Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

no robot, floating furniture if at all

Hello, yesterday I was somehow able to get gazebo up and running by first launching an empty world and then experimentation_days.launch I can get it to work generally. When it did, I saw all the furniture lifting off and floating up and did not see a robot. I can't normally get it running because gazebo crashes with the output below. I have nVidia 480 or sth (new one) and i7, glxinfo gave no errors

  • /base_bl_caster_rotation_controller/pid/d
    • /head_controller/head_joint_trajectory_action_node/constraints/goal_time
    • /head_controller/gains/head_axis_joint/d
    • /script_server/arm/overtray
    • /move_base/DWAPlannerROS/max_scaling_factor
    • /base_fr_caster_rotation_controller/type
    • /amcl/laser_max_range
    • /torso_controller/gains/torso_lower_neck_tilt_joint/i_clamp
    • /script_server/sdh/point
    • /script_server/arm/hold
    • /script_server/head/joint_names
    • /script_server/sdh/home
    • /base_br_caster_rotation_controller/type
    • /move_base/local_costmap/laser_scan_rear/clearing
    • /script_server/arm/tray-to-folded
    • /sdh_controller/simulated_tactile_sensors/sensitivity
    • /script_server/arm/look_at_table
    • /script_server/base/new_kitchen
    • /torso_controller/gains/torso_lower_neck_tilt_joint/i
    • /script_server/sound/de/sent10
    • /base_bl_caster_r_wheel_controller/type
    • /torso_controller/gains/torso_lower_neck_tilt_joint/d
    • /move_base/local_costmap/cloud_cam3d/sensor_frame
    • /move_base/local_costmap/cloud_cam3d/clearing
    • /torso_controller/torso_joint_trajectory_action_node/constraints/torso_lower_neck_tilt_joint/goal
    • /torso_controller/gains/torso_lower_neck_tilt_joint/p
    • /amcl/laser_max_beams
    • /move_base/DWAPlannerROS/sim_time
    • /torso_controller/torso_joint_trajectory_action_node/constraints/torso_pan_joint/goal
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_thumb_3_joint/goal
    • /move_base/global_costmap/laser_scan_front/clearing
    • /script_server/sound/de/sent05
    • /script_server/sound/de/sent04
    • /script_server/sound/de/sent07
    • /script_server/sound/de/sent06
    • /script_server/sound/de/sent01
    • /script_server/sound/de/sent00
    • /script_server/sound/de/sent03
    • /script_server/sound/de/sent02
    • /base_br_caster_rotation_controller/pid/p
    • /script_server/sound/de/sent09
    • /script_server/sound/de/sent08
    • /base_br_caster_rotation_controller/pid/i
    • /script_server/light/yellow
    • /base_br_caster_rotation_controller/pid/d
    • /move_base/global_costmap/origin_z
    • /tray_controller/joints
    • /sdh_controller/gains/sdh_finger_12_joint/p
    • /robot_pose_ekf/freq
    • /base_bl_caster_r_wheel_controller/pid/i
    • /move_base/local_costmap/rolling_window
    • /script_server/base/kitchen
    • /move_base_linear/pot_ctrl_goal_threshold_rot
    • /base_bl_caster_r_wheel_controller/pid/d
    • /move_base/DWAPlannerROS/sim_period
    • /robot_pose_ekf/publish_tf
    • /move_base/global_costmap/unknown_threshold
    • /amcl/max_particles
    • /robot_pose_ekf/imu_used
    • /amcl/min_particles
    • /script_server/arm/look_at_table-to-folded
    • /move_base/global_costmap/z_resolution
    • /move_base_linear/global_frame
    • /move_base/local_costmap/laser_scan_top/topic
    • /move_base/global_costmap/update_frequency
    • /base_br_caster_r_wheel_controller/pid/d
    • /script_server/arm/grasp-to-tray_top
    • /base_br_caster_r_wheel_controller/pid/i
    • /move_base/DWAPlannerROS/forward_point_distance
    • /move_base/global_costmap/laser_scan_rear/sensor_frame
    • /move_base_linear/pot_ctrl_virt_mass
    • /move_base/global_costmap/cloud_cam3d/data_type
    • /move_base/local_costmap/map_type
    • /amcl/odom_model_type
    • /script_server/torso/joint_names
    • /amcl/kld_err
    • /move_base/local_costmap/laser_scan_top/marking
    • /base_br_caster_r_wheel_controller/pid/p
    • /move_base_linear/pot_ctrl_speed_threshold
    • /move_base/global_costmap/laser_scan_front/sensor_frame
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_6_joint/goal
    • /base_fl_caster_rotation_controller/joint
    • /script_server/sound/rand/enterRoom
    • /move_base/global_costmap/transform_tolerance
    • /script_server/base/deliver
    • /arm_controller/gains/arm_7_joint/d
    • /base_bl_caster_r_wheel_controller/pid/i_clamp
    • /script_server/light/white
    • /move_base/DWAPlannerROS/vy_samples
    • /move_base/DWAPlannerROS/rot_stopped_vel
    • /arm_controller/gains/arm_7_joint/p
    • /sdh_controller/gains/sdh_knuckle_joint/p
    • /sdh_controller/simulated_tactile_sensors/filter_length
    • /move_base/DWAPlannerROS/max_rot_vel
    • /script_server/base/grasp
    • /move_base/global_costmap/laser_scan_front/data_type
    • /script_server/torso/front_left
    • /sdh_controller/gains/sdh_knuckle_joint/d
    • /amcl/update_min_a
    • /amcl/update_min_d
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_7_joint/goal
    • /script_server/arm/overtray_top
    • /move_base/local_costmap/mark_threshold
    • /move_base/local_costmap/laser_scan_rear/marking
    • /use_sim_time
    • /move_base/local_costmap/footprint
    • /move_base/local_costmap/observation_sources
    • /sdh_controller/simulated_tactile_sensors/output_range
    • /sdh_controller/gains/sdh_thumb_3_joint/d
    • /amcl/laser_z_short
    • /move_base/local_costmap/laser_scan_rear/data_type
    • /sdh_controller/gains/sdh_thumb_3_joint/p
    • /move_base/local_costmap/cloud_cam3d/min_obstacle_height
    • /base_fr_caster_rotation_controller/pid/i_clamp
    • /move_base/global_costmap/obstacle_range
    • /move_base/local_costmap/inflation_radius
    • /amcl/laser_z_rand
    • /head_controller/type
    • /world_description
    • /move_base/global_costmap/footprint
    • /script_server/sound/temp_wav_file
    • /head_controller/gains/head_axis_joint/p
    • /head_controller/gains/head_axis_joint/i
    • /sdh_controller/gains/sdh_finger_22_joint/p
    • /script_server/sound/rand/taken
    • /move_base/DWAPlannerROS/xy_goal_tolerance
    • /move_base/DWAPlannerROS/vx_samples
    • /torso_controller/torso_joint_trajectory_action_node/constraints/goal_time
    • /move_base/local_costmap/cloud_cam3d/data_type
    • /arm_controller/gains/arm_5_joint/p
    • /script_server/sound/de/sent26
    • /move_base/local_costmap/width
    • /script_server/arm/intermediatefront_top
    • /move_base_linear/stop_threshold
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_3_joint/goal
    • /caster_velocity_pid_gains/i_clamp
    • /arm_controller/gains/arm_5_joint/d
    • /torso_controller/gains/torso_pan_joint/i
    • /sdh_controller/gains/sdh_finger_13_joint/p
    • /amcl/laser_model_type
    • /torso_controller/gains/torso_pan_joint/d
    • /sdh_controller/gains/sdh_finger_13_joint/d
    • /script_server/arm/intermediateback
    • /script_server/sdh/spheropen
    • /move_base/DWAPlannerROS/yaw_goal_tolerance
    • /torso_controller/gains/torso_pan_joint/p
    • /script_server/arm/waveout
    • /move_base/DWAPlannerROS/min_trans_vel
    • /move_base/global_costmap/inflation_radius
    • /base_controller/IniDirectory
    • /head_controller/gains/head_axis_joint/i_clamp
    • /tray_controller/gains/torso_tray_joint/i
    • /move_base/local_costmap/laser_scan_front/data_type
    • /arm_controller/gains/arm_6_joint/p
    • /tray_controller/gains/torso_tray_joint/d
    • /tray_controller/gains/torso_tray_joint/p
    • /arm_controller/gains/arm_6_joint/d
    • /script_server/sound/rand/offer
    • /base_fr_caster_r_wheel_controller/pid/d
