Hello guys,
i have some problems when i try to start gazebo with roslaunch on a pc where i have ssh access.
Its ubuntu 16.04 with ros kinetic.
Here is my launch file:
<launch>
<arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>
<arg name="base" value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
<arg name="battery" value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/> <!-- /proc/acpi/battery/BAT0 -->
<arg name="gui" default="false"/>
<arg name="stacks" value="$(optenv TURTLEBOT_STACKS hexagons)"/> <!-- circles, hexagons -->
<arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> <!-- kinect, asus_xtion_pro -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="use_sim_time" value="true"/>
<arg name="debug" value="false"/>
<arg name="gui" value="$(arg gui)" />
<arg name="world_name" value="worlds/Tworld1.world"/>
</include>
<include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
<arg name="base" value="$(arg base)"/>
<arg name="stacks" value="$(arg stacks)"/>
<arg name="3d_sensor" value="$(arg 3d_sensor)"/>
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="/camera_depth_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
</launch>
When i start over ssh it only gets to :
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://robolab8:44789/
SUMMARY
========
PARAMETERS
* /bumper2pointcloud/pointcloud_radius: 0.24
* /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 30.0
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
NODES
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
depthimage_to_laserscan (depthimage_to_laserscan/depthimage_to_laserscan)
gazebo (gazebo_ros/gzserver)
laserscan_nodelet_manager (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_turtlebot_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [17081]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 925dced2-fa25-11e8-bbc5-d8cb8a119b1a
process[rosout-1]: started with pid [17094]
started core service [/rosout]
process[gazebo-2]: started with pid [17102]
process[spawn_turtlebot_model-3]: started with pid [17114]
process[mobile_base_nodelet_manager-4]: started with pid [17124]
process[cmd_vel_mux-5]: started with pid [17125]
process[bumper2pointcloud-6]: started with pid [17126]
process[robot_state_publisher-7]: started with pid [17127]
process[laserscan_nodelet_manager-8]: started with pid [17134]
process[depthimage_to_laserscan-9]: started with pid [17143]
[ INFO] [1544189992.342004025]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1544189992.342448714]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
It stops there and nothing further happend. Turtlebot isn't up. Normally it should spawn robot and world should be up. This all works when i start on the same pc. When i am trying to start this from home over ssh it stops where i descriped above. Any tips?
