Source build of Ros Lunar Gazebo / Husky on Debian Stretch

Attempting to make and launch Husky in gazebo simulator. jeffa@lunar:~$ uname -a Linux lunar 4.9.0-2-amd64 #1 SMP Debian 4.9.18-1 (2017-03-30) x86_64 GNU/Linux jeffa@lunar:~$ root@lunar:/etc/apt/sources.list.d# cat ros-latest.list deb http://packages.ros.org/ros/ubuntu stretch main I followed the directions Debian install of ROS Lunar `apt-get install ros-lunar-desktop-full` This is on an old HP tx2000. I make husky / gazebo by downloading source, eventually I get a clean build. Some of the packages I used seemed pretty old. Wherever possible I attempted to use the lunar branch of the git repositories. jeffa@lunar:~/catkin_ws/src$ ll total 4 drwxr-xr-x 4 jeffa jeffa 4096 May 28 12:44 beginner_tutorials lrwxrwxrwx 1 jeffa jeffa 48 May 28 04:48 CMakeLists.txt -> /opt/ros/lunar/share/catkin/cmake/toplevel.cmake lrwxrwxrwx 1 jeffa jeffa 37 Jun 3 18:44 cpr_multimaster_tools -> /home/jeffa/git/cpr_multimaster_tools lrwxrwxrwx 1 jeffa jeffa 31 Jun 4 00:11 gazebo_ros_pkgs -> /home/jeffa/git/gazebo_ros_pkgs lrwxrwxrwx 1 jeffa jeffa 31 Jun 3 19:17 geographic_info -> /home/jeffa/git/geographic_info lrwxrwxrwx 1 jeffa jeffa 21 Jun 3 18:31 husky -> /home/jeffa/git/husky lrwxrwxrwx 1 jeffa jeffa 47 Jun 3 22:12 interactive_marker_twist_server -> /home/jeffa/git/interactive_marker_twist_server lrwxrwxrwx 1 jeffa jeffa 22 Jun 3 19:47 lms1xx -> /home/jeffa/git/lms1xx lrwxrwxrwx 1 jeffa jeffa 32 Jun 3 20:22 multimaster_fkie -> /home/jeffa/git/multimaster_fkie lrwxrwxrwx 1 jeffa jeffa 31 Jun 3 19:09 navigation_msgs -> /home/jeffa/git/navigation_msgs lrwxrwxrwx 1 jeffa jeffa 34 Jun 3 19:13 robot_localization -> /home/jeffa/git/robot_localization lrwxrwxrwx 1 jeffa jeffa 24 Jun 3 20:44 ros_comm -> /home/jeffa/git/ros_comm lrwxrwxrwx 1 jeffa jeffa 29 Jun 1 13:29 ros_tutorials -> /home/jeffa/git/ros_tutorials lrwxrwxrwx 1 jeffa jeffa 38 Jun 3 12:48 teleop_twist_keyboard -> /home/jeffa/git/teleop_twist_keyboard/ lrwxrwxrwx 1 jeffa jeffa 25 Jun 3 22:23 twist_mux -> /home/jeffa/git/twist_mux lrwxrwxrwx 1 jeffa jeffa 34 Jun 3 19:20 unique_identifier -> /home/jeffa/git/unique_identifier/ jeffa@lunar:~/catkin_ws/src$ At this point it's built and runs, that is the husky model appears in gazebo. I invoke it as follows. - Sometimes I runt it twice with it loading the model sporadically. This line looks suspicious and the long indicates "ontroller Spawner couldn't find the expected controller_manager ROS interface." I have read a couple answers on this forum that were helpful, but I haven't solved this for myself. Any additional insight for me, or additional trouble shooting suggestions? The .launch file Controller Spawner couldn't find the expected controller_manager ROS interface. [WARN] [1496710736.318317, 0.000000]: Master_discovery node appear not to running. Wait for topic with type 'MasterState. [gazebo-2] process has died [pid 6074, exit code 255, cmd /home/jeffa/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/jeffa/.ros/log/4a86cdbc-4a53-11e7-a002-00210051c57a/gazebo-2.log]. log file: /home/jeffa/.ros/log/4a86cdbc-4a53-11e7-a002-00210051c57a/gazebo-2*.log [WARN] [1496710772.655472, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. From the base_controller_spawner-9.log [rospy.client][INFO] 2017-06-05 17:59:02,256: init_node, name[/base_controller_spawner], pid[6098] [xmlrpc][INFO] 2017-06-05 17:59:02,266: XML-RPC server binding to 0.0.0.0:0 [rospy.init][INFO] 2017-06-05 17:59:02,271: ROS Slave URI: [http://lunar:35231/] [xmlrpc][INFO] 2017-06-05 17:59:02,272: Started XML-RPC server [http://lunar:35231/] [rospy.impl.masterslave][INFO] 2017-06-05 17:59:02,272: _ready: http://lunar:35231/ [xmlrpc][INFO] 2017-06-05 17:59:02,294: xml rpc node: starting XML-RPC server [rospy.registration][INFO] 2017-06-05 17:59:02,298: Registering with master node http://localhost:11311 [rospy.init][INFO] 2017-06-05 17:59:02,372: registered with master [rospy.rosout][INFO] 2017-06-05 17:59:02,373: initializing /rosout core topic [rospy.rosout][INFO] 2017-06-05 17:59:02,396: connected to core topic /rosout [rospy.simtime][INFO] 2017-06-05 17:59:02,411: initializing /clock core topic [rospy.simtime][INFO] 2017-06-05 17:59:02,446: connected to core topic /clock [rosout][INFO] 2017-06-05 17:59:02,476: Controller Spawner: Waiting for service controller_manager/load_controller [rospy.internal][INFO] 2017-06-05 