    • /base_fr_caster_r_wheel_controller/pid/i
    • /move_base/DWAPlannerROS/trans_stopped_vel
    • /base_fr_caster_r_wheel_controller/pid/p
    • /move_base/global_costmap/static_map
    • /move_base/local_costmap/transform_tolerance
    • /script_server/arm/pregrasp
    • /move_base/DWAPlannerROS/goal_distance_bias
    • /arm_controller/gains/arm_3_joint/p
    • /script_server/base/home
    • /script_server/torso/front
    • /base_fr_caster_r_wheel_controller/pid/i_clamp
    • /script_server/torso/left
    • /move_base/local_costmap/height
    • /arm_controller/gains/arm_3_joint/d
    • /base_fr_caster_rotation_controller/pid/d
    • /amcl/global_frame_id
    • /move_base/global_costmap/laser_scan_rear/clearing
    • /base_fl_caster_r_wheel_controller/pid/p
    • /move_base/global_costmap/laser_scan_front/topic
    • /move_base/local_costmap/laser_scan_top/data_type
    • /base_fr_caster_rotation_controller/joint
    • /base_fr_caster_rotation_controller/pid/i
    • /move_base/local_costmap/update_frequency
    • /caster_velocity_pid_gains/d
    • /move_base/local_costmap/raytrace_range
    • /base_fr_caster_rotation_controller/pid/p
    • /move_base/local_costmap/publish_frequency
    • /caster_velocity_pid_gains/i
    • /script_server/arm/folded
    • /move_base_linear/use_circumscribed_threshold
    • /robot_description
    • /torso_controller/gains/torso_upper_neck_tilt_joint/p
    • /script_server/sound/rand/load
    • /torso_controller/gains/torso_upper_neck_tilt_joint/i
    • /arm_controller/type
    • /move_base/global_costmap/laser_scan_top/sensor_frame
    • /script_server/sdh/cylopen
    • /torso_controller/gains/torso_upper_neck_tilt_joint/d
    • /head_controller/joints
    • /script_server/base/kitchen_backwards
    • /script_server/arm/wave
    • /script_server/base/order
    • /script_server/arm/grasp-to-tray
    • /move_base_linear/footprint
    • /script_server/sdh/fist
    • /base_br_caster_rotation_controller/joint
    • /move_base/DWAPlannerROS/sim_granularity
    • /arm_controller/arm_joint_trajectory_action_node/constraints/goal_time
    • /amcl/laser_likelihood_max_dist
    • /script_server/torso/home
    • /amcl/transform_tolerance
    • /script_server/torso/right
    • /move_base/local_costmap/z_resolution
    • /base_bl_caster_r_wheel_controller/joint
    • /base_fl_caster_rotation_controller/type
    • /head_controller/head_joint_trajectory_action_node/joints
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_finger_22_joint/goal
    • /move_base/global_costmap/raytrace_range
    • /script_server/head/back
    • /base_fl_caster_r_wheel_controller/joint
    • /script_server/torso/shake
    • /move_base/DWAPlannerROS/stop_time_buffer
    • /script_server/torso/back_left
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_1_joint/goal
    • /rosversion
    • /move_base/global_costmap/global_frame
    • /move_base/global_costmap/laser_scan_front/marking
    • /base_fl_caster_rotation_controller/pid/p
    • /move_base_linear/influence_radius
    • /script_server/arm/folded-to-look_at_table
    • /script_server/torso/back
    • /script_server/sdh/joint_names
    • /base_fl_caster_rotation_controller/pid/d
    • /script_server/sound/rand/pathblocked
    • /base_fl_caster_rotation_controller/pid/i
    • /amcl/gui_publish_rate
    • /move_base/global_costmap/laser_scan_top/marking
    • /move_base/local_costmap/laser_scan_front/topic
    • /robot_pose_ekf/odom_used
    • /tray_controller/type
    • /robot_pose_ekf/vo_used
    • /pr2_controller_manager/joint_state_publish_rate
    • /script_server/light/red
    • /move_base/DWAPlannerROS/oscillation_reset_dist
    • /move_base/local_costmap/laser_scan_rear/sensor_frame
    • /move_base/local_costmap/laser_scan_rear/topic
    • /script_server/sdh/paropen
    • /torso_controller/torso_joint_trajectory_action_node/constraints/torso_upper_neck_tilt_joint/goal
    • /move_base/local_costmap/laser_scan_top/clearing
    • /amcl/base_frame_id
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_finger_12_joint/goal
    • /move_base/local_costmap/static_map
    • /arm_controller/gains/arm_4_joint/d
    • /move_base/local_costmap/cloud_cam3d/topic
    • /move_base/global_costmap/publish_frequency
    • /wheel_pid_gains/i_clamp
    • /script_server/torso/back_right
    • /arm_controller/gains/arm_4_joint/p
    • /move_base/DWAPlannerROS/scaling_speed
    • /sdh_controller/simulated_tactile_sensors/cells_y
    • /sdh_controller/simulated_tactile_sensors/cells_x
    • /script_server/base/pre_kitchen
    • /script_server/arm/grasp
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/goal_time
    • /sdh_controller/type
    • /script_server/sound/de/sent25
    • /amcl/laser_sigma_hit
    • /amcl/recovery_alpha_fast
    • /sdh_controller/gains/sdh_finger_23_joint/d
    • /base_bl_caster_rotation_controller/joint
    • /move_base_linear/pot_ctrl_speed_threshold_rot
    • /move_base/global_costmap/cloud_cam3d/clearing
    • /move_base/local_costmap/laser_scan_front/sensor_frame
    • /rosdistro
    • /base_fl_caster_r_wheel_controller/pid/i_clamp
    • /base_br_caster_rotation_controller/pid/i_clamp
    • /amcl/odom_alpha4
    • /amcl/odom_alpha5
    • /amcl/odom_alpha1
    • /amcl/odom_alpha2
    • /amcl/odom_alpha3
    • /script_server/torso/back_left_extreme
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_finger_13_joint/goal
    • /caster_velocity_pid_gains/p
    • /amcl/odom_frame_id
    • /pr2_controller_manager/mechanism_statistics_publish_rate
    • /move_base/global_costmap/laser_scan_rear/topic
    • /move_base/DWAPlannerROS/path_distance_bias
    • /move_base/global_costmap/mark_threshold
    • /move_base/global_costmap/laser_scan_top/topic
    • /robot_pose_ekf/sensor_timeout
    • /move_base/global_costmap/laser_scan_rear/marking
    • /move_base/global_costmap/laser_scan_top/clearing
    • /move_base_linear/footprint_padding
    • /script_server/sdh/spherclosed
    • /script_server/arm/wavein
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_2_joint/goal
    • /move_base/local_costmap/unknown_cost_value
    • /base_fl_caster_r_wheel_controller/pid/d
    • /move_base/local_costmap/laser_scan_top/sensor_frame
    • /move_base_linear/obstacle_damping_dist
    • /robot_state_publisher/tf_prefix
    • /script_server/sound/de/sent24
    • /script_server/sound/de/sent23
    • /script_server/sound/de/sent22
    • /script_server/sound/de/sent21
    • /script_server/sound/de/sent20
    • /script_server/arm/intermediatebacklow
    • /move_base/global_costmap/cloud_cam3d/topic
    • /move_base/DWAPlannerROS/acc_lim_y
    • /move_base/DWAPlannerROS/acc_lim_x
    • /amcl/resample_interval
    • /torso_controller/type
    • /sdh_controller/sdh_joint_trajectory_action_node/joints
    • /script_server/sound/en/sent00
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_4_joint/goal
    • /script_server/sdh/cyltotalopen
    • /base_fl_caster_r_wheel_controller/pid/i
    • /move_base_linear/pot_ctrl_vmax
    • /move_base/local_costmap/laser_scan_front/clearing
    • /base_br_caster_r_wheel_controller/joint
    • /script_server/torso/front_right
    • /move_base/local_costmap/z_voxels
    • /base_br_caster_r_wheel_controller/pid/i_clamp
    • /tray_controller/tray_joint_trajectory_action_node/joints
    • /move_base/local_costmap/laser_scan_front/marking
    • /base_fr_caster_r_wheel_controller/joint
    • /move_base/global_costmap/map_type
    • /move_base/global_costmap/unknown_cost_value
    • /move_base/global_costmap/cloud_cam3d/marking
    • /amcl/kld_z
    • /move_base_linear/pot_ctrl_kv_rot
    • /script_server/tray/joint_names

