ROS问题：[turtle1_tf_broadcaster-3] process has died

最新推荐文章于 2024-12-16 10:45:53 发布
原创 最新推荐文章于 2024-12-16 10:45:53 发布 · 1.1k 阅读 · 0 ·
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#自动驾驶 #人工智能 #机器学习

在尝试运行ROS Turtle TF Demo时遇到启动错误，提示找不到python解释器。此问题通常发生在未正确设置Python环境的情况下，解决方案是创建软链接将python3指向python。

输入命令：

roslaunch turtle_tf turtle_tf_demo.launch

报错：

/usr/bin/env: “python”: 没有那个文件或目录
process[turtle2_tf_broadcaster-4]: started with pid [2636]
/usr/bin/env: “python”: 没有那个文件或目录
process[turtle_pointer-5]: started with pid [2637]
/usr/bin/env: “python”: 没有那个文件或目录
[turtle1_tf_broadcaster-3] process has died [pid 2630, exit code 127, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle1_tf_broadcaster __log:=/home/destiny/.ros/log/bddbe924-dd87-11ec-bd49-aba408262c87/turtle1_tf_broadcaster-3.log].
log file: /home/destiny/.ros/log/bddbe924-dd87-11ec-bd49-aba408262c87/turtle1_tf_broadcaster-3*.log
[turtle2_tf_broadcaster-4] process has died [pid 2636, exit code 127, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle2_tf_broadcaster __log:=/home/destiny/.ros/log/bddbe924-dd87-11ec-bd49-aba408262c87/turtle2_tf_broadcaster-4.log].
log file: /home/destiny/
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SyntaxError: invalid syntax [turtle1_tf_broadcaster-4] process has died [pid 4379, exit code 1, cmd /opt/ros/melodic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle1_tf_broadcaster __log:=/home/abc/.ros/log/4f3a795e-bae2-11f0-86cd-000c2991410e/turtle1_tf_broadcaster-4.log]. log file: /home/abc/.ros/log/4f3a795e-bae2-11f0-86cd-000c2991410e/turtle1_tf_broadcaster-4*.log [turtle2_tf_broadcaster-5] process has died [pid 4385, exit code 1, cmd /opt/ros/melodic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle2_tf_broadcaster __log:=/home/abc/.ros/log/4f3a795e-bae2-11f0-86cd-000c2991410e/turtle2_tf_broadcaster-5.log]. log file: /home/abc/.ros/log/4f3a795e-bae2-11f0-86cd-000c2991410e/turtle2_tf_broadcaster-5*.log [turtle_pointer-6] process has died [pid 4387, exit code 1, cmd /opt/ros/melodic/lib/turtle_tf/turtle_tf_listener.py __name:=turtle_pointer __log:=/home/abc/.ros/log/4f3a795e-bae2-11f0-86cd-000c2991410e/turtle_pointer-6.log]. log file: /home/abc/.ros/log/4f3a795e-bae2-11f0-86cd-000c2991410e/turtle_pointer-6*.log
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jtg@jtg-niubi:~$ roslaunch turtle_tf turtle_tf_demo.launch ... logging to /home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/roslaunch-jtg-niubi-21158.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://jtg-niubi:36649/ SUMMARY ======== PARAMETERS * /rosdistro: noetic * /rosversion: 1.17.4 * /scale_angular: 2.0 * /scale_linear: 2.0 * /turtle1_tf_broadcaster/turtle: turtle1 * /turtle2_tf_broadcaster/turtle: turtle2 NODES / sim (turtlesim/turtlesim_node) teleop (turtlesim/turtle_teleop_key) turtle1_tf_broadcaster (turtle_tf/turtle_tf_broadcaster.py) turtle2_tf_broadcaster (turtle_tf/turtle_tf_broadcaster.py) turtle_pointer (turtle_tf/turtle_tf_listener.py) auto-starting new master process[master]: started with pid [21166] ROS_MASTER_URI=http://localhost:11311 setting /run_id to cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a process[rosout-1]: started with pid [21176] started core service [/rosout] process[sim-2]: started with pid [21183] process[teleop-3]: started with pid [21184] process[turtle1_tf_broadcaster-4]: started with pid [21185] process[turtle2_tf_broadcaster-5]: started with pid [21187] process[turtle_pointer-6]: started with pid [21191] Reading from keyboard --------------------------- Use arrow keys to move the turtle. &#39;q&#39; to quit. Traceback (most recent call last): File "/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py", line 35, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module> import yaml ImportError: No module named yaml Traceback (most recent call last): File "/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py", line 35, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module> import yaml ImportError: No module named yaml Traceback (most recent call last): File "/opt/ros/noetic/lib/turtle_tf/turtle_tf_listener.py", line 34, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module> import yaml ImportError: No module named yaml [turtle1_tf_broadcaster-4] process has died [pid 21185, exit code 1, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle1_tf_broadcaster __log:=/home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/turtle1_tf_broadcaster-4.log]. log file: /home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/turtle1_tf_broadcaster-4*.log [turtle2_tf_broadcaster-5] process has died [pid 21187, exit code 1, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle2_tf_broadcaster __log:=/home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/turtle2_tf_broadcaster-5.log]. log file: /home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/turtle2_tf_broadcaster-5*.log [turtle_pointer-6] process has died [pid 21191, exit code 1, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_listener.py __name:=turtle_pointer __log:=/home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/turtle_pointer-6.log]. log file: /home/jtg/.ros/log/cc0f69ee-8e3c-11f0-bfae-f30f66dfa32a/turtle_pointer-6*.log
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[roslaunch][INFO] 2025-09-10 20:03:53,615: roslaunch starting with args [&#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;turtle_tf&#39;, &#39;turtle_tf_demo.launch&#39;] [roslaunch][INFO] 2025-09-10 20:03:53,615: roslaunch env is environ({&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}) [roslaunch][INFO] 2025-09-10 20:03:53,615: starting in server mode [roslaunch.parent][INFO] 2025-09-10 20:03:53,615: starting roslaunch parent run [roslaunch][INFO] 2025-09-10 20:03:53,615: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml [roslaunch][INFO] 2025-09-10 20:03:53,681: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2025-09-10 20:03:53,681: loading config file /opt/ros/noetic/share/turtle_tf/launch/turtle_tf_demo.launch [roslaunch][INFO] 2025-09-10 20:03:53,682: Added node of type [turtlesim/turtlesim_node] in namespace [/] [roslaunch][INFO] 2025-09-10 20:03:53,682: Added node of type [turtlesim/turtle_teleop_key] in namespace [/] [roslaunch][INFO] 2025-09-10 20:03:53,682: Added node of type [turtle_tf/turtle_tf_broadcaster.py] in namespace [/] [roslaunch][INFO] 2025-09-10 20:03:53,682: Added node of type [turtle_tf/turtle_tf_broadcaster.py] in namespace [/] [roslaunch][INFO] 2025-09-10 20:03:53,682: Added node of type [turtle_tf/turtle_tf_listener.py] in namespace [/] [roslaunch][INFO] 2025-09-10 20:03:53,682: ... selected machine [] for node of type [turtlesim/turtlesim_node] [roslaunch][INFO] 2025-09-10 20:03:53,682: ... selected machine [] for node of type [turtlesim/turtle_teleop_key] [roslaunch][INFO] 2025-09-10 20:03:53,682: ... selected machine [] for node of type [turtle_tf/turtle_tf_broadcaster.py] [roslaunch][INFO] 2025-09-10 20:03:53,682: ... selected machine [] for node of type [turtle_tf/turtle_tf_broadcaster.py] [roslaunch][INFO] 