abizovnuralem/go2_ros2_sdk

Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU

go2_ros2_sdk's Issues

secondary development for non-edu versions

We're interested in the fantastic open-source work you've done, but we're considering purchasing Go2 Air. However, we're unsure if there's the capability for secondary development on Air. The official customer service mentioned that non-education versions don't provide development interfaces. Have you tried developing on Air? If we use your repository, can it solve this problem?

is it possible to add extra lidar MID-360?

Odom/Odom TF Jumping

Hi,

When I started the driver launch file(ros2 launch go2_robot_sdk robot.launch.py), I can see the full robot model and pointcloud.

However, the robot model is jumping or shifting in rviz. When I check the tf, it seems that the odom tf is jumping.

As shown in the pictures above, robot pose is changing in alternate in these two positions.

Do you know what is the issue?

Thanks.

David

No Odom and Lidar(PointCLoud) Topic

Hi,

Thanks for sharing the package.

I can use this package to see the camera view from my go2 pro robot. I can see the IMU and go2_states as well.

But I cant see the point cloud(Lidar) from the robot. The topic output is empty. Also. there is no odom topic shown.

May I know what is the problem?

Thanks.

Regards,

David

Errors loading geometries - URDF

The Robot model is not visible because of this error for the URDF only. Seems like the .dae meshes are not loaded to display the model properly. At first that could be the path that causing errors but the path is correct. Are mesh files corrupted?

rviz only shows the body of the go2, but not the four legs and camera.

Thanks for sharing the code. I'm just getting started with robotics and I'm having problems with the configuration process, can you provide me with a solution?

After I run "ros2 launch go2_robot_sdk robot.launch.py", rviz only shows the body of the go2, but not the four legs and camera.

The status bar of rviz shows:
FL_calf No transform from [FL_calf] to [odom]
FL_calflower No transform from [FL_calflower] to [odom]
...
base_link Transform OK
front_camera Transform OK

Terminal shows:

