[Bug]: Docker image Issue #669
Description
Before proceeding, is there an existing issue or discussion for this?
- I have done a search for similar issues and discussions.
OS and version
docker image of RMF demo
Open-RMF installation type
Docker
Other Open-RMF installation methods
No response
Open-RMF version or commit hash
rmf_demos:latest
ROS distribution
Jazzy
ROS installation type
Docker
Other ROS installation methods
No response
Package or library, if applicable
No response
Description of the bug
root@docker-desktop:~/rmf_ws# ros2 launch rmf_demos_gz hotel.launch.xml
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-04-15-20-16-11-947150-docker-desktop-1361
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rmf_traffic_schedule-1]: process started with pid [1364]
[INFO] [rmf_traffic_blockade-2]: process started with pid [1365]
[INFO] [building_map_server-3]: process started with pid [1366]
[INFO] [schedule_visualizer_node-4]: process started with pid [1367]
[INFO] [fleetstates_visualizer_node-5]: process started with pid [1368]
[INFO] [rmf_visualization_building_systems-6]: process started with pid [1369]
[INFO] [navgraph_visualizer_node-7]: process started with pid [1370]
[INFO] [floorplan_visualizer_node-8]: process started with pid [1371]
[INFO] [obstacle_visualizer_node-9]: process started with pid [1372]
[INFO] [rviz2-10]: process started with pid [1373]
[INFO] [door_supervisor-11]: process started with pid [1376]
[INFO] [lift_supervisor-12]: process started with pid [1379]
[INFO] [rmf_task_dispatcher-13]: process started with pid [1386]
[INFO] [fleet_manager-14]: process started with pid [1390]
[INFO] [fleet_adapter-15]: process started with pid [1393]
[INFO] [fleet_manager-16]: process started with pid [1397]
[INFO] [fleet_adapter-17]: process started with pid [1417]
[INFO] [fleet_manager-18]: process started with pid [1418]
[INFO] [fleet_adapter-19]: process started with pid [1419]
[INFO] [gz-20]: process started with pid [1437]
[INFO] [parameter_bridge-21]: process started with pid [1456]
[fleetstates_visualizer_node-5] [INFO] [1744748173.614315380] [fleet_states_visualizer]: Configuring fleet_states_visualizer...
[fleetstates_visualizer_node-5] [INFO] [1744748173.614739838] [fleet_states_visualizer]: Setting parameter initial_map_name to L1
[fleetstates_visualizer_node-5] [INFO] [1744748173.614824150] [fleet_states_visualizer]: Setting parameter fleet_state_nose_scale to 0.500000
[fleetstates_visualizer_node-5] [INFO] [1744748173.751059034] [fleet_states_visualizer]: Running fleet_states_visualizer...
[obstacle_visualizer_node-9] [INFO] [1744748173.760771273] [rmf_obstacle_visualizer]: Beginning RMF obstacle visualizer node
[schedule_visualizer_node-4] [INFO] [1744748173.951533175] [schedule_visualizer_node]: Setting parameter rate to 10.000000
[schedule_visualizer_node-4] [INFO] [1744748173.953436837] [schedule_visualizer_node]: Setting parameter path_width to 0.200000
[schedule_visualizer_node-4] [INFO] [1744748173.964283233] [schedule_visualizer_node]: Setting parameter initial_map_name to L1
[schedule_visualizer_node-4] [INFO] [1744748173.969403939] [schedule_visualizer_node]: Setting parameter wait_secs to 10
[schedule_visualizer_node-4] [INFO] [1744748173.972676890] [schedule_visualizer_node]: Setting parameter port to 8006
[schedule_visualizer_node-4] [INFO] [1744748173.983024417] [schedule_visualizer_node]: Setting parameter retained_history_count to 50
[rmf_task_dispatcher-13] Initializing Dispatcher Node
[rviz2-10] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[navgraph_visualizer_node-7] [INFO] [1744748174.194277444] [navgraph_visualizer]: Setting parameter initial_map_name to L1
[navgraph_visualizer_node-7] [INFO] [1744748174.195299785] [navgraph_visualizer]: Setting parameter lane_width to 0.500000
[navgraph_visualizer_node-7] [INFO] [1744748174.196010183] [navgraph_visualizer]: Setting parameter lane_transparency to 0.600000
[navgraph_visualizer_node-7] [INFO] [1744748174.197979554] [navgraph_visualizer]: Setting parameter waypoint_scale to 1.300000
[navgraph_visualizer_node-7] [INFO] [1744748174.198862276] [navgraph_visualizer]: Setting parameter text_scale to 0.700000
[rmf_traffic_blockade-2] [INFO] [1744748174.233088495] [rmf_traffic_blockade_node]: Beginning traffic blockade node
[navgraph_visualizer_node-7] [INFO] [1744748174.359344803] [navgraph_visualizer]: NavGraph visualizer is running...