NODES /tray_controller/ tray_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) /torso_controller/ torso_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) /arm_kinematics/ cob_ik_solver (cob_manipulator/cob_ik_solver_kdl) /sdh_controller/ sdh_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) simulated_tactile_sensors (cob_simulated_tactile_sensors/simulated_tactile_sensors.py) /stereo/left/ prosilica_image_proc (image_proc/image_proc) / gazebo (gazebo/gazebo) spawn_urdf_world (gazebo/spawn_model) spawn_gazebo_model (gazebo/spawn_model) create_colored_point_cloud (cob_gazebo/create_colored_point_cloud) point_cloud_converter_full_cloud (point_cloud_converter/point_cloud_converter) robot_state_publisher (robot_state_publisher/state_publisher) pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics) fake_joint_calibration (rostopic/rostopic) base_controller_spawner (pr2_controller_manager/spawner) tray_controller_spawner (pr2_controller_manager/spawner) head_controller_spawner (pr2_controller_manager/spawner) arm_controller_spawner (pr2_controller_manager/spawner) sdh_controller_spawner (pr2_controller_manager/spawner) torso_controllers_spawner (pr2_controller_manager/spawner) scanner_front_filter (cob_sick_s300/cob_scan_filter) scanner_rear_filter (cob_sick_s300/cob_scan_filter) gazebo_services (cob_gazebo/gazebo_services.py) map_server (map_server/map_server) scan_front_relay (topic_tools/relay) scan_rear_relay (topic_tools/relay) amcl (amcl/amcl) move_base (move_base/move_base) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) move_base_linear (cob_linear_nav/cob_linear_nav) object_detection_fake (cob_object_detection_fake/object_detection_fake.py) /head_controller/ head_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) /sound_controller/ sound_node (cob_sound/sound) /stereo/right/ prosilica_image_proc (image_proc/image_proc) /base_controller/ base_drive_chain_node (cob_base_drive_chain/cob_base_drive_chain_sim_node) undercarriage_ctrl_node (cob_undercarriage_ctrl/cob_undercarriage_ctrl_node) /arm_controller/ arm_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action)

