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Cannot move Husky using joystick in gazebo

System info:

ROS: kinetic
Ubuntu: 16

I am following HUSKY OUTDOOR GPS WAYPOINT NAVIGATION tutorial.

When I run:
roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch
Although there are some errors, but it seems that everything is working fine and gazebo and rviz open. This is the outpu in the terminal: 

saeed@saeed-Alienware-Aurora-R7:~/Desktop/github/waypoint_nav/catkin_ws$ roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch
... logging to /home/saeed/.ros/log/38bb8736-9f5a-11e9-ae37-d89ef395998d/roslaunch-saeed-Alienware-Aurora-R7-11487.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.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://saeed-Alienware-Aurora-R7:45377/

SUMMARY
========

CLEAR PARAMETERS
 * /outdoor_waypoint_nav/ekf_se_map/
 * /outdoor_waypoint_nav/ekf_se_odom/
 * /outdoor_waypoint_nav/navsat_transform/

PARAMETERS
 * /husky_joint_publisher/publish_rate: 50
 * /husky_joint_publisher/type: joint_state_contr...
 * /husky_velocity_controller/angular/z/has_acceleration_limits: True
 * /husky_velocity_controller/angular/z/has_velocity_limits: True
 * /husky_velocity_controller/angular/z/max_acceleration: 6.0
 * /husky_velocity_controller/angular/z/max_velocity: 0.5
 * /husky_velocity_controller/base_frame_id: base_link
 * /husky_velocity_controller/cmd_vel_timeout: 0.25
 * /husky_velocity_controller/enable_odom_tf: False
 * /husky_velocity_controller/estimate_velocity_from_position: False
 * /husky_velocity_controller/left_wheel: ['front_left_whee...
 * /husky_velocity_controller/linear/x/has_acceleration_limits: True
 * /husky_velocity_controller/linear/x/has_velocity_limits: True
 * /husky_velocity_controller/linear/x/max_acceleration: 3.0
 * /husky_velocity_controller/linear/x/max_velocity: 1.0
 * /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/publish_rate: 50
 * /husky_velocity_controller/right_wheel: ['front_right_whe...
 * /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/type: diff_drive_contro...
 * /husky_velocity_controller/wheel_radius_multiplier: 1.0
 * /husky_velocity_controller/wheel_separation_multiplier: 1.875
 * /joy_teleop/joy_node/autorepeat_rate: 20
 * /joy_teleop/joy_node/deadzone: 0.1
 * /joy_teleop/joy_node/dev: /dev/input/js0
 * /joy_teleop/teleop_twist_joy/axis_angular: 0
 * /joy_teleop/teleop_twist_joy/axis_linear: 1
 * /joy_teleop/teleop_twist_joy/enable_button: 0
 * /joy_teleop/teleop_twist_joy/enable_turbo_button: 2
 * /joy_teleop/teleop_twist_joy/scale_angular: 0.6
 * /joy_teleop/teleop_twist_joy/scale_angular_turbo: 1.2
 * /joy_teleop/teleop_twist_joy/scale_linear: 0.4
 * /joy_teleop/teleop_twist_joy/scale_linear_turbo: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.02
 * /move_base/TrajectoryPlannerROS/controller_frequency: 1.0
 * /move_base/TrajectoryPlannerROS/dwa: True
 * /move_base/TrajectoryPlannerROS/escape_reset_dist: 0.1
 * /move_base/TrajectoryPlannerROS/escape_reset_theta: 0.1
 * /move_base/TrajectoryPlannerROS/escape_vel: -0.2
 * /move_base/TrajectoryPlannerROS/gdist_scale: 1.0
 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
 * /move_base/TrajectoryPlannerROS/heading_scoring: False
 * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
 * /move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.6
 * /move_base/TrajectoryPlannerROS/meter_scoring: True
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
 * /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.15
 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.25
 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.5
 * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: True
 * /move_base/TrajectoryPlannerROS/sim_granularity: 0.02
 * /move_base/TrajectoryPlannerROS/sim_time: 2.0
 * /move_base/TrajectoryPlannerROS/simple_attractor: False
 * /move_base/TrajectoryPlannerROS/vtheta_samples: 30
 * /move_base/TrajectoryPlannerROS/vx_samples: 10
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: base_local_planne...
 * /move_base/clearing_rotation_allowed: True
 * /move_base/controller_frequency: 20.0
 * /move_base/controller_patience: 15.0
 * /move_base/global_costmap/cost_scaling_factor: 1
 * /move_base/global_costmap/footprint: [[0.33, 0.43], [-...
 * /move_base/global_costmap/footprint_padding: 0.2
 * /move_base/global_costmap/global_frame: odom
 * /move_base/global_costmap/height: 30.0
 * /move_base/global_costmap/inflation_radius: 0.3
 * /move_base/global_costmap/laser_scan_sensor/clearing: True
 * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/global_costmap/laser_scan_sensor/marking: True
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser_link
 * /move_base/global_costmap/laser_scan_sensor/topic: scan
 * /move_base/global_costmap/map_type: costmap
 * /move_base/global_costmap/observation_sources: laser_scan_sensor
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/origin_z: 0.0
 * /move_base/global_costmap/publish_frequency: 5
 * /move_base/global_costmap/publish_voxel_map: False
 * /move_base/global_costmap/raytrace_range: 5.5
 * /move_base/global_costmap/robot_base_frame: base_link
 * /move_base/global_costmap/rolling_window: True
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/update_frequency: 20
 * /move_base/global_costmap/width: 30.0
 * /move_base/global_costmap/z_resolution: 1
 * /move_base/global_costmap/z_voxels: 2
 * /move_base/local_costmap/cost_scaling_factor: 1
 * /move_base/local_costmap/footprint: [[0.33, 0.43], [-...
 * /move_base/local_costmap/footprint_padding: 0.2
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 10.0
 * /move_base/local_costmap/inflation_radius: 0.3
 * /move_base/local_costmap/laser_scan_sensor/clearing: True
 * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/local_costmap/laser_scan_sensor/marking: True
 * /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser_link
 * /move_base/local_costmap/laser_scan_sensor/topic: scan
 * /move_base/local_costmap/map_type: costmap
 * /move_base/local_costmap/observation_sources: laser_scan_sensor
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/origin_z: 0.0
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/publish_voxel_map: False
 * /move_base/local_costmap/raytrace_range: 5.5
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_link
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/update_frequency: 1.0
 * /move_base/local_costmap/width: 10.0
 * /move_base/local_costmap/z_resolution: 1