1714101769.8241620 [INFO] [launch]: All log files can be found below /home/smbu/.ros/log/2024-04-26-11-22-49-823525-smbu-H3CDesk-X500t-4993
1714101769.8242383 [INFO] [launch]: Default logging verbosity is set to INFO
1714101770.2460189 [INFO] [foxglove_bridge-1]: process started with pid [4994]
1714101770.2461760 [INFO] [async_slam_toolbox_node-2]: process started with pid [4996]
1714101770.2462521 [INFO] [controller_server-3]: process started with pid [4998]
1714101770.2463179 [INFO] [smoother_server-4]: process started with pid [5000]
1714101770.2463772 [INFO] [planner_server-5]: process started with pid [5002]
1714101770.2464349 [INFO] [behavior_server-6]: process started with pid [5004]
1714101770.2464912 [INFO] [bt_navigator-7]: process started with pid [5006]
1714101770.2465467 [INFO] [waypoint_follower-8]: process started with pid [5008]
1714101770.2466023 [INFO] [velocity_smoother-9]: process started with pid [5010]
1714101770.2466564 [INFO] [lifecycle_manager-10]: process started with pid [5012]
1714101770.2467093 [INFO] [pointcloud_to_laserscan_node-11]: process started with pid [5014]
1714101770.2467778 [INFO] [robot_state_publisher-12]: process started with pid [5016]
1714101770.2468510 [INFO] [joy_node-13]: process started with pid [5018]
1714101770.2469246 [INFO] [teleop_node-14]: process started with pid [5020]
1714101770.2469964 [INFO] [twist_mux-15]: process started with pid [5022]
1714101770.2470691 [INFO] [go2_driver_node-16]: process started with pid [5024]
1714101770.2471423 [INFO] [go2_proc_text-17]: process started with pid [5026]
1714101770.2472136 [INFO] [ros2_go2_video-18]: process started with pid [5028]
1714101770.2472858 [INFO] [rviz2-19]: process started with pid [5030]
1714101770.3323753 [teleop_node-14] [INFO] [1714101770.331942645] [TeleopTwistJoy]: Teleop enable button 6.
1714101770.3324599 [teleop_node-14] [INFO] [1714101770.331979655] [TeleopTwistJoy]: Turbo on button 7.
1714101770.3325109 [teleop_node-14] [INFO] [1714101770.331984239] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.400000.
1714101770.3325570 [teleop_node-14] [INFO] [1714101770.331991132] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.000000.
1714101770.3326035 [teleop_node-14] [INFO] [1714101770.331994646] [TeleopTwistJoy]: Linear axis y on 0 at scale 0.400000.
1714101770.3326457 [teleop_node-14] [INFO] [1714101770.331998100] [TeleopTwistJoy]: Turbo for linear axis y is scale 1.000000.
1714101770.3326888 [teleop_node-14] [INFO] [1714101770.332001713] [TeleopTwistJoy]: Angular axis yaw on 2 at scale 1.500000.
1714101770.3327289 [teleop_node-14] [INFO] [1714101770.332005273] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.500000.
1714101770.3434558 [foxglove_bridge-1] [INFO] [1714101770.343245068] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so
1714101770.3536663 [foxglove_bridge-1] [INFO] [1714101770.353457369] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
1714101770.3537610 [foxglove_bridge-1] [INFO] [1714101770.353488868] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
1714101770.3553498 [foxglove_bridge-1] [INFO] [1714101770.355222117] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.7.4@) with WebSocket++/0.8.2
1714101770.3559506 [foxglove_bridge-1] [INFO] [1714101770.355829268] [foxglove_bridge]: [WS] Server running without TLS
1714101770.3579469 [foxglove_bridge-1] [INFO] [1714101770.357767000] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765
1714101770.3581877 [foxglove_bridge-1] [INFO] [1714101770.357769389] [foxglove_bridge]: [WS] WebSocket server run loop started
1714101770.4229238 [go2_driver_node-16] Traceback (most recent call last):
1714101770.4230151 [go2_driver_node-16] File "/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 33, in
1714101770.4232149 [go2_driver_node-16] sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'go2_driver_node')())