auto-starting new master process[master]: started with pid [14440] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 804f8088-1291-11e1-9ed8-8ca982b1ae3a process[rosout-1]: started with pid [14453] started core service [/rosout] process[gazebo-2]: started with pid [14465] process[spawn_urdf_world-3]: started with pid [14466] process[spawn_gazebo_model-4]: started with pid [14467] process[create_colored_point_cloud-5]: started with pid [14468] process[point_cloud_converter_full_cloud-6]: started with pid [14469] process[robot_state_publisher-7]: started with pid [14470] process[pr2_mechanism_diagnostics-8]: started with pid [14471] process[fake_joint_calibration-9]: started with pid [14473] 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.

process[base_controller_spawner-10]: started with pid [14478] process[base_controller/base_drive_chain_node-11]: started with pid [14484] process[base_controller/undercarriage_ctrl_node-12]: started with pid [14500] process[tray_controller_spawner-13]: started with pid [14502] process[tray_controller/tray_joint_trajectory_action_node-14]: started with pid [14521] process[head_controller_spawner-15]: started with pid [14525] process[head_controller/head_joint_trajectory_action_node-16]: started with pid [14528] process[stereo/left/prosilica_image_proc-17]: started with pid [14533] process[stereo/right/prosilica_image_proc-18]: started with pid [14541] process[arm_controller_spawner-19]: started with pid [14551] process[arm_controller/arm_joint_trajectory_action_node-20]: started with pid [14560] process[sdh_controller_spawner-21]: started with pid [14563] process[sdh_controller/sdh_joint_trajectory_action_node-22]: started with pid [14565] process[sdh_controller/simulated_tactile_sensors-23]: started with pid [14568] process[torso_controllers_spawner-24]: started with pid [14573] process[torso_controller/torso_joint_trajectory_action_node-25]: started with pid [14574] process[scanner_front_filter-26]: started with pid [14575] process[scanner_rear_filter-27]: started with pid [14581] process[gazebo_services-28]: started with pid [14582] INI-File not found Platform.ini Setting parameter MaxDriveRate = 6.95331e-310 of section 'DrivePrms' in File 'Platform.ini Setting parameter MaxSteerRate = 3.24353e-317 of section 'DrivePrms' in File 'Platform.ini process[sound_controller/sound_node-29]: started with pid [14594] process[map_server-30]: started with pid [14596] process[scan_front_relay-31]: started with pid [14598] process[scan_rear_relay-32]: started with pid [14605] process[amcl-33]: started with pid [14616] process[move_base-34]: started with pid [14622] process[robot_pose_ekf-35]: started with pid [14628] process[move_base_linear-36]: started with pid [14632] process[arm_kinematics/cob_ik_solver-37]: started with pid [14635] process[object_detection_fake-38]: started with pid [14640] [INFO] [WallTime: 1321695195.807388] [0.000000] Fake object detection ready. Param [quickStepPreconIters] is deprecated: [replace quickStepPreconIters with stepPreconIters] Param [quickStep] is deprecated: [replace quickStep with stepType] Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters] Param [quickStepW] is deprecated: [replace quickStepW with stepW] ScopedName[gplane] ScopedName[directional_white] Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4] Gazebo successfully initialized [INFO] [WallTime: 1321695196.044880] [0.000000] waiting for service spawn_urdf_model ScopedName[urdf_world_model] [INFO] [WallTime: 1321695196.355351] [0.014000] gazebo_services running [INFO] [WallTime: 1321695197.426608] [0.014000] spawn status: SpawnModel: successfully spawned model [ERROR] [WallTime: 1321695197.496126] [0.014000] unpause physics service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details [gazebo-2] process has died [pid 14465, exit code -11]. log files: /home/simon/.ros/log/804f8088-1291-11e1-9ed8-8ca982b1ae3a/gazebo-2.log [spawn_urdf_world-3] process has finished cleanly. log file: /home/simon/.ros/log/804f8088-1291-11e1-9ed8-8ca982b1ae3a/spawn_urdf_world-3.log

click to hide/show revision 2
laynch crash resolved

no robot, floating furniture if at all

Hello, yesterday I was somehow able to get gazebo up and running by first launching an empty world and then experimentation_days.launch I can get it to work generally. When it did, I saw all the furniture lifting off and floating up and did not see a robot. I can't normally get it running because gazebo crashes with the output below. I have nVidia 480 or sth (new one) and i7, glxinfo gave no errors