[rmf_traffic_schedule-1] [INFO] [1744748174.640907785] [rmf_traffic_schedule_primary]: Successfully loaded logfile .rmf_schedule_node.yaml
[fleet_manager-18] Traceback (most recent call last):
[fleet_manager-18] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager", line 33, in
[fleet_manager-18] sys.exit(load_entry_point('rmf-demos-fleet-adapter==2.3.0', 'console_scripts', 'fleet_manager')())
[fleet_manager-18] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-18] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager", line 25, in importlib_load_entry_point
[fleet_manager-18] return next(matches).load()
[fleet_manager-18] ^^^^^^^^^^^^^^^^^^^^
[fleet_manager-18] File "/usr/lib/python3.12/importlib/metadata/init.py", line 205, in load
[fleet_manager-18] module = import_module(match.group('module'))
[fleet_manager-18] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-18] File "/usr/lib/python3.12/importlib/init.py", line 90, in import_module
[rmf_traffic_schedule-1] [INFO] [1744748174.684180503] [rmf_traffic_schedule_primary]: Set up heartbeat on /rmf_traffic/heartbeat with liveliness lease duration of 10000 ms and deadline of 10000 ms
[fleet_manager-18] return _bootstrap._gcd_import(name[level:], package, level)
[fleet_manager-18] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-18] File "", line 1387, in _gcd_import
[fleet_manager-18] File "", line 1360, in _find_and_load
[fleet_manager-18] File "", line 1331, in _find_and_load_unlocked
[fleet_manager-18] File "", line 935, in _load_unlocked
[fleet_manager-18] File "", line 995, in exec_module
[fleet_manager-18] File "", line 488, in _call_with_frames_removed
[fleet_manager-18] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/python3.12/site-packages/rmf_demos_fleet_adapter/fleet_manager.py", line 26, in
[fleet_manager-18] from fastapi import FastAPI
[fleet_manager-18] ModuleNotFoundError: No module named 'fastapi'
[fleet_manager-14] Traceback (most recent call last):
[fleet_manager-14] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager", line 33, in
[fleet_manager-14] sys.exit(load_entry_point('rmf-demos-fleet-adapter==2.3.0', 'console_scripts', 'fleet_manager')())
[fleet_manager-14] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-14] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager", line 25, in importlib_load_entry_point
[fleet_manager-14] return next(matches).load()
[fleet_manager-14] ^^^^^^^^^^^^^^^^^^^^
[fleet_manager-14] File "/usr/lib/python3.12/importlib/metadata/init.py", line 205, in load
[fleet_manager-14] module = import_module(match.group('module'))
[fleet_manager-14] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-14] File "/usr/lib/python3.12/importlib/init.py", line 90, in import_module
[fleet_manager-14] return _bootstrap._gcd_import(name[level:], package, level)
[fleet_manager-14] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-14] File "", line 1387, in _gcd_import
[fleet_manager-14] File "", line 1360, in _find_and_load
[fleet_manager-14] File "", line 1331, in _find_and_load_unlocked
[fleet_manager-14] File "", line 935, in _load_unlocked
[fleet_manager-14] File "", line 995, in exec_module
[fleet_manager-14] File "", line 488, in _call_with_frames_removed
[fleet_manager-14] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/python3.12/site-packages/rmf_demos_fleet_adapter/fleet_manager.py", line 26, in
[fleet_manager-14] from fastapi import FastAPI
[fleet_manager-14] ModuleNotFoundError: No module named 'fastapi'
[fleet_manager-16] Traceback (most recent call last):
[fleet_manager-16] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager", line 33, in
[fleet_manager-16] sys.exit(load_entry_point('rmf-demos-fleet-adapter==2.3.0', 'console_scripts', 'fleet_manager')())
[fleet_manager-16] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-16] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager", line 25, in importlib_load_entry_point
[fleet_manager-16] return next(matches).load()
[fleet_manager-16] ^^^^^^^^^^^^^^^^^^^^
[fleet_manager-16] File "/usr/lib/python3.12/importlib/metadata/init.py", line 205, in load
[fleet_manager-16] module = import_module(match.group('module'))
[fleet_manager-16] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-16] File "/usr/lib/python3.12/importlib/init.py", line 90, in import_module
[fleet_manager-16] return _bootstrap._gcd_import(name[level:], package, level)
[fleet_manager-16] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_manager-16] File "", line 1387, in _gcd_import
[fleet_manager-16] File "", line 1360, in _find_and_load
[fleet_manager-16] File "", line 1331, in _find_and_load_unlocked
[fleet_manager-16] File "", line 935, in _load_unlocked
[fleet_manager-16] File "", line 995, in exec_module
[fleet_manager-16] File "", line 488, in _call_with_frames_removed
[fleet_manager-16] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/python3.12/site-packages/rmf_demos_fleet_adapter/fleet_manager.py", line 26, in
[fleet_manager-16] from fastapi import FastAPI
[fleet_manager-16] ModuleNotFoundError: No module named 'fastapi'
[ERROR] [fleet_manager-18]: process has died [pid 1418, exit code 1, cmd '/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager --config_file /root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/deliveryRobot_config.yaml --nav_graph /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/nav_graphs/2.yaml --ros-args --params-file /tmp/launch_params_gys9ptcb'].
[ERROR] [fleet_manager-16]: process has died [pid 1397, exit code 1, cmd '/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager --config_file /root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/tinyRobot_config.yaml --nav_graph /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/nav_graphs/0.yaml --ros-args --params-file /tmp/launch_params_kamuxpik'].