2025-09-10 20:03:53,682: ... selected machine [] for node of type [turtle_tf/turtle_tf_listener.py] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,684: start_process_monitor: creating ProcessMonitor [roslaunch.pmon][INFO] 2025-09-10 20:03:53,684: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)> [roslaunch.pmon][INFO] 2025-09-10 20:03:53,684: start_process_monitor: ProcessMonitor started [roslaunch.parent][INFO] 2025-09-10 20:03:53,684: starting parent XML-RPC server [roslaunch.server][INFO] 2025-09-10 20:03:53,684: starting roslaunch XML-RPC server [roslaunch.server][INFO] 2025-09-10 20:03:53,684: waiting for roslaunch XML-RPC server to initialize [xmlrpc][INFO] 2025-09-10 20:03:53,685: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2025-09-10 20:03:53,685: Started XML-RPC server [http://jtg-niubi:32835/] [xmlrpc][INFO] 2025-09-10 20:03:53,685: xml rpc node: starting XML-RPC server [roslaunch][INFO] 2025-09-10 20:03:53,696: started roslaunch server http://jtg-niubi:32835/ [roslaunch.parent][INFO] 2025-09-10 20:03:53,696: ... parent XML-RPC server started [roslaunch][INFO] 2025-09-10 20:03:53,696: master.is_running[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,696: auto-starting new master [roslaunch][INFO] 2025-09-10 20:03:53,696: create_master_process: rosmaster, /opt/ros/noetic/share/ros, 11311, 3, None, False [roslaunch][INFO] 2025-09-10 20:03:53,696: process[master]: launching with args [[&#39;rosmaster&#39;, &#39;--core&#39;, &#39;-p&#39;, &#39;11311&#39;, &#39;-w&#39;, &#39;3&#39;]] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,696: ProcessMonitor.register[master] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,696: ProcessMonitor.register[master] complete [roslaunch][INFO] 2025-09-10 20:03:53,696: process[master]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,696: process[master]: start w/ args [[&#39;rosmaster&#39;, &#39;--core&#39;, &#39;-p&#39;, &#39;11311&#39;, &#39;-w&#39;, &#39;3&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/master.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,696: process[master]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,698: process[master]: started with pid [2509] [roslaunch][INFO] 2025-09-10 20:03:53,698: master.is_running[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,798: master.is_running[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,899: master.is_running[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,902: master.is_running[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,904: ROS_MASTER_URI=http://localhost:11311 [roslaunch][INFO] 2025-09-10 20:03:53,906: setting /run_id to 3887944c-8e3e-11f0-ae42-0bf44061de44 [roslaunch][INFO] 2025-09-10 20:03:53,908: setting /roslaunch/uris/host_jtg_niubi__32835&#39; to http://jtg-niubi:32835/ [roslaunch][INFO] 2025-09-10 20:03:53,910: ... preparing to launch node of type [rosout/rosout] [roslaunch][INFO] 2025-09-10 20:03:53,910: 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://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,910: process[rosout-1]: env[{&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}] [roslaunch][INFO] 2025-09-10 20:03:53,928: process[rosout-1]: args[[&#39;/opt/ros/noetic/lib/rosout/rosout&#39;, &#39;__name:=rosout&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,928: ... created process [rosout-1] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,928: ProcessMonitor.register[rosout-1] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,928: ProcessMonitor.register[rosout-1] complete [roslaunch][INFO] 2025-09-10 20:03:53,928: ... registered process [rosout-1] [roslaunch][INFO] 2025-09-10 20:03:53,928: process[rosout-1]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,928: process[rosout-1]: start w/ args [[&#39;/opt/ros/noetic/lib/rosout/rosout&#39;, &#39;__name:=rosout&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/rosout-1.