  • /base_bl_caster_rotation_controller/pid/d
    • /head_controller/head_joint_trajectory_action_node/constraints/goal_time
    • /head_controller/gains/head_axis_joint/d
    • /script_server/arm/overtray
    • /move_base/DWAPlannerROS/max_scaling_factor
    • /base_fr_caster_rotation_controller/type
    • /amcl/laser_max_range
    • /torso_controller/gains/torso_lower_neck_tilt_joint/i_clamp
    • /script_server/sdh/point
    • /script_server/arm/hold
    • /script_server/head/joint_names
    • /script_server/sdh/home
    • /base_br_caster_rotation_controller/type
    • /move_base/local_costmap/laser_scan_rear/clearing
    • /script_server/arm/tray-to-folded
    • /sdh_controller/simulated_tactile_sensors/sensitivity
    • /script_server/arm/look_at_table
    • /script_server/base/new_kitchen
    • /torso_controller/gains/torso_lower_neck_tilt_joint/i
    • /script_server/sound/de/sent10
    • /base_bl_caster_r_wheel_controller/type
    • /torso_controller/gains/torso_lower_neck_tilt_joint/d
    • /move_base/local_costmap/cloud_cam3d/sensor_frame
    • /move_base/local_costmap/cloud_cam3d/clearing
    • /torso_controller/torso_joint_trajectory_action_node/constraints/torso_lower_neck_tilt_joint/goal
    • /torso_controller/gains/torso_lower_neck_tilt_joint/p
    • /amcl/laser_max_beams
    • /move_base/DWAPlannerROS/sim_time
    • /torso_controller/torso_joint_trajectory_action_node/constraints/torso_pan_joint/goal
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_thumb_3_joint/goal
    • /move_base/global_costmap/laser_scan_front/clearing
    • /script_server/sound/de/sent05
    • /script_server/sound/de/sent04
    • /script_server/sound/de/sent07
    • /script_server/sound/de/sent06
    • /script_server/sound/de/sent01
    • /script_server/sound/de/sent00
    • /script_server/sound/de/sent03
    • /script_server/sound/de/sent02
    • /base_br_caster_rotation_controller/pid/p
    • /script_server/sound/de/sent09
    • /script_server/sound/de/sent08
    • /base_br_caster_rotation_controller/pid/i
    • /script_server/light/yellow
    • /base_br_caster_rotation_controller/pid/d
    • /move_base/global_costmap/origin_z
    • /tray_controller/joints
    • /sdh_controller/gains/sdh_finger_12_joint/p
    • /robot_pose_ekf/freq
    • /base_bl_caster_r_wheel_controller/pid/i
    • /move_base/local_costmap/rolling_window
    • /script_server/base/kitchen
    • /move_base_linear/pot_ctrl_goal_threshold_rot
    • /base_bl_caster_r_wheel_controller/pid/d
    • /move_base/DWAPlannerROS/sim_period
    • /robot_pose_ekf/publish_tf
    • /move_base/global_costmap/unknown_threshold
    • /amcl/max_particles
    • /robot_pose_ekf/imu_used
    • /amcl/min_particles
    • /script_server/arm/look_at_table-to-folded
    • /move_base/global_costmap/z_resolution
    • /move_base_linear/global_frame
    • /move_base/local_costmap/laser_scan_top/topic
    • /move_base/global_costmap/update_frequency
    • /base_br_caster_r_wheel_controller/pid/d
    • /script_server/arm/grasp-to-tray_top
    • /base_br_caster_r_wheel_controller/pid/i
    • /move_base/DWAPlannerROS/forward_point_distance
    • /move_base/global_costmap/laser_scan_rear/sensor_frame
    • /move_base_linear/pot_ctrl_virt_mass
    • /move_base/global_costmap/cloud_cam3d/data_type
    • /move_base/local_costmap/map_type
    • /amcl/odom_model_type
    • /script_server/torso/joint_names
    • /amcl/kld_err
    • /move_base/local_costmap/laser_scan_top/marking
    • /base_br_caster_r_wheel_controller/pid/p
    • /move_base_linear/pot_ctrl_speed_threshold
    • /move_base/global_costmap/laser_scan_front/sensor_frame
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_6_joint/goal
    • /base_fl_caster_rotation_controller/joint
    • /script_server/sound/rand/enterRoom
    • /move_base/global_costmap/transform_tolerance
    • /script_server/base/deliver
    • /arm_controller/gains/arm_7_joint/d
    • /base_bl_caster_r_wheel_controller/pid/i_clamp
    • /script_server/light/white
    • /move_base/DWAPlannerROS/vy_samples
    • /move_base/DWAPlannerROS/rot_stopped_vel
    • /arm_controller/gains/arm_7_joint/p
    • /sdh_controller/gains/sdh_knuckle_joint/p
    • /sdh_controller/simulated_tactile_sensors/filter_length
    • /move_base/DWAPlannerROS/max_rot_vel
    • /script_server/base/grasp
    • /move_base/global_costmap/laser_scan_front/data_type
    • /script_server/torso/front_left
    • /sdh_controller/gains/sdh_knuckle_joint/d
    • /amcl/update_min_a
    • /amcl/update_min_d
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_7_joint/goal
    • /script_server/arm/overtray_top
    • /move_base/local_costmap/mark_threshold
    • /move_base/local_costmap/laser_scan_rear/marking
    • /use_sim_time
    • /move_base/local_costmap/footprint
    • /move_base/local_costmap/observation_sources
    • /sdh_controller/simulated_tactile_sensors/output_range
    • /sdh_controller/gains/sdh_thumb_3_joint/d
    • /amcl/laser_z_short
    • /move_base/local_costmap/laser_scan_rear/data_type
    • /sdh_controller/gains/sdh_thumb_3_joint/p
    • /move_base/local_costmap/cloud_cam3d/min_obstacle_height
    • /base_fr_caster_rotation_controller/pid/i_clamp
    • /move_base/global_costmap/obstacle_range
    • /move_base/local_costmap/inflation_radius
    • /amcl/laser_z_rand
    • /head_controller/type
    • /world_description
    • /move_base/global_costmap/footprint
    • /script_server/sound/temp_wav_file
    • /head_controller/gains/head_axis_joint/p
    • /head_controller/gains/head_axis_joint/i
    • /sdh_controller/gains/sdh_finger_22_joint/p
    • /script_server/sound/rand/taken
    • /move_base/DWAPlannerROS/xy_goal_tolerance
    • /move_base/DWAPlannerROS/vx_samples
    • /torso_controller/torso_joint_trajectory_action_node/constraints/goal_time
    • /move_base/local_costmap/cloud_cam3d/data_type
    • /arm_controller/gains/arm_5_joint/p
    • /script_server/sound/de/sent26
    • /move_base/local_costmap/width
    • /script_server/arm/intermediatefront_top
    • /move_base_linear/stop_threshold
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_3_joint/goal
    • /caster_velocity_pid_gains/i_clamp
    • /arm_controller/gains/arm_5_joint/d
    • /torso_controller/gains/torso_pan_joint/i
    • /sdh_controller/gains/sdh_finger_13_joint/p
    • /amcl/laser_model_type
    • /torso_controller/gains/torso_pan_joint/d
    • /sdh_controller/gains/sdh_finger_13_joint/d
    • /script_server/arm/intermediateback
    • /script_server/sdh/spheropen
    • /move_base/DWAPlannerROS/yaw_goal_tolerance
    • /torso_controller/gains/torso_pan_joint/p
    • /script_server/arm/waveout
    • /move_base/DWAPlannerROS/min_trans_vel
    • /move_base/global_costmap/inflation_radius
    • /base_controller/IniDirectory
    • /head_controller/gains/head_axis_joint/i_clamp
    • /tray_controller/gains/torso_tray_joint/i
    • /move_base/local_costmap/laser_scan_front/data_type
    • /arm_controller/gains/arm_6_joint/p
    • /tray_controller/gains/torso_tray_joint/d
    • /tray_controller/gains/torso_tray_joint/p
    • /arm_controller/gains/arm_6_joint/d
    • /script_server/sound/rand/offer
    • /base_fr_caster_r_wheel_controller/pid/d
    • /base_fr_caster_r_wheel_controller/pid/i
    • /move_base/DWAPlannerROS/trans_stopped_vel
    • /base_fr_caster_r_wheel_controller/pid/p
    • /move_base/global_costmap/static_map
    • /move_base/local_costmap/transform_tolerance