[ERROR] [fleet_manager-14]: process has died [pid 1390, exit code 1, cmd '/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_manager --config_file /root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/cleanerBotA_config.yaml --nav_graph /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/nav_graphs/1.yaml --ros-args --params-file /tmp/launch_params_6os8khbr'].
[rmf_task_dispatcher-13] [INFO] [1744748175.186566397] [rmf_dispatcher_node]: Declared Time Window Param as: 2.000000 secs
[rmf_task_dispatcher-13] [INFO] [1744748175.212128197] [rmf_dispatcher_node]: Declared Terminated Tasks Max Size Param as: 100
[rmf_task_dispatcher-13] [INFO] [1744748175.214509895] [rmf_dispatcher_node]: Declared publish_active_tasks_period as: 2 secs
[rmf_task_dispatcher-13] [INFO] [1744748175.231487921] [rmf_dispatcher_node]: Use timestamp with task_id: false
[rmf_task_dispatcher-13] [INFO] [1744748175.232979107] [rmf_dispatcher_node]: Use unique hex string with task_id: true
[floorplan_visualizer_node-8] [INFO] [1744748175.371783285] [floorplan_visualizer]: Configuring floorplan_visualizer...
[floorplan_visualizer_node-8] [INFO] [1744748175.372724902] [floorplan_visualizer]: Setting parameter initial_map_name to L1
[rmf_traffic_schedule-1] [INFO] [1744748175.433221176] [rmf_traffic_schedule_primary]: Beginning traffic schedule node
[rmf_traffic_schedule-1] [INFO] [1744748175.493281095] [rmf_traffic_schedule_primary]: Registered new query [1]
[floorplan_visualizer_node-8] [INFO] [1744748175.518123205] [floorplan_visualizer]: Running floorplan_visualizer...
[schedule_visualizer_node-4] [INFO] [1744748175.551392070] [schedule_data_node]: Registering to query topic rmf_traffic/query_update_1
[rmf_task_dispatcher-13] [INFO] [1744748175.570870508] [rmf_dispatcher_node]: Starting task dispatcher node
[parameter_bridge-21] [INFO] [1744748175.616773055] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[schedule_visualizer_node-4] [INFO] [1744748175.699673233] [schedule_data_node]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since beginning of recorded history
[rmf_traffic_schedule-1] [INFO] [1744748175.703388499] [rmf_traffic_schedule_primary]: [ScheduleNode::update_mirrors] Sending remedial update starting from the beginning going to 0 for query 1
[gz-20] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[schedule_visualizer_node-4] [INFO] [1744748176.028506000] [schedule_visualizer_node]: Successfully connected to rmf_traffic_schedule node.
[schedule_visualizer_node-4] [INFO] [1744748176.038208015] [schedule_data_node]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[gz-20] [Msg] Received world [/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world] from the GUI.
[gz-20] [Msg] Gazebo Sim Server v8.9.0
[gz-20] [Msg] Loading SDF world file[/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world].
[gz-20] Warning [Utils.cc:132] [/sdf/world[@name="sim_world"]/gui/window:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L23]: XML Element[window], child of element[gui], not defined in SDF. Copying[window] as children of [gui].
[rmf_visualization_building_systems-6] [INFO] [1744748177.107319758] [building_systems_visualizer]: Building systems visualizer started...
[gz-20] [Msg] Gazebo Sim GUI v8.9.0
[fleet_adapter-15] [retreat_to_charger_interval] value is not provided, default to 10 seconds
[fleet_adapter-15] No known task capabilities found in config file [/root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/cleanerBotA_config.yaml]
[fleet_adapter-15] Finishing request: park
[fleet_adapter-15] Fleet is configured to perform ParkRobot as finishing request
[fleet_adapter-19] [retreat_to_charger_interval] value is not provided, default to 10 seconds
[fleet_adapter-19] Finishing request: park
[fleet_adapter-19] Fleet is configured to perform ParkRobot as finishing request
[rviz2-10] [INFO] [1744748177.705771579] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1744748177.708446114] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[fleet_adapter-17] [retreat_to_charger_interval] value is not provided, default to 10 seconds
[fleet_adapter-17] Finishing request: park
[fleet_adapter-17] Fleet is configured to perform ParkRobot as finishing request
[rviz2-10] [INFO] [1744748178.838390673] [rviz2]: Stereo is NOT SUPPORTED
[building_map_server-3] [INFO] [1744748180.703790104] [building_map_server]: loading map path: /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/hotel/hotel.building.yaml
[building_map_server-3] [INFO] [1744748181.593309764] [building_map_server]: opening: /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/hotel/hotel_L1.png
[building_map_server-3] [INFO] [1744748181.596511865] [building_map_server]: read 39941 byte image
[building_map_server-3] [INFO] [1744748181.685636322] [building_map_server]: opening: /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/hotel/hotel_L2.png
[building_map_server-3] [INFO] [1744748181.698961790] [building_map_server]: read 47811 byte image
[fleet_adapter-15] [INFO] [1744748181.875746122] [cleanerBotA_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000
[rmf_traffic_schedule-1] [INFO] [1744748181.939820044] [rmf_traffic_schedule_primary]: A new mirror is tracking query ID [1]
[schedule_visualizer_node-4] [INFO] [1744748181.959255377] [schedule_data_node]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[building_map_server-3] [INFO] [1744748181.962704909] [building_map_server]: opening: /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/hotel/hotel_L3.png
[building_map_server-3] [INFO] [1744748181.964978293] [building_map_server]: read 47951 byte image
[building_map_server-3] [INFO] [1744748182.053287449] [building_map_server]: unable to generate GeoJSON for this map.