1714101770.4232574 [go2_driver_node-16] File "/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 25, in importlib_load_entry_point
1714101770.4232841 [go2_driver_node-16] return next(matches).load()
1714101770.4233065 [go2_driver_node-16] File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load
1714101770.4234450 [go2_driver_node-16] module = import_module(match.group('module'))
1714101770.4234788 [go2_driver_node-16] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
1714101770.4235024 [go2_driver_node-16] return _bootstrap._gcd_import(name[level:], package, level)
1714101770.4235241 [go2_driver_node-16] File "", line 1050, in _gcd_import
1714101770.4236481 [go2_driver_node-16] File "", line 1027, in _find_and_load
1714101770.4236774 [go2_driver_node-16] File "", line 1006, in _find_and_load_unlocked
1714101770.4237008 [go2_driver_node-16] File "", line 688, in _load_unlocked
1714101770.4237216 [go2_driver_node-16] File "", line 883, in exec_module
1714101770.4237406 [go2_driver_node-16] File "", line 241, in _call_with_frames_removed
1714101770.4237599 [go2_driver_node-16] File "/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 33, in
1714101770.4238594 [go2_driver_node-16] from scripts.go2_lidar_decoder import update_meshes_for_cloud2
1714101770.4238887 [go2_driver_node-16] File "/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/scripts/go2_lidar_decoder.py", line 29, in
1714101770.4239168 [go2_driver_node-16] from wasmtime import Config, Engine, Store, Module, Instance, Func, FuncType
1714101770.4239378 [go2_driver_node-16] ModuleNotFoundError: No module named 'wasmtime'
1714101770.4249382 [ros2_go2_video-18] [INFO] [1714101770.424869772] [go2_video]: Starting go2_video
1714101770.4261732 [ros2_go2_video-18] [INFO] [1714101770.426109990] [go2_video]: Connecting to the robot's video stream
1714101770.4270949 [ros2_go2_video-18] Logger is already initialized
1714101770.4322090 [ros2_go2_video-18] 2024-04-26T03:22:50.432145Z INFO webrtc_ice::mdns: mDNS is using 224.0.0.251:5353 as dest_addr
1714101770.4333298 [ros2_go2_video-18] 2024-04-26T03:22:50.433264Z INFO webrtc_mdns::conn: Looping and listening Ok(224.0.0.251:5353)
1714101770.4334931 [ros2_go2_video-18] 2024-04-26T03:22:50.433451Z INFO webrtc::peer_connection: signaling state changed to have-local-offer
1714101770.4339187 [ros2_go2_video-18] 2024-04-26T03:22:50.433865Z WARN webrtc_ice::agent::agent_gather: [controlled]: could not listen udp fe80::d71:61ce:5e86:cc11: io error: Invalid argument (os error 22)
1714101770.4340589 [pointcloud_to_laserscan_node-11] [INFO] [1714101770.433866831] [pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber
1714101770.4341781 [ros2_go2_video-18] 2024-04-26T03:22:50.433925Z WARN webrtc_ice::agent::agent_gather: [controlled]: could not listen udp fe80::1610:392f:d277:fb47: io error: Invalid argument (os error 22)
1714101770.4342737 [ros2_go2_video-18] {"type":"offer","sdp":"v=0\r\no=- 3391336238769782364 431957110 IN IP4 0.0.0.0\r\ns=-\r\nt=0 0\r\na=fingerprint:sha-256 85:D7:35:09:C4:C0:B8:34:C8:93:25:C6:24:70:18:5B:92:28:06:2B:65:41:C4:F3:86:23:A6:88:3D:AB:8F:8F\r\na=group:BUNDLE 0 1 2\r\nm=audio 9 UDP/TLS/RTP/SAVPF 111 9 0 8\r\nc=IN IP4 0.0.0.0\r\na=setup:actpass\r\na=mid:0\r\na=ice-ufrag:GPzDtjQKzkYjMEjm\r\na=ice-pwd:QaHAUgDTEaikDfXbFNjnNNwqGbgismjZ\r\na=rtcp-mux\r\na=rtcp-rsize\r\na=rtpmap:111 opus/48000/2\r\na=rtcp-fb:111 transport-cc\r\na=rtpmap:9 G722/8000\r\na=rtcp-fb:9 transport-cc\r\na=rtpmap:0 PCMU/8000\r\na=rtcp-fb:0 transport-cc\r\na=rtpmap:8 PCMA/8000\r\na=rtcp-fb:8 transport-cc\r\na=extmap:1 http://www.ietf.org/id/draft-holmer-rmcat-transport-wide-cc-extensions-01\r\na=sendrecv\r\na=candidate:1873822714 1 udp 2130706431 fdc2:74a7:8661:700:1d60:b854:dfd2:5a52 59266 typ host\r\na=candidate:1873822714 2 udp 2130706431 fdc2:74a7:8661:700:1d60:b854:dfd2:5a52 59266 typ host\r\na=candidate:3399145175 1 udp 2130706431 fdc2:74a7:8661:700:d834:18e9:adcf:4d03 37512 typ host\r\na=candidate:3399145175 2 udp 2130706431 fdc2:74a7:8661:700:d834:18e9:adcf:4d03 37512 typ host\r\na=candidate:4090772598 1 udp 2130706431 192.168.3.13 50424 typ host\r\na=candidate:4090772598 2 udp 2130706431 192.168.3.13 50424 typ host\r\na=candidate:2053989688 1 udp 2130706431 192.168.123.16 35305 typ host\r\na=candidate:2053989688 2 udp 2130706431 192.168.123.16 35305 typ host\r\na=end-of-candidates\r\nm=video 9 UDP/TLS/RTP/SAVPF 102 96 98 100 127 125 108 123 41 116\r\nc=IN IP4 0.0.0.0\r\na=setup:actpass\r\na=mid:1\r\na=ice-ufrag:GPzDtjQKzkYjMEjm\r\na=ice-pwd:QaHAUgDTEaikDfXbFNjnNNwqGbgismjZ\r\na=rtcp-mux\r\na=rtcp-rsize\r\na=rtpmap:102 H264/90000\r\na=rtcp-fb:102 nack\r\na=rtcp-fb:102 nack pli\r\na=rtcp-fb:102 transport-cc\r\na=rtpmap:96 VP8/90000\r\na=rtcp-fb:96 goog-remb\r\na=rtcp-fb:96 ccm fir\r\na=rtcp-fb:96 nack\r\na=rtcp-fb:96 nack pli\r\na=rtcp-fb:96 nack\r\na=rtcp-fb:96 nack pli\r\na=rtcp-fb:96 transport-cc\r\na=rtpmap:98 VP9/90000\r\na=fmtp:98 profile-id=0\r\na=rtcp-fb:98 goog-remb\r\na=rtcp-fb:98 ccm fir\r\na=rtcp-fb:98 nack\r\na=rtcp-fb:98 nack pli\r\na=rtcp-fb:98 nack\r\na=rtcp-fb:98 nack pli\r\na=rtcp-fb:98 transport-cc\r\na=rtpmap:100 VP9/90000\r\na=fmtp:100 profile-id=1\r\na=rtcp-fb:100 goog-remb\r\na=rtcp-fb:100 ccm fir\r\na=rtcp-fb:100 nack\r\na=rtcp-fb:100 nack pli\r\na=rtcp-fb:100 nack\r\na=rtcp-fb:100 nack pli\r\na=rtcp-fb:100 transport-cc\r\na=rtpmap:127 H264/90000\r\na=fmtp:127 level-asymmetry-allowed=1;packetization-mode=0;profile-level-id=42001f\r\na=rtcp-fb:127 goog-remb\r\na=rtcp-fb:127 ccm fir\r\na=rtcp-fb:127 nack\r\na=rtcp-fb:127 nack pli\r\na=rtcp-fb:127 nack\r\na=rtcp-fb:127 nack pli\r\na=rtcp-fb:127 transport-cc\r\na=rtpmap:125 H264/90000\r\na=fmtp:125 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42e01f\r\na=rtcp-fb:125 goog-remb\r\na=rtcp-fb:125 ccm fir\r\na=rtcp-fb:125 nack\r\na=rtcp-fb:125 nack pli\r\na=rtcp-fb:125 nack\r\na=rtcp-fb:125 nack pli\r\na=rtcp-fb:125 transport-cc\r\na=rtpmap:108 H264/90000\r\na=fmtp:108 level-asymmetry-allowed=1;packetization-mode=0;profile-level-id=42e01f\r\na=rtcp-fb:108 goog-remb\r\na=rtcp-fb:108 ccm fir\r\na=rtcp-fb:108 nack\r\na=rtcp-fb:108 nack pli\r\na=rtcp-fb:108 nack\r\na=rtcp-fb:108 nack pli\r\na=rtcp-fb:108 transport-cc\r\na=rtpmap:123 H264/90000\r\na=fmtp:123 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=640032\r\na=rtcp-fb:123 goog-remb\r\na=rtcp-fb:123 ccm fir\r\na=rtcp-fb:123 nack\r\na=rtcp-fb:123 nack pli\r\na=rtcp-fb:123 nack\r\na=rtcp-fb:123 nack pli\r\na=rtcp-fb:123 transport-cc\r\na=rtpmap:41 AV1/90000\r\na=fmtp:41 profile-id=0\r\na=rtcp-fb:41 goog-remb\r\na=rtcp-fb:41 ccm fir\r\na=rtcp-fb:41 nack\r\na=rtcp-fb:41 nack pli\r\na=rtcp-fb:41 nack\r\na=rtcp-fb:41 nack pli\r\na=rtcp-fb:41 transport-cc\r\na=rtpmap:116 ulpfec/90000\r\na=rtcp-fb:116 nack\r\na=rtcp-fb:116 nack pli\r\na=rtcp-fb:116 transport-cc\r\na=extmap:1 http://www.ietf.org/id/draft-holmer-rmcat-transport-wide-cc-extensions-01\r\na=recvonly\r\nm=application 9 UDP/DTLS/SCTP webrtc-datachannel\r\nc=IN IP4 0.0.0.0\r\na=setup:actpass\r\na=mid:2\r\na=sendrecv\r\na=sctp-port:5000\r\na=ice-ufrag:GPzDtjQKzkYjMEjm\r\na=ice-pwd:QaHAUgDTEaikDfXbFNjnNNwqGbgismjZ\r\n"}
1714101770.4397810 [ERROR] [go2_driver_node-16]: process has died [pid 5024, exit code 1, cmd '/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node --ros-args --params-file /tmp/launch_params_ny1rlzz9'].
1714101770.8381491 [rviz2-19] [INFO] [1714101770.837939319] [rviz2]: Stereo is NOT SUPPORTED
1714101770.8384435 [rviz2-19] [INFO] [1714101770.838051822] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
1714101770.8737733 [foxglove_bridge-1] [WARN] [1714101770.873540678] [foxglove_bridge]: no .msg definition for unitree_go/msg/VoxelMapCompressed, falling back to IDL
1714101770.8740339 [foxglove_bridge-1] [WARN] [1714101770.873613865] [foxglove_bridge]: Could not find definition for type unitree_go/msg/VoxelMapCompressed: unitree_go/msg/VoxelMapCompressed