    • /script_server/arm/pregrasp
    • /move_base/DWAPlannerROS/goal_distance_bias
    • /arm_controller/gains/arm_3_joint/p
    • /script_server/base/home
    • /script_server/torso/front
    • /base_fr_caster_r_wheel_controller/pid/i_clamp
    • /script_server/torso/left
    • /move_base/local_costmap/height
    • /arm_controller/gains/arm_3_joint/d
    • /base_fr_caster_rotation_controller/pid/d
    • /amcl/global_frame_id
    • /move_base/global_costmap/laser_scan_rear/clearing
    • /base_fl_caster_r_wheel_controller/pid/p
    • /move_base/global_costmap/laser_scan_front/topic
    • /move_base/local_costmap/laser_scan_top/data_type
    • /base_fr_caster_rotation_controller/joint
    • /base_fr_caster_rotation_controller/pid/i
    • /move_base/local_costmap/update_frequency
    • /caster_velocity_pid_gains/d
    • /move_base/local_costmap/raytrace_range
    • /base_fr_caster_rotation_controller/pid/p
    • /move_base/local_costmap/publish_frequency
    • /caster_velocity_pid_gains/i
    • /script_server/arm/folded
    • /move_base_linear/use_circumscribed_threshold
    • /robot_description
    • /torso_controller/gains/torso_upper_neck_tilt_joint/p
    • /script_server/sound/rand/load
    • /torso_controller/gains/torso_upper_neck_tilt_joint/i
    • /arm_controller/type
    • /move_base/global_costmap/laser_scan_top/sensor_frame
    • /script_server/sdh/cylopen
    • /torso_controller/gains/torso_upper_neck_tilt_joint/d
    • /head_controller/joints
    • /script_server/base/kitchen_backwards
    • /script_server/arm/wave
    • /script_server/base/order
    • /script_server/arm/grasp-to-tray
    • /move_base_linear/footprint
    • /script_server/sdh/fist
    • /base_br_caster_rotation_controller/joint
    • /move_base/DWAPlannerROS/sim_granularity
    • /arm_controller/arm_joint_trajectory_action_node/constraints/goal_time
    • /amcl/laser_likelihood_max_dist
    • /script_server/torso/home
    • /amcl/transform_tolerance
    • /script_server/torso/right
    • /move_base/local_costmap/z_resolution
    • /base_bl_caster_r_wheel_controller/joint
    • /base_fl_caster_rotation_controller/type
    • /head_controller/head_joint_trajectory_action_node/joints
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_finger_22_joint/goal
    • /move_base/global_costmap/raytrace_range
    • /script_server/head/back
    • /base_fl_caster_r_wheel_controller/joint
    • /script_server/torso/shake
    • /move_base/DWAPlannerROS/stop_time_buffer
    • /script_server/torso/back_left
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_1_joint/goal
    • /rosversion
    • /move_base/global_costmap/global_frame
    • /move_base/global_costmap/laser_scan_front/marking
    • /base_fl_caster_rotation_controller/pid/p
    • /move_base_linear/influence_radius
    • /script_server/arm/folded-to-look_at_table
    • /script_server/torso/back
    • /script_server/sdh/joint_names
    • /base_fl_caster_rotation_controller/pid/d
    • /script_server/sound/rand/pathblocked
    • /base_fl_caster_rotation_controller/pid/i
    • /amcl/gui_publish_rate
    • /move_base/global_costmap/laser_scan_top/marking
    • /move_base/local_costmap/laser_scan_front/topic
    • /robot_pose_ekf/odom_used
    • /tray_controller/type
    • /robot_pose_ekf/vo_used
    • /pr2_controller_manager/joint_state_publish_rate
    • /script_server/light/red
    • /move_base/DWAPlannerROS/oscillation_reset_dist
    • /move_base/local_costmap/laser_scan_rear/sensor_frame
    • /move_base/local_costmap/laser_scan_rear/topic
    • /script_server/sdh/paropen
    • /torso_controller/torso_joint_trajectory_action_node/constraints/torso_upper_neck_tilt_joint/goal
    • /move_base/local_costmap/laser_scan_top/clearing
    • /amcl/base_frame_id
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_finger_12_joint/goal
    • /move_base/local_costmap/static_map
    • /arm_controller/gains/arm_4_joint/d
    • /move_base/local_costmap/cloud_cam3d/topic
    • /move_base/global_costmap/publish_frequency
    • /wheel_pid_gains/i_clamp
    • /script_server/torso/back_right
    • /arm_controller/gains/arm_4_joint/p
    • /move_base/DWAPlannerROS/scaling_speed
    • /sdh_controller/simulated_tactile_sensors/cells_y
    • /sdh_controller/simulated_tactile_sensors/cells_x
    • /script_server/base/pre_kitchen
    • /script_server/arm/grasp
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/goal_time
    • /sdh_controller/type
    • /script_server/sound/de/sent25
    • /amcl/laser_sigma_hit
    • /amcl/recovery_alpha_fast
    • /sdh_controller/gains/sdh_finger_23_joint/d
    • /base_bl_caster_rotation_controller/joint
    • /move_base_linear/pot_ctrl_speed_threshold_rot
    • /move_base/global_costmap/cloud_cam3d/clearing
    • /move_base/local_costmap/laser_scan_front/sensor_frame
    • /rosdistro
    • /base_fl_caster_r_wheel_controller/pid/i_clamp
    • /base_br_caster_rotation_controller/pid/i_clamp
    • /amcl/odom_alpha4
    • /amcl/odom_alpha5
    • /amcl/odom_alpha1
    • /amcl/odom_alpha2
    • /amcl/odom_alpha3
    • /script_server/torso/back_left_extreme
    • /sdh_controller/sdh_joint_trajectory_action_node/constraints/sdh_finger_13_joint/goal
    • /caster_velocity_pid_gains/p
    • /amcl/odom_frame_id
    • /pr2_controller_manager/mechanism_statistics_publish_rate
    • /move_base/global_costmap/laser_scan_rear/topic
    • /move_base/DWAPlannerROS/path_distance_bias
    • /move_base/global_costmap/mark_threshold
    • /move_base/global_costmap/laser_scan_top/topic
    • /robot_pose_ekf/sensor_timeout
    • /move_base/global_costmap/laser_scan_rear/marking
    • /move_base/global_costmap/laser_scan_top/clearing
    • /move_base_linear/footprint_padding
    • /script_server/sdh/spherclosed
    • /script_server/arm/wavein
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_2_joint/goal
    • /move_base/local_costmap/unknown_cost_value
    • /base_fl_caster_r_wheel_controller/pid/d
    • /move_base/local_costmap/laser_scan_top/sensor_frame
    • /move_base_linear/obstacle_damping_dist
    • /robot_state_publisher/tf_prefix
    • /script_server/sound/de/sent24
    • /script_server/sound/de/sent23
    • /script_server/sound/de/sent22
    • /script_server/sound/de/sent21
    • /script_server/sound/de/sent20
    • /script_server/arm/intermediatebacklow
    • /move_base/global_costmap/cloud_cam3d/topic
    • /move_base/DWAPlannerROS/acc_lim_y
    • /move_base/DWAPlannerROS/acc_lim_x
    • /amcl/resample_interval
    • /torso_controller/type
    • /sdh_controller/sdh_joint_trajectory_action_node/joints
    • /script_server/sound/en/sent00
    • /arm_controller/arm_joint_trajectory_action_node/constraints/arm_4_joint/goal
    • /script_server/sdh/cyltotalopen
    • /base_fl_caster_r_wheel_controller/pid/i
    • /move_base_linear/pot_ctrl_vmax
    • /move_base/local_costmap/laser_scan_front/clearing
    • /base_br_caster_r_wheel_controller/joint
    • /script_server/torso/front_right
    • /move_base/local_costmap/z_voxels
    • /base_br_caster_r_wheel_controller/pid/i_clamp
    • /tray_controller/tray_joint_trajectory_action_node/joints
    • /move_base/local_costmap/laser_scan_front/marking
    • /base_fr_caster_r_wheel_controller/joint
    • /move_base/global_costmap/map_type
    • /move_base/global_costmap/unknown_cost_value
    • /move_base/global_costmap/cloud_cam3d/marking
    • /amcl/kld_z
    • /move_base_linear/pot_ctrl_kv_rot
    • /script_server/tray/joint_names

