[roslaunch][INFO] 2025-07-03 17:55:30,060: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2025-07-03 17:55:30,062: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2025-07-03 17:55:30,062: roslaunch starting with args ['roscore', '--core']
[roslaunch][INFO] 2025-07-03 17:55:30,062: roslaunch env is environ({'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': 'local/dhm-MS-7E44:@/tmp/.ICE-unix/1415,unix/dhm-MS-7E44:/tmp/.ICE-unix/1415', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PKG_CONFIG_PATH': '/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LANGUAGE': 'zh_CN:zh', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XMODIFIERS': '@im=ibus', 'DESKTOP_SESSION': 'ubuntu', 'SSH_AGENT_PID': '1313', 'ROS_PACKAGE_PATH': '/opt/ros/noetic/share', 'GTK_MODULES': 'gail:atk-bridge', 'ROSLISP_PACKAGE_DIRECTORIES': '', 'PWD': '/home/dhm/桌面', 'LOGNAME': 'dhm', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XDG_SESSION_TYPE': 'x11', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'WINDOWPATH': '2', 'HOME': '/home/dhm', 'USERNAME': 'dhm', 'IM_CONFIG_PHASE': '1', 'LANG': 'zh_CN.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'VTE_VERSION': '6003', 'CMAKE_PREFIX_PATH': '/opt/ros/noetic', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/bfdb9024_d2bb_4d30_9ddc_b81e022971b0', 'INVOCATION_ID': 'b4d4ca367c1048e6a1f65306a8e397aa', 'MANAGERPID': '1115', 'GJS_DEBUG_OUTPUT': 'stderr', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'dhm', 'GNOME_TERMINAL_SERVICE': ':1.90', 'DISPLAY': ':0', 'SHLVL': '1', 'ROS_MASTER_URI': 'http://localhost:11311', 'QT_IM_MODULE': 'ibus', 'LD_LIBRARY_PATH': '/opt/ros/noetic/lib', 'XDG_RUNTIME_DIR': '/run/user/1000', 'JOURNAL_STREAM': '8:41457', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'GDMSESSION': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', '_': '/opt/ros/noetic/bin/roscore', 'ROS_LOG_FILENAME': '/home/dhm/.ros/log/da59dce8-57f3-11f0-93e5-b1f00ada9779/roslaunch-dhm-MS-7E44-141992.log'})
[roslaunch][INFO] 2025-07-03 17:55:30,062: starting in server mode
[roslaunch.parent][INFO] 2025-07-03 17:55:30,062: starting roslaunch parent run
[roslaunch][INFO] 2025-07-03 17:55:30,062: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml
[roslaunch][INFO] 2025-07-03 17:55:30,130: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,130: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,130: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,131: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2025-07-03 17:55:30,131: starting parent XML-RPC server
[roslaunch.server][INFO] 2025-07-03 17:55:30,131: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2025-07-03 17:55:30,131: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2025-07-03 17:55:30,131: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2025-07-03 17:55:30,131: Started XML-RPC server [http://dhm-MS-7E44:46863/]
[xmlrpc][INFO] 2025-07-03 17:55:30,131: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2025-07-03 17:55:30,142: started roslaunch server http://dhm-MS-7E44:46863/
[roslaunch.parent][INFO] 2025-07-03 17:55:30,142: ... parent XML-RPC server started
[roslaunch][INFO] 2025-07-03 17:55:30,142: master.is_running[http://dhm-MS-7E44:11311/]
[roslaunch][INFO] 2025-07-03 17:55:30,143: auto-starting new master
[roslaunch][INFO] 2025-07-03 17:55:30,143: create_master_process: rosmaster, /opt/ros/noetic/share/ros, 11311, 3, None, False
[roslaunch][INFO] 2025-07-03 17:55:30,143: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,143: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,143: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2025-07-03 17:55:30,143: process[master]: starting os process
[roslaunch][INFO] 2025-07-03 17:55:30,143: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/home/dhm/.ros/log/da59dce8-57f3-11f0-93e5-b1f00ada9779/master.log']]
[roslaunch][INFO] 2025-07-03 17:55:30,143: process[master]: cwd will be [/home/dhm/.ros]
[roslaunch][INFO] 2025-07-03 17:55:30,145: process[master]: started with pid [142000]