[building_map_server-3] [INFO] [1744748182.404646336] [building_map_server]: publishing map...
[building_map_server-3] [INFO] [1744748182.614376716] [building_map_server]: ready to serve map: "hotel" Ctrl+C to exit...
[fleet_adapter-15] [INFO] [1744748182.703410747] [cleanerBotA_fleet_adapter]: Registering to query topic rmf_traffic/query_update_1
[fleet_adapter-17] [INFO] [1744748182.819181309] [tinyRobot_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000
[fleet_adapter-19] [INFO] [1744748183.025035389] [deliveryRobot_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000
[rmf_traffic_schedule-1] [INFO] [1744748183.213672832] [rmf_traffic_schedule_primary]: A new mirror is tracking query ID [1]
[schedule_visualizer_node-4] [INFO] [1744748183.215110952] [schedule_data_node]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[fleet_adapter-19] [INFO] [1744748183.687865807] [deliveryRobot_fleet_adapter]: Registering to query topic rmf_traffic/query_update_1
[fleet_adapter-15] [INFO] [1744748184.094530946] [cleanerBotA_fleet_adapter]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[fleet_adapter-15] [INFO] [1744748184.097288476] [cleanerBotA_fleet_adapter]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[fleet_adapter-19] [INFO] [1744748184.999588055] [deliveryRobot_fleet_adapter]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[fleet_adapter-15] [INFO] [1744748185.431835630] [cleanerBotA_fleet_adapter]: Finished configuring Easy Full Control adapter for fleet [cleanerBotA]
[fleet_adapter-19] [INFO] [1744748186.224469881] [deliveryRobot_fleet_adapter]: Fleet [deliveryRobot] is configured to perform delivery tasks
[fleet_adapter-19] [INFO] [1744748186.224894916] [deliveryRobot_fleet_adapter]: Fleet [deliveryRobot] is configured to perform patrol tasks
[fleet_adapter-19] [INFO] [1744748186.224969323] [deliveryRobot_fleet_adapter]: Finished configuring Easy Full Control adapter for fleet [deliveryRobot]
[rmf_traffic_schedule-1] [INFO] [1744748187.014131284] [rmf_traffic_schedule_primary]: A new mirror is tracking query ID [1]
[fleet_adapter-15] [INFO] [1744748187.024400741] [cleanerBotA_fleet_adapter]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[fleet_adapter-19] [INFO] [1744748187.024401041] [deliveryRobot_fleet_adapter]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[schedule_visualizer_node-4] [INFO] [1744748187.030669664] [schedule_data_node]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[fleet_adapter-17] [INFO] [1744748187.092597533] [tinyRobot_fleet_adapter]: Registering to query topic rmf_traffic/query_update_1
[fleet_adapter-17] [INFO] [1744748187.881061736] [tinyRobot_fleet_adapter]: Mirror handling new sync of 1 queries from schedule node [eb1fda7e-1551-4494-8c14-4d78e84a577d]
[rviz2-10] [INFO] [1744748188.584360031] [rviz2]: Trying to create a map of size 693 x 845 using 1 swatches
[fleet_adapter-17] [INFO] [1744748189.305764138] [tinyRobot_fleet_adapter]: Fleet [tinyRobot] is configured to perform delivery tasks
[fleet_adapter-17] [INFO] [1744748189.305862446] [tinyRobot_fleet_adapter]: Fleet [tinyRobot] is configured to perform patrol tasks
[fleet_adapter-17] [INFO] [1744748189.321798876] [tinyRobot_fleet_adapter]: Finished configuring Easy Full Control adapter for fleet [tinyRobot]
[rviz2-10] [ERROR] [1744748190.195169265] [rviz2]: rviz/glsl120/indexed_8bit_image.vert
[rviz2-10] rviz/glsl120/indexed_8bit_image.frag
[rviz2-10] GLSL link result :
[rviz2-10] active samplers with a different type refer to the same texture image unit
[schedule_visualizer_node-4] [INFO] [1744748196.053446835] [schedule_data_node]: Requesting new schedule update because update timed out
[schedule_visualizer_node-4] [INFO] [1744748196.054033316] [schedule_data_node]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since beginning of recorded history
[rmf_traffic_schedule-1] [INFO] [1744748196.094661161] [rmf_traffic_schedule_primary]: [ScheduleNode::update_mirrors] Sending remedial update starting from the beginning going to 0 for query 1
[fleet_adapter-17] [INFO] [1744748216.102986530] [tinyRobot_fleet_adapter]: Requesting new schedule update because update timed out
[schedule_visualizer_node-4] [INFO] [1744748216.103334374] [schedule_data_node]: Requesting new schedule update because update timed out
[schedule_visualizer_node-4] [INFO] [1744748216.103432587] [schedule_data_node]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since beginning of recorded history
[fleet_adapter-17] [INFO] [1744748216.106849021] [tinyRobot_fleet_adapter]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since version [0]
[fleet_adapter-15] [INFO] [1744748216.168016104] [cleanerBotA_fleet_adapter]: Requesting new schedule update because update timed out
[fleet_adapter-15] [INFO] [1744748216.196163186] [cleanerBotA_fleet_adapter]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since version [0]
[fleet_adapter-19] [INFO] [1744748216.269245785] [deliveryRobot_fleet_adapter]: Requesting new schedule update because update timed out
[fleet_adapter-19] [INFO] [1744748216.269424208] [deliveryRobot_fleet_adapter]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since version [0]
[rmf_traffic_schedule-1] [INFO] [1744748216.276506009] [rmf_traffic_schedule_primary]: [ScheduleNode::update_mirrors] Sending remedial update starting from the beginning going to 0 for query 1
[gz-20] Warning [Utils.cc:132] [/sdf/world[@name="sim_world"]/rmf_charger_waypoints[@name="charger_waypoints"]:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L4399]: XML Element[rmf_charger_waypoints], child of element[world], not defined in SDF. Copying[rmf_charger_waypoints] as children of [world].