NODES /tray_controller/ tray_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) /torso_controller/ torso_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) /arm_kinematics/ cob_ik_solver (cob_manipulator/cob_ik_solver_kdl) /sdh_controller/ sdh_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) simulated_tactile_sensors (cob_simulated_tactile_sensors/simulated_tactile_sensors.py) /stereo/left/ prosilica_image_proc (image_proc/image_proc) / gazebo (gazebo/gazebo) spawn_urdf_world (gazebo/spawn_model) spawn_gazebo_model (gazebo/spawn_model) create_colored_point_cloud (cob_gazebo/create_colored_point_cloud) point_cloud_converter_full_cloud (point_cloud_converter/point_cloud_converter) robot_state_publisher (robot_state_publisher/state_publisher) pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics) fake_joint_calibration (rostopic/rostopic) base_controller_spawner (pr2_controller_manager/spawner) tray_controller_spawner (pr2_controller_manager/spawner) head_controller_spawner (pr2_controller_manager/spawner) arm_controller_spawner (pr2_controller_manager/spawner) sdh_controller_spawner (pr2_controller_manager/spawner) torso_controllers_spawner (pr2_controller_manager/spawner) scanner_front_filter (cob_sick_s300/cob_scan_filter) scanner_rear_filter (cob_sick_s300/cob_scan_filter) gazebo_services (cob_gazebo/gazebo_services.py) map_server (map_server/map_server) scan_front_relay (topic_tools/relay) scan_rear_relay (topic_tools/relay) amcl (amcl/amcl) move_base (move_base/move_base) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) move_base_linear (cob_linear_nav/cob_linear_nav) object_detection_fake (cob_object_detection_fake/object_detection_fake.py) /head_controller/ head_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action) /sound_controller/ sound_node (cob_sound/sound) /stereo/right/ prosilica_image_proc (image_proc/image_proc) /base_controller/ base_drive_chain_node (cob_base_drive_chain/cob_base_drive_chain_sim_node) undercarriage_ctrl_node (cob_undercarriage_ctrl/cob_undercarriage_ctrl_node) /arm_controller/ arm_joint_trajectory_action_node (joint_trajectory_action/joint_trajectory_action)experimentation_days.