1714101770.8776164 [foxglove_bridge-1] [WARN] [1714101770.877480508] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8778632 [foxglove_bridge-1] [WARN] [1714101770.877528427] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8779793 [foxglove_bridge-1] [WARN] [1714101770.877556453] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8780491 [foxglove_bridge-1] [WARN] [1714101770.877585111] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8788671 [foxglove_bridge-1] [WARN] [1714101770.878745502] [foxglove_bridge]: no .msg definition for unitree_go/msg/VoxelHeightMapState, falling back to IDL
1714101770.8790562 [foxglove_bridge-1] [WARN] [1714101770.878797391] [foxglove_bridge]: Could not find definition for type unitree_go/msg/VoxelHeightMapState: unitree_go/msg/VoxelHeightMapState
1714101770.8843329 [foxglove_bridge-1] [WARN] [1714101770.884195710] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8845377 [foxglove_bridge-1] [WARN] [1714101770.884272177] [foxglove_bridge]: no .msg definition for unitree_go/msg/ConfigChangeStatus, falling back to IDL
1714101770.8845787 [foxglove_bridge-1] [WARN] [1714101770.884312955] [foxglove_bridge]: Could not find definition for type unitree_go/msg/ConfigChangeStatus: unitree_go/msg/ConfigChangeStatus
1714101770.8854415 [foxglove_bridge-1] [WARN] [1714101770.885266681] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8862200 [foxglove_bridge-1] [WARN] [1714101770.886090848] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.8869047 [foxglove_bridge-1] [WARN] [1714101770.886777874] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101770.9500499 [rviz2-19] [INFO] [1714101770.949848094] [rviz2]: Stereo is NOT SUPPORTED
1714101771.0959055 [rviz2-19] [INFO] [1714101771.095556835] [rviz2]: Stereo is NOT SUPPORTED
1714101771.3979278 [foxglove_bridge-1] [WARN] [1714101771.397767843] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3981366 [foxglove_bridge-1] [WARN] [1714101771.397828342] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3983607 [foxglove_bridge-1] [WARN] [1714101771.398104600] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3984611 [foxglove_bridge-1] [WARN] [1714101771.398151197] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3987558 [foxglove_bridge-1] [WARN] [1714101771.398284009] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3988180 [foxglove_bridge-1] [WARN] [1714101771.398373052] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3988698 [foxglove_bridge-1] [WARN] [1714101771.398419212] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.3989172 [foxglove_bridge-1] [WARN] [1714101771.398498578] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.4417200 [rviz2-19] [ERROR] [1714101771.441596427] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
1714101771.4418032 [rviz2-19]
1714101771.4420781 [rviz2-19] [ERROR] [1714101771.441681581] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
1714101771.4421537 [rviz2-19]
1714101771.9020290 [foxglove_bridge-1] [WARN] [1714101771.901402785] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9027939 [foxglove_bridge-1] [WARN] [1714101771.901597333] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9029722 [foxglove_bridge-1] [WARN] [1714101771.901723237] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9030881 [foxglove_bridge-1] [WARN] [1714101771.901867876] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9031801 [foxglove_bridge-1] [WARN] [1714101771.902037932] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9032722 [foxglove_bridge-1] [WARN] [1714101771.902189307] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9039133 [foxglove_bridge-1] [WARN] [1714101771.903151163] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101771.9040563 [foxglove_bridge-1] [WARN] [1714101771.903311965] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4097211 [foxglove_bridge-1] [WARN] [1714101772.409156923] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4103744 [foxglove_bridge-1] [WARN] [1714101772.409375271] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4104979 [foxglove_bridge-1] [WARN] [1714101772.409609074] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4105785 [foxglove_bridge-1] [WARN] [1714101772.409840934] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4106462 [foxglove_bridge-1] [WARN] [1714101772.409936223] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4110520 [foxglove_bridge-1] [WARN] [1714101772.410023825] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4111459 [foxglove_bridge-1] [WARN] [1714101772.410162857] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.4114430 [foxglove_bridge-1] [WARN] [1714101772.410237498] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9870334 [foxglove_bridge-1] [WARN] [1714101772.986780900] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9877133 [foxglove_bridge-1] [WARN] [1714101772.986918643] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9878747 [foxglove_bridge-1] [WARN] [1714101772.987007537] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9879518 [foxglove_bridge-1] [WARN] [1714101772.987123410] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9880154 [foxglove_bridge-1] [WARN] [1714101772.987200157] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9883976 [foxglove_bridge-1] [WARN] [1714101772.987281710] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9884868 [foxglove_bridge-1] [WARN] [1714101772.987437259] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101772.9886334 [foxglove_bridge-1] [WARN] [1714101772.987520574] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4311237 [ros2_go2_video-18] 2024-04-26T03:22:53.430707Z ERROR video: [httpproxy @ 0x56d27a9fc9c0] Protocol 'httpproxy' not on whitelist 'file,rtp,udp,https,tls,tcp'!
1714101773.4317377 [ros2_go2_video-18] thread 'main' panicked at src/main.rs:107:62:
1714101773.4318848 [ros2_go2_video-18] failed to create decoder: BackendError(ffmpeg::Error(22: Invalid argument))
1714101773.4319599 [ros2_go2_video-18] note: run with RUST_BACKTRACE=1 environment variable to display a backtrace
1714101773.4942670 [foxglove_bridge-1] [WARN] [1714101773.493708841] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4949079 [foxglove_bridge-1] [WARN] [1714101773.493917047] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4950285 [foxglove_bridge-1] [WARN] [1714101773.494113998] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4951143 [foxglove_bridge-1] [WARN] [1714101773.494248768] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4952059 [foxglove_bridge-1] [WARN] [1714101773.494376899] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4953232 [foxglove_bridge-1] [WARN] [1714101773.494510296] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4958937 [foxglove_bridge-1] [WARN] [1714101773.494689916] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.4963918 [foxglove_bridge-1] [WARN] [1714101773.495568654] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101773.5549362 [ERROR] [ros2_go2_video-18]: process has died [pid 5028, exit code 101, cmd '/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video/lib/ros2_go2_video/ros2_go2_video --ros-args --params-file /tmp/launch_params_cchb99g8'].
1714101869.6418254 [foxglove_bridge-1] [WARN] [1714101869.641487644] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6422336 [foxglove_bridge-1] [WARN] [1714101869.641585873] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6424594 [foxglove_bridge-1] [WARN] [1714101869.641669661] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6425221 [foxglove_bridge-1] [WARN] [1714101869.641721646] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6425867 [foxglove_bridge-1] [WARN] [1714101869.641771637] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6426334 [foxglove_bridge-1] [WARN] [1714101869.641824142] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6426747 [foxglove_bridge-1] [WARN] [1714101869.641912282] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101869.6427162 [foxglove_bridge-1] [WARN] [1714101869.641962994] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1460998 [foxglove_bridge-1] [INFO] [1714101870.145615826] [foxglove_bridge]: Removed channel 117 for topic "/go2_camera/color/image" (sensor_msgs/msg/Image)