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[1]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L455]: Msg: Unable to find uri[model://Sofa]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[2]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L461]: Msg: Unable to find uri[model://Sofa]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[4]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L473]: Msg: Unable to find uri[model://HeadphonesRack1]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[5]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L479]: Msg: Unable to find uri[model://Bookshelf]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[6]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L485]: Msg: Unable to find uri[model://Bookshelf]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[7]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L491]: Msg: Unable to find uri[model://Bookshelf]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[8]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L497]: Msg: Unable to find uri[model://Bookshelf]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[9]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L503]: Msg: Unable to find uri[model://Bookshelf]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[10]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L509]: Msg: Unable to find uri[model://Bookshelf]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[15]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L539]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[16]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L545]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[17]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L551]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[18]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L557]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[19]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L563]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[20]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L569]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[21]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L575]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[22]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L581]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[23]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L587]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[24]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L593]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[25]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L599]: Msg: Unable to find uri[model://FoodCourtBenchShort]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[29]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L623]: Msg: Unable to find uri[model://KitchenCountertop]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[30]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L629]: Msg: Unable to find uri[model://KitchenCountertop]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[42]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L701]: Msg: Unable to find uri[model://Fridge]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[43]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L707]: Msg: Unable to find uri[model://Fridge]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[44]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L713]: Msg: Unable to find uri[model://VendingMachine]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[45]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L719]: Msg: Unable to find uri[model://VendingMachine]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[46]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L725]: Msg: Unable to find uri[model://DeskChair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[47]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L731]: Msg: Unable to find uri[model://DeskChair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[48]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L737]: Msg: Unable to find uri[model://EscalatorStart]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[50]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L749]: Msg: Unable to find uri[model://Suitcase2]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[51]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L755]: Msg: Unable to find uri[model://Suitcase1]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[67]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1375]: Msg: Unable to find uri[model://Shower]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[72]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1405]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[73]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1411]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[75]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1423]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[88]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1501]: Msg: Unable to find uri[model://Fridge]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[89]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1507]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[90]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1513]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[91]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1519]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[92]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1525]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[93]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1531]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[94]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1537]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[95]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1543]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[96]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1549]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[97]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1555]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[98]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1561]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[99]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1567]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[100]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1573]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[101]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1579]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[102]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1585]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[103]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1591]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[104]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1597]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[105]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L1603]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[127]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2240]: Msg: Unable to find uri[model://Shower]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[132]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2270]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[133]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2276]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[135]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2288]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[148]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2366]: Msg: Unable to find