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,928: process[rosout-1]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,931: process[rosout-1]: started with pid [2520] [roslaunch][INFO] 2025-09-10 20:03:53,931: ... successfully launched [rosout-1] [roslaunch][INFO] 2025-09-10 20:03:53,932: load_parameters starting ... [roslaunch][INFO] 2025-09-10 20:03:53,948: ... load_parameters complete [roslaunch][INFO] 2025-09-10 20:03:53,948: launch_nodes: launching local nodes ... [roslaunch][INFO] 2025-09-10 20:03:53,948: ... preparing to launch node of type [turtlesim/turtlesim_node] [roslaunch][INFO] 2025-09-10 20:03:53,948: create_node_process: package[turtlesim] type[turtlesim_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,948: process[sim-2]: env[{&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}] [roslaunch][INFO] 2025-09-10 20:03:53,949: process[sim-2]: args[[&#39;/opt/ros/noetic/lib/turtlesim/turtlesim_node&#39;, &#39;__name:=sim&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,949: ... created process [sim-2] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,949: ProcessMonitor.register[sim-2] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,949: ProcessMonitor.register[sim-2] complete [roslaunch][INFO] 2025-09-10 20:03:53,949: ... registered process [sim-2] [roslaunch][INFO] 2025-09-10 20:03:53,949: process[sim-2]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,949: process[sim-2]: start w/ args [[&#39;/opt/ros/noetic/lib/turtlesim/turtlesim_node&#39;, &#39;__name:=sim&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/sim-2.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,949: process[sim-2]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,950: process[sim-2]: started with pid [2527] [roslaunch][INFO] 2025-09-10 20:03:53,950: ... successfully launched [sim-2] [roslaunch][INFO] 2025-09-10 20:03:53,950: ... preparing to launch node of type [turtlesim/turtle_teleop_key] [roslaunch][INFO] 2025-09-10 20:03:53,950: create_node_process: package[turtlesim] type[turtle_teleop_key] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,951: process[teleop-3]: env[{&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}] [roslaunch][INFO] 2025-09-10 20:03:53,951: process[teleop-3]: args[[&#39;/opt/ros/noetic/lib/turtlesim/turtle_teleop_key&#39;, &#39;__name:=teleop&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,951: ... created process [teleop-3] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,951: ProcessMonitor.register[teleop-3] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,951: ProcessMonitor.register[teleop-3] complete [roslaunch][INFO] 2025-09-10 20:03:53,951: ... registered process [teleop-3] [roslaunch][INFO] 2025-09-10 20:03:53,951: process[teleop-3]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,951: process[teleop-3]: start w/ args [[&#39;/opt/ros/noetic/lib/turtlesim/turtle_teleop_key&#39;, &#39;__name:=teleop&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/teleop-3.