[roslaunch][INFO] 2025-07-03 17:55:30,145: master.is_running[http://dhm-MS-7E44:11311/]
[roslaunch][INFO] 2025-07-03 17:55:30,245: master.is_running[http://dhm-MS-7E44:11311/]
[roslaunch][INFO] 2025-07-03 17:55:30,346: master.is_running[http://dhm-MS-7E44:11311/]
[roslaunch][INFO] 2025-07-03 17:55:30,349: master.is_running[http://dhm-MS-7E44:11311/]
[roslaunch][INFO] 2025-07-03 17:55:30,352: ROS_MASTER_URI=http://dhm-MS-7E44:11311/
[roslaunch][INFO] 2025-07-03 17:55:30,356: setting /run_id to da59dce8-57f3-11f0-93e5-b1f00ada9779
[roslaunch][INFO] 2025-07-03 17:55:30,358: setting /roslaunch/uris/host_dhm_ms_7e44__46863' to http://dhm-MS-7E44:46863/
[roslaunch][INFO] 2025-07-03 17:55:30,363: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2025-07-03 17:55:30,363: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://dhm-MS-7E44:11311/]
[roslaunch][INFO] 2025-07-03 17:55:30,364: process[rosout-1]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': 'local/dhm-MS-7E44:@/tmp/.ICE-unix/1415,unix/dhm-MS-7E44:/tmp/.ICE-unix/1415', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PKG_CONFIG_PATH': '/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LANGUAGE': 'zh_CN:zh', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XMODIFIERS': '@im=ibus', 'DESKTOP_SESSION': 'ubuntu', 'SSH_AGENT_PID': '1313', 'ROS_PACKAGE_PATH': '/opt/ros/noetic/share', 'GTK_MODULES': 'gail:atk-bridge', 'ROSLISP_PACKAGE_DIRECTORIES': '', 'PWD': '/home/dhm/桌面', 'LOGNAME': 'dhm', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XDG_SESSION_TYPE': 'x11', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'WINDOWPATH': '2', 'HOME': '/home/dhm', 'USERNAME': 'dhm', 'IM_CONFIG_PHASE': '1', 'LANG': 'zh_CN.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'VTE_VERSION': '6003', 'CMAKE_PREFIX_PATH': '/opt/ros/noetic', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/bfdb9024_d2bb_4d30_9ddc_b81e022971b0', 'INVOCATION_ID': 'b4d4ca367c1048e6a1f65306a8e397aa', 'MANAGERPID': '1115', 'GJS_DEBUG_OUTPUT': 'stderr', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'dhm', 'GNOME_TERMINAL_SERVICE': ':1.90', 'DISPLAY': ':0', 'SHLVL': '1', 'ROS_MASTER_URI': 'http://dhm-MS-7E44:11311/', 'QT_IM_MODULE': 'ibus', 'LD_LIBRARY_PATH': '/opt/ros/noetic/lib', 'XDG_RUNTIME_DIR': '/run/user/1000', 'JOURNAL_STREAM': '8:41457', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'GDMSESSION': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', '_': '/opt/ros/noetic/bin/roscore', 'ROS_LOG_FILENAME': '/home/dhm/.ros/log/da59dce8-57f3-11f0-93e5-b1f00ada9779/roslaunch-dhm-MS-7E44-141992.log'}]
[roslaunch][INFO] 2025-07-03 17:55:30,387: process[rosout-1]: args[['/opt/ros/noetic/lib/rosout/rosout', '__name:=rosout']]
[roslaunch][INFO] 2025-07-03 17:55:30,387: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,387: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,387: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2025-07-03 17:55:30,387: ... registered process [rosout-1]
[roslaunch][INFO] 2025-07-03 17:55:30,387: process[rosout-1]: starting os process
[roslaunch][INFO] 2025-07-03 17:55:30,388: process[rosout-1]: start w/ args [['/opt/ros/noetic/lib/rosout/rosout', '__name:=rosout', '__log:=/home/dhm/.ros/log/da59dce8-57f3-11f0-93e5-b1f00ada9779/rosout-1.log']]
[roslaunch][INFO] 2025-07-03 17:55:30,388: process[rosout-1]: cwd will be [/home/dhm/.ros]
[roslaunch][INFO] 2025-07-03 17:55:30,389: process[rosout-1]: started with pid [142010]
[roslaunch][INFO] 2025-07-03 17:55:30,389: ... successfully launched [rosout-1]
[roslaunch][INFO] 2025-07-03 17:55:30,389: load_parameters starting ...
[roslaunch][INFO] 2025-07-03 17:55:30,391: ... load_parameters complete
[roslaunch][INFO] 2025-07-03 17:55:30,391: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2025-07-03 17:55:30,391: ... launch_nodes complete
[roslaunch.pmon][INFO] 2025-07-03 17:55:30,391: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140174355576576)>
[roslaunch.parent][INFO] 2025-07-03 17:55:30,391: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2025-07-03 17:55:30,391: spin
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