uri[model://Fridge]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[149]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2372]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[150]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2378]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[151]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2384]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[152]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2390]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[153]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2396]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[154]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2402]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[155]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2408]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[156]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2414]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[157]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2420]: Msg: Unable to find uri[model://Desk]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[158]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2426]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[159]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2432]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[160]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2438]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[161]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2444]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[162]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2450]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[163]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2456]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[164]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2462]: Msg: Unable to find uri[model://Chair]
[gz-20] [Err] [Server.cc:86] Error Code 14: [/sdf/world[@name="sim_world"]/include[165]/uri:/root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world:L2468]: Msg: Unable to find uri[model://Chair]
[INFO] [gz-20]: process has finished cleanly [pid 1437]
[fleet_adapter-15] [INFO] [1744748236.263179788] [cleanerBotA_fleet_adapter]: Requesting new schedule update because update timed out
[fleet_adapter-15] [INFO] [1744748236.264973159] [cleanerBotA_fleet_adapter]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since beginning of recorded history
[rmf_traffic_schedule-1] [INFO] [1744748236.269510699] [rmf_traffic_schedule_primary]: [ScheduleNode::update_mirrors] Sending remedial update starting from the beginning going to 1 for query 1
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rmf_visualization_building_systems-6] Traceback (most recent call last):
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rmf_visualization_building_systems/rmf_visualization_building_systems.py", line 356, in main
[rmf_visualization_building_systems-6] rclpy.spin(n)
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/init.py", line 244, in spin
[rmf_visualization_building_systems-6] executor.spin_once()
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 839, in spin_once
[rmf_visualization_building_systems-6] self._spin_once_impl(timeout_sec)
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 823, in _spin_once_impl
[rmf_visualization_building_systems-6] handler, entity, node = self.wait_for_ready_callbacks(
[rmf_visualization_building_systems-6] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 793, in wait_for_ready_callbacks
[rmf_visualization_building_systems-6] return next(self._cb_iter)
[rmf_visualization_building_systems-6] ^^^^^^^^^^^^^^^^^^^
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 697, in _wait_for_ready_callbacks
[rmf_visualization_building_systems-6] wait_set.wait(timeout_nsec)
[rmf_visualization_building_systems-6] KeyboardInterrupt
[rmf_visualization_building_systems-6]
[rmf_visualization_building_systems-6] During handling of the above exception, another exception occurred:
[rmf_visualization_building_systems-6]
[rmf_visualization_building_systems-6] Traceback (most recent call last):
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/rmf_visualization_building_systems/rmf_visualization_building_systems", line 33, in
[rmf_visualization_building_systems-6] sys.exit(load_entry_point('rmf-visualization-building-systems==2.3.2', 'console_scripts', 'rmf_visualization_building_systems')())
[parameter_bridge-21] [INFO] [1744748236.607465927] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-19] [INFO] [1744748236.607564747] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-15] [INFO] [1744748236.607867410] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-15] Traceback (most recent call last):
[fleet_adapter-15] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter", line 33, in
[fleet_adapter-15] sys.exit(load_entry_point('rmf-demos-fleet-adapter==2.3.0', 'console_scripts', 'fleet_adapter')())
[fleet_adapter-15] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_adapter-15] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/python3.12/site-packages/rmf_demos_fleet_adapter/fleet_adapter.py", line 179, in main
[fleet_adapter-15] rclpy_executor.spin()
[fleet_adapter-15] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 308, in spin
[fleet_adapter-15] self.spin_once()
[fleet_adapter-15] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 839, in spin_once
[fleet_adapter-15] self._spin_once_impl(timeout_sec)
[fleet_adapter-15] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 823, in _spin_once_impl
[fleet_adapter-15] handler, entity, node = self.wait_for_ready_callbacks(
[fleet_adapter-15] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_adapter-15] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 793, in wait_for_ready_callbacks
[fleet_adapter-15] return next(self._cb_iter)
[fleet_adapter-15] ^^^^^^^^^^^^^^^^^^^
[fleet_adapter-15] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 697, in _wait_for_ready_callbacks
[fleet_adapter-15] wait_set.wait(timeout_nsec)
[fleet_adapter-15] KeyboardInterrupt
[rmf_task_dispatcher-13] [INFO] [1744748236.608265292] [rclcpp]: signal_handler(signum=2)
[rmf_task_dispatcher-13] [INFO] [1744748236.689173157] [rmf_dispatcher_node]: Closing down task dispatcher
[obstacle_visualizer_node-9] [INFO] [1744748236.609855022] [rclcpp]: signal_handler(signum=2)
[fleetstates_visualizer_node-5] [INFO] [1744748236.610092671] [rclcpp]: signal_handler(signum=2)
[INFO] [fleetstates_visualizer_node-5]: process has finished cleanly [pid 1368]
[schedule_visualizer_node-4] [INFO] [1744748236.610187991] [rclcpp]: signal_handler(signum=2)
[rmf_traffic_blockade-2] [INFO] [1744748236.610436442] [rclcpp]: signal_handler(signum=2)
[rmf_traffic_blockade-2] [INFO] [1744748236.656781845] [rmf_traffic_blockade_node]: Closing down traffic blockade node
[fleet_adapter-17] [INFO] [1744748236.607737183] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-17] Traceback (most recent call last):
[fleet_adapter-17] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter", line 33, in
[fleet_adapter-17] sys.exit(load_entry_point('rmf-demos-fleet-adapter==2.3.0', 'console_scripts', 'fleet_adapter')())
[fleet_adapter-17] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_adapter-17] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/python3.12/site-packages/rmf_demos_fleet_adapter/fleet_adapter.py", line 179, in main
[fleet_adapter-17] rclpy_executor.spin()
[fleet_adapter-17] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 308, in spin
[door_supervisor-11] [INFO] [1744748236.613675813] [rclcpp]: signal_handler(signum=2)
[INFO] [navgraph_visualizer_node-7]: process has finished cleanly [pid 1370]
[INFO] [parameter_bridge-21]: process has finished cleanly [pid 1456]
[INFO] [rmf_traffic_blockade-2]: process has finished cleanly [pid 1365]
[INFO] [lift_supervisor-12]: process has finished cleanly [pid 1379]
[INFO] [rmf_task_dispatcher-13]: process has finished cleanly [pid 1386]
[INFO] [door_supervisor-11]: process has finished cleanly [pid 1376]
[floorplan_visualizer_node-8] [INFO] [1744748236.614498984] [rclcpp]: signal_handler(signum=2)
[INFO] [obstacle_visualizer_node-9]: process has finished cleanly [pid 1372]
[lift_supervisor-12] [INFO] [1744748236.608703883] [rclcpp]: signal_handler(signum=2)
[navgraph_visualizer_node-7] [INFO] [1744748236.629271645] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-15] Starting fleet adapter...
