Warn in execution of Differential Drive plugin

edit

Hi everyone,

I am doing diff_drive plugin while executing this I am facing following warnings

glv@VaraPrasad:~/catkin_ws$ roslaunch my_mobilebot my_mobilebot.launch
... logging to /home/glv/.ros/log/f73752fa-e1c6-11e8-a2f5-9829a64aa0d2/roslaunch-VaraPrasad-28473.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://VaraPrasad:34003/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    teleop (teleop_twist_keyboard/teleop_twist_keyboard.py)

auto-starting new master
process[master]: started with pid [28483]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f73752fa-e1c6-11e8-a2f5-9829a64aa0d2
process[rosout-1]: started with pid [28496]
started core service [/rosout]
process[gazebo-2]: started with pid [28503]
process[gazebo_gui-3]: started with pid [28517]
process[teleop-4]: started with pid [28530]
[ INFO] [1541510531.984550357]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1541510531.985524949]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1541510532.031732622]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1541510532.034106535]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1541510532.639610208]: DiffDrive missing <robotNamespace>, defaults is mobilebot
[ INFO] [1541510532.639733617]: Starting plugin DiffDrive(ns = mobilebot/)

 [ WARN] [1541510532.639786383]: DiffDrive(ns = mobilebot/): missing <rosDebugLevel> default is na
                [ INFO] [1541510532.641001720]: DiffDrive(ns = mobilebot/): <tf_prefix> = mobilebot
                   [ WARN] [1541510532.641132611]: DiffDrive(ns = mobilebot/): missing <publishWheelTF> default is false
                                        [ WARN] [1541510532.641169239]: DiffDrive(ns = mobilebot/): missing <publishOdomTF> default is ture
                                                           [ WARN] [1541510532.641205650]: DiffDrive(ns = mobilebot/): missing <publishWheelJointState> default is false
        [ WARN] [1541510532.641342826]: DiffDrive(ns = mobilebot/): missing <wheelAcceleration> default is 0
                            [ WARN] [1541510532.641381841]: DiffDrive(ns = mobilebot/): missing <wheelTorque> default is 5
                                          [ WARN] [1541510532.641510210]: DiffDrive(ns = mobilebot/): missing <odometrySource> 
default is 1
                                                           [ WARN] [1541510532.641600070]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1



  [ INFO] [1541510532.644800507]: DiffDrive(ns = mobilebot/): Try to subscribe to cmd_vel
          [ INFO] [1541510532.653680864]: DiffDrive(ns = mobilebot/): Subscribe to cmd_vel
          [ INFO] [1541510532.655535657]: DiffDrive(ns = mobilebot/): Advertise odom on odom 
             [ INFO] [1541510532.680294054, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
                                                    [ INFO] [1541510532.745781607, 0.086000000]: Physics dynamic reconfigure ready.
                                                   [ INFO] [1541510532.874566396, 0.211000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
          [ INFO] [1541510532.934570023, 0.271000000]: Physics dynamic reconfigure ready.

It's Opening model in gazebo but what is that Warnings and is there anything I need to add in model.sdf file

Thanks In Advance.