, 0.601000000]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 1.08887e-05 2.92677e-12 1.11502e-05
m_count 0
Registering First Scan
[ INFO] [1359401267.475379580, 1.005000000]: Still waiting on map...

[ INFO] [1359401268.490956284, 2.003000000]: Received a 800 X 800 map at 0.025000 m/pix

[ INFO] [1359401268.746005702, 2.234000000]: MAP SIZE: 800, 800
[ INFO] [1359401268.756695152, 2.245000000]: Subscribed to Topics: base_scan base_scan_marking
[ INFO] [1359401268.941572418, 2.424000000]: Sim period is set to 0.10

I can not see the walls of the environment and the robot's appearance is different than it was in fuerte, but topics such as /odom and /base_scan/scan are publishing and I can drive the robot around.

I also tried to use the run_gazebo script to use Gazebo 1.3.1, but the model does not spawn in Gazebo. This is the output:

... logging to /home/scott/.ros/log/3fe4d9b0-6986-11e2-b992-782bcbb7d7cd/roslaunch-scott-ub-10018.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scott-ub:34669/

SUMMARY
========

PARAMETERS
 * /base_laser_self_filter/min_sensor_dist
 * /base_laser_self_filter/self_see_default_padding
 * /base_laser_self_filter/self_see_default_scale
 * /base_laser_self_filter/self_see_links
 * /base_laser_self_filter/sensor_frame
 * /base_shadow_filter/high_fidelity
 * /base_shadow_filter/scan_filter_chain
 * /base_shadow_filter/target_frame
 * /move_base_node/NavfnROS/allow_unknown
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/escape_vel
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/aggressive_clear/reset_distance
 * /move_base_node/clearing_radius
 * /move_base_node/conservative_clear/reset_distance
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/base_scan/sensor_frame
 * /move_base_node/global_costmap/base_scan/topic
 * /move_base_node/global_costmap/base_scan_marking/clearing
 * /move_base_node/global_costmap/base_scan_marking/data_type
 * /move_base_node/global_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/global_costmap/base_scan_marking/marking
 * /move_base_node/global_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/observation_persistence
 * /move_base_node/global_costmap/base_scan_marking/sensor_frame
 * /move_base_node/global_costmap/base_scan_marking/topic
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_cost_value
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/base_scan/sensor_frame
 * /move_base_node/local_costmap/base_scan/topic
 * /move_base_node/local_costmap/base_scan_marking/clearing
 * /move_base_node/local_costmap/base_scan_marking/data_type
 * /move_base_node/local_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/local_costmap/base_scan_marking/marking
 * /move_base_node/local_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/observation_persistence
 * /move_base_node/local_costmap/base_scan_marking/sensor_frame
 * /move_base_node/local_costmap/base_scan_marking/topic
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/recovery_behaviors
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /slam_gmapping/angularUpdate
 * /slam_gmapping/astep
 * /slam_gmapping/base_frame
 * /slam_gmapping/delta
 * /slam_gmapping/iterations
 * /slam_gmapping/kernelSize
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/linearUpdate
 * /slam_gmapping/llsamplerange
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/lsigma
 * /slam_gmapping/lskip
 * /slam_gmapping/lstep
 * /slam_gmapping/map_update_interval
 * /slam_gmapping/maxUrange
 * /slam_gmapping/odom_frame
 * /slam_gmapping/ogain
 * /slam_gmapping/particles
 * /slam_gmapping/resampleThreshold
 * /slam_gmapping/sigma
 * /slam_gmapping/srr
 * /slam_gmapping/srt
 * /slam_gmapping/str
 * /slam_gmapping/stt
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/xmax
 * /slam_gmapping/xmin
 * /slam_gmapping/ymax
 * /slam_gmapping/ymin
 * /use_sim_time

NODES
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /
    base_laser_self_filter (robot_self_filter/self_filter)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    gazebo (atlas_utils/run_gazebo)
    move_base_node (move_base/move_base)
    robot_state_publisher (robot_state_publisher/state_publisher)
    slam_gmapping (gmapping/slam_gmapping)
    spawn_robot (gazebo/spawn_model)
    voxel_visualizer (costmap_2d/costmap_2d_markers)

auto-starting new master
process[master]: started with pid [10042]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3fe4d9b0-6986-11e2-b992-782bcbb7d7cd
process[rosout-1]: started with pid [10055]
started core service [/rosout]
process[gazebo-2]: started with pid [10069]
process[spawn_robot-3]: started with pid [10071]
process[robot_state_publisher-4]: started with pid [10072]
/opt/ros/groovy/lib/robot_state_publisher/state_publisher
[ WARN] [1359403613.881919496]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ERROR] [1359403613.884347351]: Material [Green] color has no rgba
[ERROR] [1359403613.884387944]: Material [Green] not defined in file
[ERROR] [1359403613.884486571]: Material [Blue] color has no rgba
[ERROR] [1359403613.884524475]: Material [Blue] not defined in file
[ERROR] [1359403613.884615731]: Material [Black] color has no rgba
[ERROR] [1359403613.884651328]: Material [Black] not defined in file
[ERROR] [1359403613.884746760]: Material [Black] color has no rgba
[ERROR] [1359403613.884781977]: Material [Black] not defined in file
[ERROR] [1359403613.884850606]: Material [Black] color has no rgba
[ERROR] [1359403613.884886192]: Material [Black] not defined in file
[ WARN] [1359403613.885202432]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[base_shadow_filter-5]: started with pid [10096]
process[base_laser_self_filter-6]: started with pid [10119]
Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

process[slam_gmapping-7]: started with pid [10164]
Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.process[move_base_node/local_costmap/voxel_grid_throttle-8]: started with pid [10225]
Warning [parser.cc:362] Converting a deprecatd SDF source[/home/scott/.gazebo/models/sun/model.sdf].
Set SDF value
  Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:362] Converting a deprecatd SDF source[/home/scott/.gazebo/models/ground_plane/model.sdf].
Set SDF value
  Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
process[move_base_node-9]: started with pid [10255]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
process[voxel_visualizer-10]: started with pid [10272]
loading model xml from ros parameter
[INFO] [WallTime: 1359403614.981453] [0.000000] waiting for service /gazebo/spawn_urdf_model

Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1359403615.876469379]: Subscribed to Topics: base_scan base_scan_marking
[ INFO] [1359403615.883111223]: Requesting the map...

[ INFO] [1359403615.883945791]: Still waiting on map...

Would updating ros-groovy-simulator-gazebo help improved on either one of these results? Thanks!