 * /move_base/local_costmap/z_voxels: 2
 * /move_base/oscillation_distance: 0.5
 * /move_base/oscillation_timeout: 0.0
 * /move_base/planner_frequency: 20.0
 * /move_base/planner_patience: 5.0
 * /move_base/recovery_behavior_enabled: True
 * /move_base/shutdown_costmaps: False
 * /outdoor_waypoint_nav/ekf_se_map/base_link_frame: base_link
 * /outdoor_waypoint_nav/ekf_se_map/debug: False
 * /outdoor_waypoint_nav/ekf_se_map/frequency: 30
 * /outdoor_waypoint_nav/ekf_se_map/imu0: /imu/data
 * /outdoor_waypoint_nav/ekf_se_map/imu0_config: [False, False, Fa...
 * /outdoor_waypoint_nav/ekf_se_map/imu0_differential: False
 * /outdoor_waypoint_nav/ekf_se_map/imu0_nodelay: True
 * /outdoor_waypoint_nav/ekf_se_map/imu0_queue_size: 10
 * /outdoor_waypoint_nav/ekf_se_map/imu0_relative: False
 * /outdoor_waypoint_nav/ekf_se_map/imu0_remove_gravitational_acceleration: True
 * /outdoor_waypoint_nav/ekf_se_map/initial_estimate_covariance: [1.0, 0, 0, 0, 0,...
 * /outdoor_waypoint_nav/ekf_se_map/map_frame: map
 * /outdoor_waypoint_nav/ekf_se_map/odom0: /husky_velocity_c...
 * /outdoor_waypoint_nav/ekf_se_map/odom0_config: [False, False, Fa...
 * /outdoor_waypoint_nav/ekf_se_map/odom0_differential: False
 * /outdoor_waypoint_nav/ekf_se_map/odom0_nodelay: True
 * /outdoor_waypoint_nav/ekf_se_map/odom0_queue_size: 10
 * /outdoor_waypoint_nav/ekf_se_map/odom0_relative: False
 * /outdoor_waypoint_nav/ekf_se_map/odom1: /outdoor_waypoint...
 * /outdoor_waypoint_nav/ekf_se_map/odom1_config: [True, True, Fals...
 * /outdoor_waypoint_nav/ekf_se_map/odom1_differential: False
 * /outdoor_waypoint_nav/ekf_se_map/odom1_nodelay: True
 * /outdoor_waypoint_nav/ekf_se_map/odom1_queue_size: 10
 * /outdoor_waypoint_nav/ekf_se_map/odom1_relative: False
 * /outdoor_waypoint_nav/ekf_se_map/odom_frame: odom
 * /outdoor_waypoint_nav/ekf_se_map/print_diagnostics: True
 * /outdoor_waypoint_nav/ekf_se_map/process_noise_covariance: [1.0, 0, 0, 0, 0,...
 * /outdoor_waypoint_nav/ekf_se_map/sensor_timeout: 0.1
 * /outdoor_waypoint_nav/ekf_se_map/transform_time_offset: 0.0
 * /outdoor_waypoint_nav/ekf_se_map/transform_timeout: 0.0
 * /outdoor_waypoint_nav/ekf_se_map/two_d_mode: True
 * /outdoor_waypoint_nav/ekf_se_map/use_control: False
 * /outdoor_waypoint_nav/ekf_se_map/world_frame: map
 * /outdoor_waypoint_nav/ekf_se_odom/base_link_frame: base_link
 * /outdoor_waypoint_nav/ekf_se_odom/debug: False
 * /outdoor_waypoint_nav/ekf_se_odom/frequency: 30
 * /outdoor_waypoint_nav/ekf_se_odom/imu0: /imu/data
 * /outdoor_waypoint_nav/ekf_se_odom/imu0_config: [False, False, Fa...
 * /outdoor_waypoint_nav/ekf_se_odom/imu0_differential: False
 * /outdoor_waypoint_nav/ekf_se_odom/imu0_nodelay: False
 * /outdoor_waypoint_nav/ekf_se_odom/imu0_queue_size: 10
 * /outdoor_waypoint_nav/ekf_se_odom/imu0_relative: False
 * /outdoor_waypoint_nav/ekf_se_odom/imu0_remove_gravitational_acceleration: True
 * /outdoor_waypoint_nav/ekf_se_odom/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
 * /outdoor_waypoint_nav/ekf_se_odom/map_frame: map
 * /outdoor_waypoint_nav/ekf_se_odom/odom0: /husky_velocity_c...
 * /outdoor_waypoint_nav/ekf_se_odom/odom0_config: [False, False, Fa...
 * /outdoor_waypoint_nav/ekf_se_odom/odom0_differential: False
 * /outdoor_waypoint_nav/ekf_se_odom/odom0_nodelay: True