1714101870.1467650 [foxglove_bridge-1] [WARN] [1714101870.145902049] [foxglove_bridge]: Failed to add channel for topic "/query_result_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1468916 [foxglove_bridge-1] [WARN] [1714101870.146032255] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1469767 [foxglove_bridge-1] [WARN] [1714101870.146109484] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1470709 [foxglove_bridge-1] [WARN] [1714101870.146188282] [foxglove_bridge]: Failed to add channel for topic "/pctoimage_local" (unitree_interfaces/msg/PcToImage): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1471360 [foxglove_bridge-1] [WARN] [1714101870.146267881] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1471968 [foxglove_bridge-1] [WARN] [1714101870.146351052] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1475570 [foxglove_bridge-1] [WARN] [1714101870.146478293] [foxglove_bridge]: Failed to add channel for topic "/arm_Feedback" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714101870.1476536 [foxglove_bridge-1] [WARN] [1714101870.146553418] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/smbu/lzd/ROS2/ros2_ws/install/ros2_go2_video, /home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk, /home/smbu/lzd/ROS2/ros2_ws/install/go2_interfaces, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_go, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/unitree_api, /home/smbu/lzd/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp, /opt/ros/humble]
1714102490.3817368 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
1714102490.3951406 [foxglove_bridge-1] [INFO] [1714102490.381209492] [rclcpp]: signal_handler(signum=2)
1714102490.3955848 [rviz2-19] [INFO] [1714102490.381231962] [rclcpp]: signal_handler(signum=2)
1714102490.3958042 [joy_node-13] [INFO] [1714102490.381192011] [rclcpp]: signal_handler(signum=2)
1714102490.3959827 [teleop_node-14] [INFO] [1714102490.381244114] [rclcpp]: signal_handler(signum=2)
1714102490.3967266 [pointcloud_to_laserscan_node-11] [INFO] [1714102490.381264662] [rclcpp]: signal_handler(signum=2)
1714102490.3968859 [go2_proc_text-17] Traceback (most recent call last):
1714102490.3969352 [go2_proc_text-17] File "/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_proc_text", line 33, in
1714102490.3969831 [go2_proc_text-17] sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'go2_proc_text')())
1714102490.3970163 [go2_proc_text-17] File "/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/scripts/go2_proc_text.py", line 84, in main
1714102490.3976421 [go2_proc_text-17] rclpy.spin(go2_proc_text)
1714102490.3976810 [go2_proc_text-17] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 222, in spin
1714102490.3977067 [go2_proc_text-17] executor.spin_once()
1714102490.3977299 [go2_proc_text-17] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
1714102490.3977509 [go2_proc_text-17] self._spin_once_impl(timeout_sec)
1714102490.3977716 [go2_proc_text-17] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl
1714102490.3977966 [go2_proc_text-17] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
1714102490.3978193 [go2_proc_text-17] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks
1714102490.3978398 [go2_proc_text-17] return next(self._cb_iter)
1714102490.3978591 [go2_proc_text-17] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks
1714102490.3978786 [go2_proc_text-17] wait_set.wait(timeout_nsec)