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,951: process[teleop-3]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,952: process[teleop-3]: started with pid [2528] [roslaunch][INFO] 2025-09-10 20:03:53,952: ... successfully launched [teleop-3] [roslaunch][INFO] 2025-09-10 20:03:53,952: ... preparing to launch node of type [turtle_tf/turtle_tf_broadcaster.py] [roslaunch][INFO] 2025-09-10 20:03:53,952: create_node_process: package[turtle_tf] type[turtle_tf_broadcaster.py] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,952: process[turtle1_tf_broadcaster-4]: env[{&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}] [roslaunch][INFO] 2025-09-10 20:03:53,953: process[turtle1_tf_broadcaster-4]: args[[&#39;/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py&#39;, &#39;__name:=turtle1_tf_broadcaster&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,953: ... created process [turtle1_tf_broadcaster-4] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,953: ProcessMonitor.register[turtle1_tf_broadcaster-4] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,953: ProcessMonitor.register[turtle1_tf_broadcaster-4] complete [roslaunch][INFO] 2025-09-10 20:03:53,953: ... registered process [turtle1_tf_broadcaster-4] [roslaunch][INFO] 2025-09-10 20:03:53,953: process[turtle1_tf_broadcaster-4]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,953: process[turtle1_tf_broadcaster-4]: start w/ args [[&#39;/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py&#39;, &#39;__name:=turtle1_tf_broadcaster&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle1_tf_broadcaster-4.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,953: process[turtle1_tf_broadcaster-4]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,954: process[turtle1_tf_broadcaster-4]: started with pid [2529] [roslaunch][INFO] 2025-09-10 20:03:53,954: ... successfully launched [turtle1_tf_broadcaster-4] [roslaunch][INFO] 2025-09-10 20:03:53,954: ... preparing to launch node of type [turtle_tf/turtle_tf_broadcaster.py] [roslaunch][INFO] 2025-09-10 20:03:53,954: create_node_process: package[turtle_tf] type[turtle_tf_broadcaster.py] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,954: process[turtle2_tf_broadcaster-5]: env[{&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}] [roslaunch][INFO] 2025-09-10 20:03:53,955: process[turtle2_tf_broadcaster-5]: args[[&#39;/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py&#39;, &#39;__name:=turtle2_tf_broadcaster&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,955: ... created process [turtle2_tf_broadcaster-5] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,955: ProcessMonitor.register[turtle2_tf_broadcaster-5] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,955: ProcessMonitor.register[turtle2_tf_broadcaster-5] complete [roslaunch][INFO] 2025-09-10 20:03:53,955: ... registered process [turtle2_tf_broadcaster-5] [roslaunch][INFO] 2025-09-10 20:03:53,955: process[turtle2_tf_broadcaster-5]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,955: process[turtle2_tf_broadcaster-5]: start w/ args [[&#39;/opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py&#39;, &#39;__name:=turtle2_tf_broadcaster&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle2_tf_broadcaster-5.