 * /outdoor_waypoint_nav/ekf_se_odom/odom0_queue_size: 10
 * /outdoor_waypoint_nav/ekf_se_odom/odom0_relative: False
 * /outdoor_waypoint_nav/ekf_se_odom/odom_frame: odom
 * /outdoor_waypoint_nav/ekf_se_odom/print_diagnostics: True
 * /outdoor_waypoint_nav/ekf_se_odom/process_noise_covariance: ['1e-3', 0, 0, 0,...
 * /outdoor_waypoint_nav/ekf_se_odom/sensor_timeout: 0.1
 * /outdoor_waypoint_nav/ekf_se_odom/transform_time_offset: 0.0
 * /outdoor_waypoint_nav/ekf_se_odom/transform_timeout: 0.0
 * /outdoor_waypoint_nav/ekf_se_odom/two_d_mode: True
 * /outdoor_waypoint_nav/ekf_se_odom/use_control: False
 * /outdoor_waypoint_nav/ekf_se_odom/world_frame: odom
 * /outdoor_waypoint_nav/navsat_transform/broadcast_utm_transform: True
 * /outdoor_waypoint_nav/navsat_transform/delay: 3.0
 * /outdoor_waypoint_nav/navsat_transform/frequency: 30
 * /outdoor_waypoint_nav/navsat_transform/magnetic_declination_radians: 0.0
 * /outdoor_waypoint_nav/navsat_transform/publish_filtered_gps: True
 * /outdoor_waypoint_nav/navsat_transform/use_odometry_yaw: False
 * /outdoor_waypoint_nav/navsat_transform/wait_for_datum: False
 * /outdoor_waypoint_nav/navsat_transform/yaw_offset: 1.570796327
 * /outdoor_waypoint_nav/navsat_transform/zero_altitude: True
 * /outdoor_waypoint_nav/slam_gmapping/angularUpdate: 0.05
 * /outdoor_waypoint_nav/slam_gmapping/astep: 0.05
 * /outdoor_waypoint_nav/slam_gmapping/base_frame: base_link
 * /outdoor_waypoint_nav/slam_gmapping/delta: 0.02
 * /outdoor_waypoint_nav/slam_gmapping/iterations: 5
 * /outdoor_waypoint_nav/slam_gmapping/kernelSize: 1
 * /outdoor_waypoint_nav/slam_gmapping/lasamplerange: 0.005
 * /outdoor_waypoint_nav/slam_gmapping/lasamplestep: 0.005
 * /outdoor_waypoint_nav/slam_gmapping/linearUpdate: 0.1
 * /outdoor_waypoint_nav/slam_gmapping/llsamplerange: 0.01
 * /outdoor_waypoint_nav/slam_gmapping/llsamplestep: 0.01
 * /outdoor_waypoint_nav/slam_gmapping/lsigma: 0.075
 * /outdoor_waypoint_nav/slam_gmapping/lskip: 0
 * /outdoor_waypoint_nav/slam_gmapping/lstep: 0.05
 * /outdoor_waypoint_nav/slam_gmapping/map_frame: map
 * /outdoor_waypoint_nav/slam_gmapping/map_update_interval: 0.5
 * /outdoor_waypoint_nav/slam_gmapping/maxRange: 10
 * /outdoor_waypoint_nav/slam_gmapping/maxUrange: 3
 * /outdoor_waypoint_nav/slam_gmapping/minimumScore: 0.0
 * /outdoor_waypoint_nav/slam_gmapping/odom_frame: odom_gmapping
 * /outdoor_waypoint_nav/slam_gmapping/ogain: 3.0
 * /outdoor_waypoint_nav/slam_gmapping/particles: 10
 * /outdoor_waypoint_nav/slam_gmapping/resampleThreshold: 0.5
 * /outdoor_waypoint_nav/slam_gmapping/sigma: 0.05
 * /outdoor_waypoint_nav/slam_gmapping/srr: 0.01
 * /outdoor_waypoint_nav/slam_gmapping/srt: 0.02
 * /outdoor_waypoint_nav/slam_gmapping/str: 0.01
 * /outdoor_waypoint_nav/slam_gmapping/stt: 0.02
 * /outdoor_waypoint_nav/slam_gmapping/temporalUpdate: -1.0
 * /outdoor_waypoint_nav/slam_gmapping/throttle_scans: 5
 * /outdoor_waypoint_nav/slam_gmapping/xmax: 10.0
 * /outdoor_waypoint_nav/slam_gmapping/xmin: -10.0
 * /outdoor_waypoint_nav/slam_gmapping/ymax: 10.0
 * /outdoor_waypoint_nav/slam_gmapping/ymin: -10.0
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /twist_mux/locks: [{'topic': 'e_sto...
 * /twist_mux/topics: [{'topic': 'joy_t...
 * /use_sim_time: True