1714102490.3978972 [go2_proc_text-17] KeyboardInterrupt
1714102490.3980434 [foxglove_bridge-1] [INFO] [1714102490.384765610] [foxglove_bridge]: Shutting down foxglove_bridge
1714102490.3980761 [foxglove_bridge-1] [INFO] [1714102490.384813315] [foxglove_bridge]: [WS] Stopping WebSocket server
1714102490.3980999 [foxglove_bridge-1] [INFO] [1714102490.384872033] [foxglove_bridge]: [WS] All WebSocket connections closed
1714102490.3981209 [foxglove_bridge-1] [INFO] [1714102490.384879472] [foxglove_bridge]: [WS] Waiting for WebSocket server run loop to terminate
1714102490.3981419 [foxglove_bridge-1] [INFO] [1714102490.384903752] [foxglove_bridge]: [WS] asio handle_accept error: asio.system:125 (Operation aborted.)
1714102490.3981612 [foxglove_bridge-1] [INFO] [1714102490.384964246] [foxglove_bridge]: [WS] Error getting remote endpoint: asio.system:9 (Bad file descriptor)
1714102490.3981798 [foxglove_bridge-1] [INFO] [1714102490.385062895] [foxglove_bridge]: [WS] asio async_shutdown error: asio.system:9 (Bad file descriptor)
1714102490.3981986 [foxglove_bridge-1] [ERROR] [1714102490.385081529] [foxglove_bridge]: [WS] handle_accept error: Operation aborted.
1714102490.3982170 [foxglove_bridge-1] [INFO] [1714102490.385088826] [foxglove_bridge]: [WS] Stopping acceptance of new connections because the underlying transport is no longer listening.
1714102490.3982363 [foxglove_bridge-1] [INFO] [1714102490.385118300] [foxglove_bridge]: [WS] WebSocket server run loop stopped
1714102490.3982544 [foxglove_bridge-1] [INFO] [1714102490.385301723] [foxglove_bridge]: [WS] WebSocket server run loop terminated
1714102490.3982732 [foxglove_bridge-1] [INFO] [1714102490.385329830] [foxglove_bridge]: Shutdown complete
1714102490.4203668 [ERROR] [go2_proc_text-17]: process has died [pid 5026, exit code -2, cmd '/home/smbu/lzd/ROS2/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_proc_text --ros-args'].
1714102490.4976754 [INFO] [teleop_node-14]: process has finished cleanly [pid 5020]
1714102490.4980397 [INFO] [twist_mux-15]: process has finished cleanly [pid 5022]
1714102490.5040469 [INFO] [foxglove_bridge-1]: process has finished cleanly [pid 4994]
1714102490.5055547 [INFO] [robot_state_publisher-12]: process has finished cleanly [pid 5016]
1714102490.5066586 [INFO] [pointcloud_to_laserscan_node-11]: process has finished cleanly [pid 5014]
1714102490.5319357 [INFO] [joy_node-13]: process has finished cleanly [pid 5018]
1714102490.5343614 [INFO] [velocity_smoother-9]: process has finished cleanly [pid 5010]
1714102490.5463502 [INFO] [async_slam_toolbox_node-2]: process has finished cleanly [pid 4996]
1714102490.5533264 [INFO] [smoother_server-4]: process has finished cleanly [pid 5000]
1714102490.5594397 [INFO] [waypoint_follower-8]: process has finished cleanly [pid 5008]
1714102490.5707994 [INFO] [lifecycle_manager-10]: process has finished cleanly [pid 5012]
1714102490.5791464 [INFO] [behavior_server-6]: process has finished cleanly [pid 5004]
1714102490.6010299 [INFO] [bt_navigator-7]: process has finished cleanly [pid 5006]
1714102490.6483552 [INFO] [rviz2-19]: process has finished cleanly [pid 5030]
1714102490.6510632 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
1714102490.6526318 [ERROR] [controller_server-3]: process has died [pid 4998, exit code -2, cmd '/opt/ros/humble/lib/nav2_controller/controller_server --ros-args --log-level info --ros-args --params-file /tmp/launch_params_mazeqihn -r /tf:=tf -r /tf_static:=tf_static -r cmd_vel:=cmd_vel_nav'].
1714102490.8776829 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
1714102491.0863845 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
1714102491.0897021 [ERROR] [planner_server-5]: process has died [pid 5002, exit code -2, cmd '/opt/ros/humble/lib/nav2_planner/planner_server --ros-args --log-level info --ros-args -r __node:=planner_server --params-file /tmp/launch_params_mazeqihn -r /tf:=tf -r /tf_static:=tf_static'].