[WARN] [1681708232.680517, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1681708232.681705, 0.000000]: Waiting for /clock to be available... [robotstatepublishercuriositymarsrover-5] process has died [pid 4094, exit code 1, cmd /opt/ros/noetic/lib/robotstatepublisher/robotstatepublisher /jointstates:=/curiositymarsrover/jointstates _name:=robotstatepublishercuriositymarsrover _log:=/home/iizukalab3/.ros/log/2d35aee4-dcde-11ed-b371-1dbfe6cccc3b/robotstatepublishercuriositymarsrover-5.log]. log file: /home/iizukalab3/.ros/log/2d35aee4-dcde-11ed-b371-1dbfe6cccc3b/robotstatepublishercuriositymarsrover-5.log [INFO] [1681708232.837732, 0.000000]: Loading model XML from ros parameter robotdescription [INFO] [1681708232.840291, 0.000000]: Waiting for service /gazebo/spawnurdfmodel [ INFO] [1681708232.993245445]: Finished loading Gazebo ROS API Plugin. [ INFO] [1681708232.994437074]: waitForService: Service [/gazebo/setphysicsproperties] has not been advertised, waiting... [ERROR] [1681708233.037499366]: No link elements found in urdf file [ INFO] [1681708233.091726657]: Finished loading Gazebo ROS API Plugin. [ INFO] [1681708233.092743555]: waitForService: Service [/gazebogui/setphysicsproperties] has not been advertised, waiting... Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: curiositypath. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used [ INFO] [1681708233.388331852]: waitForService: Service [/gazebo/setphysicsproperties] is now available. [ INFO] [1681708233.406313778]: Physics dynamic reconfigure ready. [INFO] [1681708233.445185, 0.000000]: Calling service /gazebo/spawnurdfmodel Error [parserurdf.cc:3154] Unable to call parseURDF on robot model Error [parser.cc:488] parse as old deprecated model file failed. [INFO] [1681708234.123000, 0.201000]: /clock is published. Proceeding to load the controller(s). [INFO] [1681708234.124947, 0.203000]: Controller Spawner: Waiting for service /curiositymarsrover/controllermanager/loadcontroller [INFO] [1681708243.969831, 10.001000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name curiositymarsrover [ERROR] [1681708243.971712, 10.003000]: Spawn service failed. Exiting. [urdfspawner-4] process has died [pid 4092, exit code 1, cmd /opt/ros/noetic/lib/gazeboros/spawnmodel -urdf -x 0.0 -y 0.0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0 -model curiositymarsrover -param robotdescription _name:=urdfspawner _log:=/home/iizukalab3/.ros/log/2d35aee4-dcde-11ed-b371-1dbfe6cccc3b/urdfspawner-4.log]. log file: /home/iizukalab3/.ros/log/2d35aee4-dcde-11ed-b371-1dbfe6cccc3b/urdf_spawner-4.log [WARN] [1681708264.289073, 30.216000]: Controller Spawner couldn't find the expected controllermanager ROS interface. [controllerspawner-6] process has finished cleanly log file: /home/iizukalab3/.ros/log/2d35aee4-dcde-11ed-b371-1dbfe6cccc3b/controller_spawner-6*.log