NODES
  /joy_teleop/
    joy_node (joy/joy_node)
    teleop_twist_joy (teleop_twist_joy/teleop_node)
  /outdoor_waypoint_nav/
    ekf_se_map (robot_localization/ekf_localization_node)
    ekf_se_odom (robot_localization/ekf_localization_node)
    navsat_transform (robot_localization/navsat_transform_node)
    safety_node (outdoor_waypoint_nav/safety_node)
    slam_gmapping (gmapping/slam_gmapping)
  /
    base_controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    spawn_husky_model (gazebo_ros/spawn_model)
    twist_marker_server (interactive_marker_twist_server/marker_server)
    twist_mux (twist_mux/twist_mux)

auto-starting new master
process[master]: started with pid [11500]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 38bb8736-9f5a-11e9-ae37-d89ef395998d
process[rosout-1]: started with pid [11513]
started core service [/rosout]
process[gazebo-2]: started with pid [11533]
process[gazebo_gui-3]: started with pid [11538]
process[robot_state_publisher-4]: started with pid [11543]
process[base_controller_spawner-5]: started with pid [11544]
process[twist_marker_server-6]: started with pid [11545]
process[twist_mux-7]: started with pid [11551]
process[spawn_husky_model-8]: started with pid [11565]
process[joy_teleop/joy_node-9]: started with pid [11572]
process[joy_teleop/teleop_twist_joy-10]: started with pid [11582]
process[outdoor_waypoint_nav/slam_gmapping-11]: started with pid [11591]
process[outdoor_waypoint_nav/ekf_se_odom-12]: started with pid [11614]
process[outdoor_waypoint_nav/ekf_se_map-13]: started with pid [11626]
process[outdoor_waypoint_nav/navsat_transform-14]: started with pid [11629]
process[rviz-15]: started with pid [11641]
process[move_base-16]: started with pid [11650]
process[outdoor_waypoint_nav/safety_node-17]: started with pid [11656]
[ INFO] [1562354547.136951464]: [twist_marker_server] Initialized.
[ INFO] [1562354547.137830808]: Initiated safety_node
[ INFO] [1562354547.184595168]: Waiting for valid clock time...
[WARN] [1562354547.204460, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[ INFO] [1562354547.217811762]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1562354547.219728162]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1562354547.220556814]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1562354547.225429441]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ERROR] [1562354547.252588265]: Couldn't open joystick force feedback!
0x32de080 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2568a60) ): Attempt to set a screen on a child window.
0x32ec270 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2568a60) ): Attempt to set a screen on a child window.
0x32e0ee0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2568a60) ): Attempt to set a screen on a child window.
0x32ea190 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2568a60) ): Attempt to set a screen on a child window.
[ INFO] [1562354550.064837861, 1298.500000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1562354550.085226440, 1298.520000000]: Physics dynamic reconfigure ready.
[ INFO] [1562354550.194397755, 1298.630000000]: Valid clock time received. Starting node.
[ INFO] [1562354550.226686255, 1298.660000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
[ INFO] [1562354550.717204691, 1298.720000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1562354550.717241928, 1298.720000000]: Starting Laser Plugin (ns = /)
[ INFO] [1562354550.718609336, 1298.720000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1562354550.720334748, 1298.720000000]: Physics dynamic reconfigure ready.
[ INFO] [1562354550.823940206, 1298.720000000]: Loading gazebo_ros_control plugin
[ INFO] [1562354550.824007737, 1298.720000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1562354550.824629148, 1298.720000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1562354550.931593030, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_left_wheel
[ERROR] [1562354550.932265934, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_right_wheel
[ERROR] [1562354550.932964840, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_left_wheel
[ERROR] [1562354550.933648904, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_right_wheel
[ INFO] [1562354550.936968227, 1298.720000000]: Loaded gazebo_ros_control.
[ INFO] [1562354550.940350511, 1298.720000000]: imu plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1562354550.940368844, 1298.720000000]: imu plugin missing <rpyOffset>, defaults to 0s
[spawn_husky_model-8] process has finished cleanly
log file: /home/saeed/.ros/log/38bb8736-9f5a-11e9-ae37-d89ef395998d/spawn_husky_model-8*.log
[ INFO] [1562354550.992805724, 1298.720000000]: Loading gazebo_ros_control plugin
[ERROR] [1562354550.992841178, 1298.720000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

