Fail to launch "Quadrotor indoor SLAM demo" [closed]

edit

Hello, I'm a newer to ROS. Now I want to launch a demo in the tutorial describes at "http://www.ros.org/wiki/hector_quadrotor/Tutorials/Quadrotor%20indoor%20SLAM%20demo". I have followed the instructions of the tutorial and build the packages successfully. However, when I launch:

roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch

I get following messages:

fangzheng@ubuntu:~$ roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch
... logging to /home/fangzheng/.ros/log/31f05b12-c194-11e1-b8b0-000c293af122/roslaunch-ubuntu-3605.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://ubuntu:57047/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /hector_mapping/scan_topic
 * /hector_mapping/advertise_map_service
 * /hector_mapping/update_factor_free
 * /hector_mapping/use_tf_pose_start_estimate
 * /hector_trajectory_server/source_frame_name
 * /hector_mapping/laser_z_min_value
 * /hector_mapping/base_frame
 * /hector_geotiff_node/map_file_base_name
 * /hector_mapping/map_resolution
 * /hector_mapping/laser_z_max_value
 * /hector_mapping/scan_subscriber_queue_size
 * /hector_mapping/update_factor_occupied
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /hector_mapping/odom_frame
 * /robot_description
 * /hector_mapping/use_tf_scan_transformation
 * /hector_mapping/map_update_distance_thresh
 * /hector_trajectory_server/trajectory_update_rate
 * /rosversion
 * /hector_mapping/map_start_y
 * /hector_mapping/map_start_x
 * /ground_truth_to_tf/frame_id
 * /hector_mapping/tf_map_scanmatch_transform_frame_name
 * /hector_mapping/map_multi_res_levels
 * /hector_mapping/map_frame
 * /hector_mapping/map_size
 * /robot_state_publisher/publish_frequency
 * /hector_geotiff_node/draw_free_space_grid
 * /hector_geotiff_node/geotiff_save_period
 * /hector_mapping/pub_map_odom_transform
 * /hector_trajectory_server/trajectory_publish_rate
 * /hector_mapping/map_update_angle_thresh
 * /hector_geotiff_node/draw_background_checkerboard
 * /hector_geotiff_node/map_file_path
 * /ground_truth_to_tf/odometry_topic
 * /hector_trajectory_server/target_frame_name

NODES
  /
    gazebo (gazebo/gazebo)
    spawn_robot (gazebo/spawn_model)
    robot_state_publisher (robot_state_publisher/state_publisher)
    ground_truth_to_tf (odometry_to_tf/odometry_to_tf)
    hector_mapping (hector_mapping/hector_mapping)
    hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
    hector_geotiff_node (hector_geotiff/geotiff_node)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [3627]
process[spawn_robot-2]: started with pid [3628]
process[robot_state_publisher-3]: started with pid [3629]
process[ground_truth_to_tf-4]: started with pid [3630]
process[hector_mapping-5]: started with pid [3631]
process[hector_trajectory_server-6]: started with pid [3632]
process[hector_geotiff_node-7]: started with pid [3633]
process[rviz-8]: started with pid [3634]
Gazebo multi-robot simulator, version 0.10.0

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[ WARN] [1340938987.643699057]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1340938988.675249265]: HectorSM p_base_frame_: base_footprint
[ INFO] [1340938988.675705226]: HectorSM p_map_frame_: map
[ INFO] [1340938988.675883822]: HectorSM p_odom_frame_: nav
[ INFO] [1340938988.676049918]: HectorSM p_scan_topic_: scan
[ INFO] [1340938988.676197251]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1340938988.676343609]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1340938988.676540794]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1340938988.676716708]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1340938988.676876533]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1340938988.677023241]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1340938988.677169010]: HectorSM p_map_update_distance_threshold_: 0.400000 
[ INFO] [1340938988.691836584]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1340938988.692002727]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1340938988.692151082]: HectorSM p_laser_z_max_value_: 1.000000
[rviz-8] process has died [pid 3634, exit code -11].
log files: /home/fangzheng/.ros/log/31f05b12-c194-11e1-b8b0-000c293af122/rviz-8*.log
directory [/tmp/gazebo-fangzheng-0] already exists (previous crash?)
the owner gazebo server (pid=2266) is not running.
deleting the old information of the directory [/tmp/gazebo-fangzheng-0]
Param [quickStepPreconIters] is deprecated: [replace quickStepPreconIters with stepPreconIters]
Param [quickStep] is deprecated: [replace quickStep with ...