auto-starting new master process[master]: started with pid [14440] ROS_MASTER_URI=http://localhost:11311As it turns out, you can better not have an extra launch of empty_world launch included in the launch file you launch secondly, that will conflict and cause this crash, you could rename the node but you actually only want a single empty world anyway

setting /run_id Transparency in gazebo can be resolved by viewing physic, bounding boxes or changing the viewing angle with the mouse until it is more or less close and parallel to 804f8088-1291-11e1-9ed8-8ca982b1ae3a process[rosout-1]: started with pid [14453] started core service [/rosout] process[gazebo-2]: started with pid [14465] process[spawn_urdf_world-3]: started with pid [14466] process[spawn_gazebo_model-4]: started with pid [14467] process[create_colored_point_cloud-5]: started with pid [14468] process[point_cloud_converter_full_cloud-6]: started with pid [14469] process[robot_state_publisher-7]: started with pid [14470] process[pr2_mechanism_diagnostics-8]: started with pid [14471] process[fake_joint_calibration-9]: started with pid [14473] 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.

process[base_controller_spawner-10]: started with pid [14478] process[base_controller/base_drive_chain_node-11]: started with pid [14484] process[base_controller/undercarriage_ctrl_node-12]: started with pid [14500] process[tray_controller_spawner-13]: started with pid [14502] process[tray_controller/tray_joint_trajectory_action_node-14]: started with pid [14521] process[head_controller_spawner-15]: started with pid [14525] process[head_controller/head_joint_trajectory_action_node-16]: started with pid [14528] process[stereo/left/prosilica_image_proc-17]: started with pid [14533] process[stereo/right/prosilica_image_proc-18]: started with pid [14541] process[arm_controller_spawner-19]: started with pid [14551] process[arm_controller/arm_joint_trajectory_action_node-20]: started with pid [14560] process[sdh_controller_spawner-21]: started with pid [14563] process[sdh_controller/sdh_joint_trajectory_action_node-22]: started with pid [14565] process[sdh_controller/simulated_tactile_sensors-23]: started with pid [14568] process[torso_controllers_spawner-24]: started with pid [14573] process[torso_controller/torso_joint_trajectory_action_node-25]: started with pid [14574] process[scanner_front_filter-26]: started with pid [14575] process[scanner_rear_filter-27]: started with pid [14581] process[gazebo_services-28]: started with pid [14582] INI-File not found Platform.ini Setting parameter MaxDriveRate = 6.95331e-310 of section 'DrivePrms' in File 'Platform.ini Setting parameter MaxSteerRate = 3.24353e-317 of section 'DrivePrms' in File 'Platform.ini process[sound_controller/sound_node-29]: started with pid [14594] process[map_server-30]: started with pid [14596] process[scan_front_relay-31]: started with pid [14598] process[scan_rear_relay-32]: started with pid [14605] process[amcl-33]: started with pid [14616] process[move_base-34]: started with pid [14622] process[robot_pose_ekf-35]: started with pid [14628] process[move_base_linear-36]: started with pid [14632] process[arm_kinematics/cob_ik_solver-37]: started with pid [14635] process[object_detection_fake-38]: started with pid [14640] [INFO] [WallTime: 1321695195.807388] [0.000000] Fake object detection ready. Param [quickStepPreconIters] is deprecated: [replace quickStepPreconIters with stepPreconIters] Param [quickStep] is deprecated: [replace quickStep with stepType] Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters] Param [quickStepW] is deprecated: [replace quickStepW with stepW] ScopedName[gplane] ScopedName[directional_white] Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4] Gazebo successfully initialized [INFO] [WallTime: 1321695196.044880] [0.000000] waiting for service spawn_urdf_model ScopedName[urdf_world_model] [INFO] [WallTime: 1321695196.355351] [0.014000] gazebo_services running [INFO] [WallTime: 1321695197.426608] [0.014000] spawn status: SpawnModel: successfully spawned model [ERROR] [WallTime: 1321695197.496126] [0.014000] unpause physics service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details [gazebo-2] process has died [pid 14465, exit code -11]. log files: /home/simon/.ros/log/804f8088-1291-11e1-9ed8-8ca982b1ae3a/gazebo-2.log [spawn_urdf_world-3] process has finished cleanly. log file: /home/simon/.ros/log/804f8088-1291-11e1-9ed8-8ca982b1ae3a/spawn_urdf_world-3.logground plane.

no robot, floating furniture if at all

Hello, yesterday I was somehow able to get gazebo up and running by first launching an empty world and then experimentation_days.

As it turns out, you can better not have an extra launch of empty_world launch included in the launch file you launch secondly, that will conflict and cause this crash, you could rename the node but you actually only want a single empty world anyway

Transparency in gazebo can be resolved by viewing physic, bounding boxes or changing the viewing angle with the mouse until it is more or less close and parallel to the ground plane.

no robot, floating furniture if at all

Hello, yesterday I was somehow able to get gazebo up and running by first launching an empty world and then experimentation_days.

As it turns out, you can better not have an extra launch of empty_world launch included in the launch file you launch secondly, that will conflict and cause this crash, you could rename the node but you actually only want a single empty world anyway

Transparency in gazebo can be resolved by viewing physic, bounding boxes or changing the viewing angle with the mouse until it is more or less close and parallel to the ground plane.