[ INFO] [1562354550.992865832, 1298.720000000]: Starting gazebo_ros_control plugin in namespace: /
[ERROR] [1562354551.096133516, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_left_wheel
[ERROR] [1562354551.096856945, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_right_wheel
[ERROR] [1562354551.097449456, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_left_wheel
[ERROR] [1562354551.098154628, 1298.720000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_right_wheel
[ERROR] [1562354551.099080809, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controllers]
[ERROR] [1562354551.099108943, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controller_types]
[ERROR] [1562354551.099128202, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/load_controller]
[ERROR] [1562354551.099147889, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/unload_controller]
[ERROR] [1562354551.099166818, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/switch_controller]
[ERROR] [1562354551.099183318, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/reload_controller_libraries]
[ INFO] [1562354551.099215810, 1298.720000000]: Loaded gazebo_ros_control.
[ INFO] [1562354551.099354113, 1298.720000000]: imu plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1562354551.099371098, 1298.720000000]: imu plugin missing <rpyOffset>, defaults to 0s
[ERROR] [1562354551.099432999, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/imu/data/calibrate]
[ERROR] [1562354551.099458537, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/imu/data/set_accel_bias]
[ERROR] [1562354551.099478558, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/imu/data/set_rate_bias]
[ERROR] [1562354551.099502306, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/imu/data/accel/set_parameters]
[ERROR] [1562354551.103420665, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/imu/data/rate/set_parameters]
[ERROR] [1562354551.107343924, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/imu/data/yaw/set_parameters]
[ERROR] [1562354551.117330583, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/navsat/fix/position/set_parameters]
[ERROR] [1562354551.121122706, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/navsat/fix/velocity/set_parameters]
[ERROR] [1562354551.126492703, 1298.720000000]: Tried to advertise a service that is already advertised in this node [/navsat/fix/status/set_parameters]
[ INFO] [1562354551.134444931, 1298.720000000]: Controller state will be published at 50Hz.
[ INFO] [1562354551.136387327, 1298.720000000]: Wheel separation will be multiplied by 1.875.
[ INFO] [1562354551.137718587, 1298.720000000]: Left wheel radius will be multiplied by 1.
[ INFO] [1562354551.137743810, 1298.720000000]: Right wheel radius will be multiplied by 1.
[ INFO] [1562354551.138280626, 1298.720000000]: Velocity rolling window size of 10.
[ INFO] [1562354551.139663766, 1298.720000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1562354551.140196209, 1298.720000000]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1562354551.141392026, 1298.720000000]: Base frame_id set to base_link
[ INFO] [1562354551.141961601, 1298.720000000]: Odometry frame_id set to odom
[ INFO] [1562354551.143241116, 1298.720000000]: Publishing to tf is disabled
[ INFO] [1562354551.154872690, 1298.730000000]: left wheel to origin: 0.256,0.2854, 0.03282
[ INFO] [1562354551.154895944, 1298.730000000]: right wheel to origin: 0.256,-0.2854, 0.03282
[ INFO] [1562354551.154932154, 1298.730000000]: Odometry params : wheel separation 1.07025, left wheel radius 0.1651, right wheel radius 0.1651
[ INFO] [1562354551.156778921, 1298.740000000]: Adding left wheel with joint name: front_left_wheel and right wheel with joint name: front_right_wheel
[ INFO] [1562354551.156825874, 1298.740000000]: Adding left wheel with joint name: rear_left_wheel and right wheel with joint name: rear_right_wheel
[ WARN] [1562354551.168223992, 1298.750000000]: updateConfig() called on a dynamic_reconfigure::Server that provides its own mutex. This can lead to deadlocks if updateConfig() is called during an update. Providing a mutex to the constructor is highly recommended in this case. Please forward this message to the node author.
[ INFO] [1562354551.170290929, 1298.750000000]: Dynamic Reconfigure:
DynamicParams:
    Odometry parameters:
        left wheel radius: 1
        right wheel radius: 1
        wheel separation: 1.875
    Publication parameters:
        Publish executed velocity command: 0
        Publication rate: 50
        Publish frame odom on tf: 0
Laser Pose= 0.33698 0.000481163 -0.000480997
[ INFO] [1562354554.081787138, 1301.660000000]: Initial odometry pose is Origin: (4.8119758267449533058e-05 0.00076839640853191009014 0)
Rotation (RPY): (0, 0, -0.0045952830841868557571)