[fleet_adapter-15] Other error for cleanerBotA_1 in get_data: HTTPConnectionPool(host='127.0.0.1', port=22013): Max retries exceeded with url: /open-rmf/rmf_demos_fm/status?robot_name=cleanerBotA_1 (Caused by NewConnectionError('<urllib3.connection.HTTPConnection object at 0x7fe70d4251f0>: Failed to establish a new connection: [Errno 111] Connection refused'))
[fleet_adapter-15] Other error for cleanerBotA_2 in get_data: HTTPConnectionPool(host='127.0.0.1', port=22013): Max retries exceeded with url: /open-rmf/rmf_demos_fm/status?robot_name=cleanerBotA_2 (Caused by NewConnectionError('<urllib3.connection.HTTPConnection object at 0x7fe70d4254f0>: Failed to establish a new connection: [Errno 111] Connection refused'))
[fleet_adapter-17] Starting fleet adapter...
[fleet_adapter-17] Other error for tinyBot_1 in get_data: HTTPConnectionPool(host='127.0.0.1', port=22011): Max retries exceeded with url: /open-rmf/rmf_demos_fm/status?robot_name=tinyBot_1 (Caused by NewConnectionError('<urllib3.connection.HTTPConnection object at 0x7f1e1fabca10>: Failed to establish a new connection: [Errno 111] Connection refused'))
[rmf_visualization_building_systems-6] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rmf_visualization_building_systems/rmf_visualization_building_systems.py", line 359, in main
[rmf_visualization_building_systems-6] rclpy.shutdown()
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/init.py", line 134, in shutdown
[rmf_visualization_building_systems-6] _shutdown(context=context)
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown
[rmf_visualization_building_systems-6] context.shutdown()
[rmf_visualization_building_systems-6] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown
[rmf_visualization_building_systems-6] self.__context.shutdown()
[rmf_visualization_building_systems-6] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333
[rmf_traffic_schedule-1] [INFO] [1744748236.795383465] [rclcpp]: signal_handler(signum=2)
[rmf_traffic_schedule-1] [INFO] [1744748236.836736434] [rmf_traffic_schedule_primary]: Closing down traffic schedule node
[INFO] [rmf_traffic_schedule-1]: process has finished cleanly [pid 1364]
[rviz2-10] [INFO] [1744748236.795825356] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-17] self.spin_once()
[fleet_adapter-17] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 839, in spin_once
[fleet_adapter-17] self._spin_once_impl(timeout_sec)
[fleet_adapter-17] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 823, in _spin_once_impl
[fleet_adapter-17] handler, entity, node = self.wait_for_ready_callbacks(
[fleet_adapter-17] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_adapter-17] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 793, in wait_for_ready_callbacks
[fleet_adapter-17] return next(self._cb_iter)
[fleet_adapter-17] ^^^^^^^^^^^^^^^^^^^
[fleet_adapter-17] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 697, in _wait_for_ready_callbacks
[fleet_adapter-17] wait_set.wait(timeout_nsec)
[fleet_adapter-17] KeyboardInterrupt
[fleet_adapter-19] Starting fleet adapter...
[fleet_adapter-19] Other error for deliveryBot_1 in get_data: HTTPConnectionPool(host='127.0.0.1', port=22012): Max retries exceeded with url: /open-rmf/rmf_demos_fm/status?robot_name=deliveryBot_1 (Caused by NewConnectionError('<urllib3.connection.HTTPConnection object at 0x7fbb4c2fe060>: Failed to establish a new connection: [Errno 111] Connection refused'))
[ERROR] [rmf_visualization_building_systems-6]: process has died [pid 1369, exit code 1, cmd '/opt/ros/jazzy/lib/rmf_visualization_building_systems/rmf_visualization_building_systems -m L1 --ros-args --params-file /tmp/launch_params_m38baoai'].
