Doubt: This code is regarding a project wherein I apply Adaptive Monte Carlo Localization on a robot in a world created in Gazebo. The world.launch file also launches Rviz for other purposes regarding localization. I also run amcl.launch file after this loads and load the proper rviz config file. All the details regarding my laptop and ROS environment are given at the end.

Project Link: GitHub

https://github.com/gonfreces/Udacity_AMCL_Where_Am_I

When I launch the world.launch and amcl.launch file, it shows the following output:

$ roslaunch my_robot warehouse_world.launch 
... logging to /home/jit/.ros/log/bdde4ef2-9d62-11e9-a6a4-303a64bb5409/roslaunch-cube-13144.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://cube:43367/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [13160]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bdde4ef2-9d62-11e9-a6a4-303a64bb5409
process[rosout-1]: started with pid [13173]
started core service [/rosout]
process[gazebo-2]: started with pid [13182]
process[gazebo_gui-3]: started with pid [13199]
process[joint_state_publisher-4]: started with pid [13207]
process[robot_state_publisher-5]: started with pid [13208]
process[urdf_spawner-6]: started with pid [13209]
process[rviz-7]: started with pid [13225]
[ INFO] [1562138304.650044804]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1562138304.650557581]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1562138304.715502583]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1562138304.716593425]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Subscribing to: ~/collision_map/command
[ INFO] [1562138306.248133960, 2336.879000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1562138306.342302697, 2336.901000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1562138306.895471432, 2336.904000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1562138306.904216342, 2336.904000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1562138307.476185427, 2336.904000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1562138307.476316928, 2336.904000000]: Starting Laser Plugin (ns = /)
[ INFO] [1562138307.483646157, 2336.904000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1562138307.501073142, 2336.904000000]: Physics dynamic reconfigure ready.
[ INFO] [1562138307.502396792, 2336.904000000]: Physics dynamic reconfigure ready.
[ INFO] [1562138307.572214089, 2336.904000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1562138307.572472719, 2336.904000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1562138307.573945636, 2336.904000000]: DiffDrive(ns = //): <tf_prefix> = 
[ WARN] [1562138307.574433858, 2336.904000000]: DiffDrive(ns = //): <odometrySource> no matching key to Source
[ INFO] [1562138307.576490810, 2336.904000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1562138307.581695735, 2336.904000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1562138307.583179675, 2336.904000000]: DiffDrive(ns = //): Advertise odom on odom 
[urdf_spawner-6] process has finished cleanly
log file: /home/jit/.ros/log/bdde4ef2-9d62-11e9-a6a4-303a64bb5409/urdf_spawner-6*.log
[ERROR] [1562138328.242887483, 2341.011000000]: poll failed with error Interrupted system call
[ERROR] [1562138328.243613739, 2341.011000000]: poll failed with error Interrupted system call
[ERROR] [1562138328.253168196, 2341.012000000]: poll failed with error Interrupted system call
[ERROR] [1562138328.253973549, 2341.012000000]: poll failed with error Interrupted system call
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action
QVariantMap DBusMenuExporterDBus::getProperties(int, const QStringList&) const: Condition failed: action

Graphic Drivers:

$ lspci -nn |egrep "VGA|Display" 
00:02.0 VGA compatible controller [0300]: Intel Corporation Haswell-ULT Integrated Graphics Controller [8086:0a16] (rev 0b)
0a:00.0 Display controller [0380]: Advanced Micro Devices, Inc. [AMD/ATI] Sun LE [Radeon HD 8550M / R5 M230] [1002:666f] (rev ff)

ROS environment:

$ env | grep ROS
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/jit/catkin_ws/src:/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=/home/jit/catkin_ws/devel/share/common-lisp
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

Rviz:

$ rosrun rviz rviz --help
[ INFO] [1562196893.706537121]: rviz version 1.12.17
[ INFO] [1562196893.706635201]: compiled against Qt version 5.5.1
[ INFO] [1562196893.706663785]: compiled against OGRE version 1.9.0 (Ghadamon)

Gazebo:

$ gazebo -v
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

ROS:

$ rosversion -d
kinetic

Ubuntu:

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 16.04.6 LTS
Release:    16.04
Codename:   xenial