[ INFO] [1562354554.081832705, 1301.660000000]: Datum (latitude, longitude, altitude) is (49.900000, 8.900000, 0.182377)
[ INFO] [1562354554.081847358, 1301.660000000]: Datum UTM coordinate is (492818.438688, 5527517.136459)
[ INFO] [1562354554.081895337, 1301.660000000]: Corrected for magnetic declination of 0.000000, user-specified offset of 1.570796 and meridian convergence of -0.001335. Transform heading factor is now 1.569289
[ INFO] [1562354554.081918252, 1301.660000000]: Transform world frame pose is: Origin: (4.8119758267449533058e-05 0.00076839640853191009014 0)
Rotation (RPY): (0, 0, -0.0045952830841868557571)

[ INFO] [1562354554.081940560, 1301.660000000]: World frame->utm transform is Origin: (-5525969.1634631659836 509882.84151080599986 -0.18237724563096241459)
Rotation (RPY): (0, 0, -1.5738839297528202099)

There is no error is in the Display part of the rviz and every thing seems fine.
Then, in order to control the husky in the gazebo with my joystick and collect waypoints, I run: 

roslaunch outdoor_waypoint_nav  joy_launch_control_sim.launch

The output is:

    saeed@saeed-Alienware-Aurora-R7:~/Desktop/github/waypoint_nav/catkin_ws$ roslaunch outdoor_waypoint_nav joy_launch_control_sim.launch 
... logging to /home/saeed/.ros/log/aa8fa818-9f5c-11e9-ae37-d89ef395998d/roslaunch-saeed-Alienware-Aurora-R7-17538.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://saeed-Alienware-Aurora-R7:35727/

SUMMARY
========

PARAMETERS
 * /outdoor_waypoint_nav/abort_button_num: 1
 * /outdoor_waypoint_nav/abort_button_sym: B
 * /outdoor_waypoint_nav/calibrate_button_num: 7
 * /outdoor_waypoint_nav/calibrate_button_sym: START
 * /outdoor_waypoint_nav/collect_button_num: 4
 * /outdoor_waypoint_nav/collect_button_sym: LB
 * /outdoor_waypoint_nav/continue_button_num: 3
 * /outdoor_waypoint_nav/continue_button_sym: Y
 * /outdoor_waypoint_nav/send_button_num: 5
 * /outdoor_waypoint_nav/send_button_sym: RB
 * /outdoor_waypoint_nav/sim_enabled: True
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /outdoor_waypoint_nav/
    joy_launch_control (outdoor_waypoint_nav/joy_launch_control.py)

ROS_MASTER_URI=http://localhost:11311

process[outdoor_waypoint_nav/joy_launch_control-1]: started with pid [17555]
... logging to /home/saeed/.ros/log/aa8fa818-9f5c-11e9-ae37-d89ef395998d/roslaunch-saeed-Alienware-Aurora-R7-17555.log

Press LB to start waypoint collection
Press RB to start waypoint following
Press START to perform heading calibration
Press B at ANY TIME to STOP robot motion

On my joystick all the bottoms work except axis 0 and axis 1 which is used for navigation. So, I cannot move the husky in the simulator.