[fleet_adapter-19] Traceback (most recent call last):
[fleet_adapter-19] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter", line 33, in
[fleet_adapter-19] sys.exit(load_entry_point('rmf-demos-fleet-adapter==2.3.0', 'console_scripts', 'fleet_adapter')())
[fleet_adapter-19] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_adapter-19] File "/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/python3.12/site-packages/rmf_demos_fleet_adapter/fleet_adapter.py", line 179, in main
[fleet_adapter-19] rclpy_executor.spin()
[fleet_adapter-19] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 308, in spin
[fleet_adapter-19] self.spin_once()
[fleet_adapter-19] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 839, in spin_once
[fleet_adapter-19] self._spin_once_impl(timeout_sec)
[fleet_adapter-19] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 823, in _spin_once_impl
[fleet_adapter-19] handler, entity, node = self.wait_for_ready_callbacks(
[fleet_adapter-19] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[fleet_adapter-19] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 793, in wait_for_ready_callbacks
[fleet_adapter-19] return next(self._cb_iter)
[fleet_adapter-19] ^^^^^^^^^^^^^^^^^^^
[fleet_adapter-19] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 697, in _wait_for_ready_callbacks
[fleet_adapter-19] wait_set.wait(timeout_nsec)
[fleet_adapter-19] KeyboardInterrupt
[INFO] [floorplan_visualizer_node-8]: process has finished cleanly [pid 1371]
[rviz2-10] terminate called without an active exception
[INFO] [schedule_visualizer_node-4]: process has finished cleanly [pid 1367]
[INFO] [building_map_server-3]: process has finished cleanly [pid 1366]
[ERROR] [fleet_adapter-19]: process[fleet_adapter-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [fleet_adapter-17]: process[fleet_adapter-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [fleet_adapter-19]: sending signal 'SIGTERM' to process[fleet_adapter-19]
[ERROR] [fleet_adapter-15]: process[fleet_adapter-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [fleet_adapter-17]: sending signal 'SIGTERM' to process[fleet_adapter-17]
[fleet_adapter-19] [INFO] [1744748242.497895979] [rclcpp]: signal_handler(signum=15)
[ERROR] [rviz2-10]: process[rviz2-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [fleet_adapter-15]: sending signal 'SIGTERM' to process[fleet_adapter-15]
[fleet_adapter-17] [INFO] [1744748242.523074437] [rclcpp]: signal_handler(signum=15)
[INFO] [rviz2-10]: sending signal 'SIGTERM' to process[rviz2-10]
[fleet_adapter-15] [INFO] [1744748242.550511958] [rclcpp]: signal_handler(signum=15)
^[[A^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[fleet_adapter-17] [INFO] [1744748246.709091894] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-17] Exception ignored in: <module 'threading' from '/usr/lib/python3.12/threading.py'>
[fleet_adapter-17] Traceback (most recent call last):
[fleet_adapter-17] File "/usr/lib/python3.12/threading.py", line 1622, in _shutdown
[fleet_adapter-19] [INFO] [1744748246.709085393] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-19] Exception ignored in: <module 'threading' from '/usr/lib/python3.12/threading.py'>
[fleet_adapter-19] Traceback (most recent call last):
[fleet_adapter-19] File "/usr/lib/python3.12/threading.py", line 1622, in _shutdown
[fleet_adapter-15] [INFO] [1744748246.709139802] [rclcpp]: signal_handler(signum=2)
[fleet_adapter-15] Exception ignored in: <module 'threading' from '/usr/lib/python3.12/threading.py'>
[fleet_adapter-15] Traceback (most recent call last):
[fleet_adapter-15] File "/usr/lib/python3.12/threading.py", line 1622, in _shutdown
[fleet_adapter-15] lock.acquire()
[fleet_adapter-15] KeyboardInterrupt:
[fleet_adapter-17] lock.acquire()
[fleet_adapter-17] KeyboardInterrupt:
[fleet_adapter-19] lock.acquire()
[fleet_adapter-19] KeyboardInterrupt:
[ERROR] [fleet_adapter-15]: process has died [pid 1393, exit code -2, cmd '/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter -c /root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/cleanerBotA_config.yaml -n /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/nav_graphs/1.yaml -sim --ros-args --params-file /tmp/launch_params_hcnkkk24 --params-file /tmp/launch_params_bz0wi6o3'].
[ERROR] [fleet_adapter-19]: process has died [pid 1419, exit code -2, cmd '/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter -c /root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/deliveryRobot_config.yaml -n /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/nav_graphs/2.yaml -sim --ros-args --params-file /tmp/launch_params_1tp5agb3 --params-file /tmp/launch_params_wecyzsyz'].
[ERROR] [fleet_adapter-17]: process has died [pid 1417, exit code -2, cmd '/root/rmf_ws/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter -c /root/rmf_ws/install/rmf_demos/share/rmf_demos/config/hotel/tinyRobot_config.yaml -n /root/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/nav_graphs/0.yaml -sim --ros-args --params-file /tmp/launch_params_2aqevdo4 --params-file /tmp/launch_params_iadzx0h1'].
[ERROR] [rviz2-10]: process[rviz2-10] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [rviz2-10]: sending signal 'SIGKILL' to process[rviz2-10]
[ERROR] [rviz2-10]: process has died [pid 1373, exit code -9, cmd 'rviz2 -d /root/rmf_ws/install/rmf_demos/share/rmf_demos/include/hotel/hotel.rviz'].
Steps to reproduce the bug
Pull Docker
docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest
docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest
Run demo on docker
docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1"
Expected behavior
The docker should run in headless mode, but gazebo crashes.
I have faced sam issue when I installed RMF from Binaries and tried to compile RMF demo and try to run demo.
Actual behavior
Gazebo on the docker crashes at the Error stating some models are mising. I have tried running Gazebo separately which work. Also tried downloading the models using gz fuel download still and providing the $GZ_MODEL_PATH. Still the error persists
Additional information or screenshots
No response