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,955: process[turtle2_tf_broadcaster-5]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,956: process[turtle2_tf_broadcaster-5]: started with pid [2531] [roslaunch][INFO] 2025-09-10 20:03:53,956: ... successfully launched [turtle2_tf_broadcaster-5] [roslaunch][INFO] 2025-09-10 20:03:53,956: ... preparing to launch node of type [turtle_tf/turtle_tf_listener.py] [roslaunch][INFO] 2025-09-10 20:03:53,956: create_node_process: package[turtle_tf] type[turtle_tf_listener.py] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2025-09-10 20:03:53,956: process[turtle_pointer-6]: env[{&#39;SHELL&#39;: &#39;/bin/bash&#39;, &#39;ROS_VERSION&#39;: &#39;1&#39;, &#39;SESSION_MANAGER&#39;: &#39;local/jtg-niubi:@/tmp/.ICE-unix/1788,unix/jtg-niubi:/tmp/.ICE-unix/1788&#39;, &#39;QT_ACCESSIBILITY&#39;: &#39;1&#39;, &#39;COLORTERM&#39;: &#39;truecolor&#39;, &#39;XDG_CONFIG_DIRS&#39;: &#39;/etc/xdg/xdg-ubuntu:/etc/xdg&#39;, &#39;XDG_MENU_PREFIX&#39;: &#39;gnome-&#39;, &#39;GNOME_DESKTOP_SESSION_ID&#39;: &#39;this-is-deprecated&#39;, &#39;PKG_CONFIG_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig&#39;, &#39;ROS_PYTHON_VERSION&#39;: &#39;3&#39;, &#39;LANGUAGE&#39;: &#39;zh_CN:zh&#39;, &#39;GNOME_SHELL_SESSION_MODE&#39;: &#39;ubuntu&#39;, &#39;SSH_AUTH_SOCK&#39;: &#39;/run/user/1000/keyring/ssh&#39;, &#39;XMODIFIERS&#39;: &#39;@im=ibus&#39;, &#39;DESKTOP_SESSION&#39;: &#39;ubuntu&#39;, &#39;SSH_AGENT_PID&#39;: &#39;1674&#39;, &#39;ROS_PACKAGE_PATH&#39;: &#39;/home/jtg/catkin_ws/src:/opt/ros/noetic/share&#39;, &#39;GTK_MODULES&#39;: &#39;gail:atk-bridge&#39;, &#39;ROSLISP_PACKAGE_DIRECTORIES&#39;: &#39;/home/jtg/catkin_ws/devel/share/common-lisp&#39;, &#39;PWD&#39;: &#39;/home/jtg&#39;, &#39;LOGNAME&#39;: &#39;jtg&#39;, &#39;XDG_SESSION_DESKTOP&#39;: &#39;ubuntu&#39;, &#39;XDG_SESSION_TYPE&#39;: &#39;x11&#39;, &#39;GPG_AGENT_INFO&#39;: &#39;/run/user/1000/gnupg/S.gpg-agent:0:1&#39;, &#39;XAUTHORITY&#39;: &#39;/run/user/1000/gdm/Xauthority&#39;, &#39;GJS_DEBUG_TOPICS&#39;: &#39;JS ERROR;JS LOG&#39;, &#39;WINDOWPATH&#39;: &#39;2&#39;, &#39;HOME&#39;: &#39;/home/jtg&#39;, &#39;USERNAME&#39;: &#39;jtg&#39;, &#39;IM_CONFIG_PHASE&#39;: &#39;1&#39;, &#39;LANG&#39;: &#39;zh_CN.UTF-8&#39;, &#39;ROS_ETC_DIR&#39;: &#39;/opt/ros/noetic/etc/ros&#39;, &#39;LS_COLORS&#39;: &#39;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:&#39;, &#39;XDG_CURRENT_DESKTOP&#39;: &#39;ubuntu:GNOME&#39;, &#39;VTE_VERSION&#39;: &#39;6003&#39;, &#39;CMAKE_PREFIX_PATH&#39;: &#39;/home/jtg/catkin_ws/devel:/opt/ros/noetic&#39;, &#39;GNOME_TERMINAL_SCREEN&#39;: &#39;/org/gnome/Terminal/screen/415e9f53_874e_4c83_8a0e_0d16a3f9e9fb&#39;, &#39;INVOCATION_ID&#39;: &#39;a352e7e8673543c7b0d7946cf4462c9e&#39;, &#39;MANAGERPID&#39;: &#39;1578&#39;, &#39;GJS_DEBUG_OUTPUT&#39;: &#39;stderr&#39;, &#39;LESSCLOSE&#39;: &#39;/usr/bin/lesspipe %s %s&#39;, &#39;XDG_SESSION_CLASS&#39;: &#39;user&#39;, &#39;PYTHONPATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages&#39;, &#39;TERM&#39;: &#39;xterm-256color&#39;, &#39;LESSOPEN&#39;: &#39;| /usr/bin/lesspipe %s&#39;, &#39;USER&#39;: &#39;jtg&#39;, &#39;GNOME_TERMINAL_SERVICE&#39;: &#39;:1.100&#39;, &#39;DISPLAY&#39;: &#39;:1&#39;, &#39;SHLVL&#39;: &#39;1&#39;, &#39;ROS_MASTER_URI&#39;: &#39;http://localhost:11311&#39;, &#39;QT_IM_MODULE&#39;: &#39;ibus&#39;, &#39;LD_LIBRARY_PATH&#39;: &#39;/home/jtg/catkin_ws/devel/lib:/opt/ros/noetic/lib&#39;, &#39;XDG_RUNTIME_DIR&#39;: &#39;/run/user/1000&#39;, &#39;JOURNAL_STREAM&#39;: &#39;8:43948&#39;, &#39;XDG_DATA_DIRS&#39;: &#39;/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop&#39;, &#39;PATH&#39;: &#39;/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin&#39;, &#39;GDMSESSION&#39;: &#39;ubuntu&#39;, &#39;DBUS_SESSION_BUS_ADDRESS&#39;: &#39;unix:path=/run/user/1000/bus&#39;, &#39;ROS_ROOT&#39;: &#39;/opt/ros/noetic/share/ros&#39;, &#39;ROS_DISTRO&#39;: &#39;noetic&#39;, &#39;_&#39;: &#39;/opt/ros/noetic/bin/roslaunch&#39;, &#39;ROS_LOG_FILENAME&#39;: &#39;/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/roslaunch-jtg-niubi-2499.log&#39;}] [roslaunch][INFO] 2025-09-10 20:03:53,957: process[turtle_pointer-6]: args[[&#39;/opt/ros/noetic/lib/turtle_tf/turtle_tf_listener.py&#39;, &#39;__name:=turtle_pointer&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,957: ... created process [turtle_pointer-6] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,957: ProcessMonitor.register[turtle_pointer-6] [roslaunch.pmon][INFO] 2025-09-10 20:03:53,957: ProcessMonitor.register[turtle_pointer-6] complete [roslaunch][INFO] 2025-09-10 20:03:53,957: ... registered process [turtle_pointer-6] [roslaunch][INFO] 2025-09-10 20:03:53,957: process[turtle_pointer-6]: starting os process [roslaunch][INFO] 2025-09-10 20:03:53,957: process[turtle_pointer-6]: start w/ args [[&#39;/opt/ros/noetic/lib/turtle_tf/turtle_tf_listener.py&#39;, &#39;__name:=turtle_pointer&#39;, &#39;__log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle_pointer-6.log&#39;]] [roslaunch][INFO] 2025-09-10 20:03:53,957: process[turtle_pointer-6]: cwd will be [/home/jtg/.ros] [roslaunch][INFO] 2025-09-10 20:03:53,958: process[turtle_pointer-6]: started with pid [2535] [roslaunch][INFO] 2025-09-10 20:03:53,958: ... successfully launched [turtle_pointer-6] [roslaunch][INFO] 2025-09-10 20:03:53,958: ... launch_nodes complete [roslaunch.pmon][INFO] 2025-09-10 20:03:53,958: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 139846492763904)> [roslaunch.parent][INFO] 2025-09-10 20:03:53,958: ... roslaunch parent running, waiting for process exit [roslaunch][INFO] 2025-09-10 20:03:53,958: spin [roslaunch][ERROR] 2025-09-10 20:03:53,985: [turtle1_tf_broadcaster-4] process has died [pid 2529, exit code 1, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle1_tf_broadcaster __log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle1_tf_broadcaster-4.log]. log file: /home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle1_tf_broadcaster-4*.log [roslaunch][ERROR] 2025-09-10 20:03:53,985: [turtle2_tf_broadcaster-5] process has died [pid 2531, exit code 1, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_broadcaster.py __name:=turtle2_tf_broadcaster __log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle2_tf_broadcaster-5.log]. log file: /home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle2_tf_broadcaster-5*.log [roslaunch][ERROR] 2025-09-10 20:03:53,985: [turtle_pointer-6] process has died [pid 2535, exit code 1, cmd /opt/ros/noetic/lib/turtle_tf/turtle_tf_listener.py __name:=turtle_pointer __log:=/home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle_pointer-6.log]. log file: /home/jtg/.ros/log/3887944c-8e3e-11f0-ae42-0bf44061de44/turtle_pointer-6*.log [roslaunch.pmon][INFO] 2025-09-10 20:03:53,985: ProcessMonitor.unregister[turtle1_tf_broadcaster-4] starting [roslaunch.pmon][INFO] 2025-09-10 20:03:53,985: ProcessMonitor.unregister[turtle1_tf_broadcaster-4] complete [roslaunch.pmon][INFO] 2025-09-10 20:03:53,985: ProcessMonitor.unregister[turtle2_tf_broadcaster-5] starting [roslaunch.pmon][INFO] 2025-09-10 20:03:53,986: ProcessMonitor.unregister[turtle2_tf_broadcaster-5] complete [roslaunch.pmon][INFO] 2025-09-10 20:03:53,986: ProcessMonitor.unregister[turtle_pointer-6] starting [roslaunch.pmon][INFO] 2025-09-10 20:03:53,986: ProcessMonitor.unregister[turtle_pointer-6] complete
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