So, my question is, why axis 0 and axis 1 does not work on my Logitech joystick while other bottoms like Y and RB works?

I checked the functionality of my joystick using sudo jstest /dev/input/js0 and everything seems okay. I also tried to manually publish geometry_msgs/Twist on all of the possible topics, but it was not successful. I am not sure where the problem is!

Other info

ros topics:

saeed@saeed-Alienware-Aurora-R7:~/Desktop/github/waypoint_nav/catkin_ws$ rostopic list 
/clock
/cmd_vel
/cmd_vel_intermediate
/diagnostics
/e_stop
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/husky_velocity_controller/cmd_vel
/husky_velocity_controller/odom
/husky_velocity_controller/parameter_descriptions
/husky_velocity_controller/parameter_updates
/imu/data
/imu/data/accel/parameter_descriptions
/imu/data/accel/parameter_updates
/imu/data/bias
/imu/data/rate/parameter_descriptions
/imu/data/rate/parameter_updates
/imu/data/yaw/parameter_descriptions
/imu/data/yaw/parameter_updates
/initialpose
/joint_states
/joy_teleop/cmd_vel
/joy_teleop/joy
/joy_teleop/joy/set_feedback
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/cost_cloud
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/TrajectoryPlannerROS/parameter_descriptions
/move_base/TrajectoryPlannerROS/parameter_updates
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/global_costmap/footprint
/move_base/global_costmap/inflation_layer/parameter_descriptions
/move_base/global_costmap/inflation_layer/parameter_updates
/move_base/global_costmap/obstacle_layer/parameter_descriptions
/move_base/global_costmap/obstacle_layer/parameter_updates
/move_base/global_costmap/parameter_descriptions
/move_base/global_costmap/parameter_updates
/move_base/global_costmap/static_layer/parameter_descriptions
/move_base/global_costmap/static_layer/parameter_updates
/move_base/goal
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/move_base/local_costmap/footprint
/move_base/local_costmap/inflation_layer/parameter_descriptions
/move_base/local_costmap/inflation_layer/parameter_updates
/move_base/local_costmap/obstacle_layer/parameter_descriptions
/move_base/local_costmap/obstacle_layer/parameter_updates
/move_base/local_costmap/parameter_descriptions
/move_base/local_costmap/parameter_updates
/move_base/parameter_descriptions
/move_base/parameter_updates
/move_base/result
/move_base/status
/move_base_simple/goal
/navsat/fix
/navsat/fix/position/parameter_descriptions
/navsat/fix/position/parameter_updates
/navsat/fix/status/parameter_descriptions
/navsat/fix/status/parameter_updates
/navsat/fix/velocity/parameter_descriptions
/navsat/fix/velocity/parameter_updates
/navsat/vel
/outdoor_waypoint_nav/calibrate_status
/outdoor_waypoint_nav/collection_status
/outdoor_waypoint_nav/gps/filtered
/outdoor_waypoint_nav/map
/outdoor_waypoint_nav/map_metadata
/outdoor_waypoint_nav/map_updates
/outdoor_waypoint_nav/odometry/filtered
/outdoor_waypoint_nav/odometry/filtered_map
/outdoor_waypoint_nav/odometry/gps
/outdoor_waypoint_nav/set_pose
/outdoor_waypoint_nav/slam_gmapping/entropy
/outdoor_waypoint_nav/waypoint_following_status
/platform_control/cmd_vel
/rosout
/rosout_agg
/scan
/tf
/tf_static
/twist_marker_server/cmd_vel
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full

Asked by SA92 on 2019-07-05 15:02:52 UTC

Comments

Maybe, there is a deadman switch which you need to press?

Asked by pmuthu2s on 2019-07-08 09:30:43 UTC

I am facing the same problem with you. How do you solve it?

Asked by Daniel wan on 2019-09-19 00:48:26 UTC

Answers