17:59:02,615: topic[/rosout] adding connection to [/rosout], count 0 [rosout][WARNING] 2017-06-05 17:59:32,655: Controller Spawner couldn't find the expected controller_manager ROS interface. [rospy.core][INFO] 2017-06-05 17:59:32,656: signal_shutdown [atexit] [rospy.internal][INFO] 2017-06-05 17:59:32,690: topic[/rosout] removing connection to /rosout [rospy.impl.masterslave][INFO] 2017-06-05 17:59:32,693: atexit Fire it up with roslaunch jeffa@lunar:~$ source ~/catkin_ws/devel/setup.bash jeffa@lunar:~$ export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro jeffa@lunar:~$ export GAZEBO_RESOURCE_PATH=/home/jeffa/git/gazebo_ros_pkgs/gazebo_plugins/test2/worlds/ jeffa@lunar:~$ roslaunch husky_gazebo husky_empty_world.launch ... logging to /home/jeffa/.ros/log/c362956c-4a13-11e7-b2f8-00210051c57a/roslaunch-lunar-592.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://lunar:44261/ SUMMARY ======== PARAMETERS * /ekf_localization/base_link_frame: base_link * /ekf_localization/frequency: 50 * /ekf_localization/imu0: imu/data * /ekf_localization/imu0_config: [False, False, Fa... * /ekf_localization/imu0_differential: True * /ekf_localization/imu0_queue_size: 10 * /ekf_localization/imu0_remove_gravitational_acceleration: True * /ekf_localization/odom0: husky_velocity_co... * /ekf_localization/odom0_config: [False, False, Fa... * /ekf_localization/odom0_differential: False * /ekf_localization/odom0_queue_size: 10 * /ekf_localization/odom_frame: odom * /ekf_localization/two_d_mode: True * /ekf_localization/world_frame: odom * /export_relay/actions: [{'action': 'move... * /export_relay/global_frames: ['map', 'world'] * /export_relay/prefix_operation: add * /export_relay/services: [{'type': 'robot_... * /export_relay/tf_prefix: robot * /export_relay/to: /public/robot * /export_relay/topics: [{'topic': 'odome... * /husky_joint_publisher/publish_rate: 50 * /husky_joint_publisher/type: joint_state_contr... * /husky_velocity_controller/angular/z/has_acceleration_limits: True * /husky_velocity_controller/angular/z/has_velocity_limits: True * /husky_velocity_controller/angular/z/max_acceleration: 6.0 * /husky_velocity_controller/angular/z/max_velocity: 2.0 * /husky_velocity_controller/base_frame_id: base_link * /husky_velocity_controller/cmd_vel_timeout: 0.25 * /husky_velocity_controller/enable_odom_tf: False * /husky_velocity_controller/estimate_velocity_from_position: False * /husky_velocity_controller/left_wheel: ['front_left_whee... * /husky_velocity_controller/linear/x/has_acceleration_limits: True * /husky_velocity_controller/linear/x/has_velocity_limits: True * /husky_velocity_controller/linear/x/max_acceleration: 3.0 * /husky_velocity_controller/linear/x/max_velocity: 1.0 * /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0.... * /husky_velocity_controller/publish_rate: 50 * /husky_velocity_controller/right_wheel: ['front_right_whe... * /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0.... * /husky_velocity_controller/type: diff_drive_contro... * /husky_velocity_controller/wheel_radius_multiplier: 1.0 * /husky_velocity_controller/wheel_separation_multiplier: 1.875 * /import_relay/from: /public/robot * /import_relay/global_frames: ['map', 'world'] * /import_relay/prefix_operation: remove * /import_relay/tf_prefix: robot * /import_relay/topics: [{'topic': 'cmd_v... * /master_sync/sync_services: ['/public*', '/si... * /master_sync/sync_topics: ['/public*', '/si... * /robot_description: exists due to fixed joint reduction overwriting previous value [true] with [false]. Unhandled exception in thread started by sys.excepthook is missing lost sys.stderr [spawn_husky_model-14] process has finished cleanly log file: /home/jeffa/.ros/log/c362956c-4a13-11e7-b2f8-00210051c57a/spawn_husky_model-14*.log [ INFO] [1496683463.504600206, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1496683465.750582417, 0.318000000]: Physics dynamic reconfigure ready. Segmentation fault [gazebo-2] process has died [pid 642, exit code 139, cmd /home/jeffa/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/jeffa/.ros/log/c362956c-4a13-11e7-b2f8-00210051c57a/gazebo-2.log]. log file: /home/jeffa/.ros/log/c362956c-4a13-11e7-b2f8-00210051c57a/gazebo-2*.log [WARN] [1496683481.958125, 0.459000]: Controller Spawner couldn't find the expected controller_manager ROS interface. Unhandled exception in thread started by sys.excepthook is missing lost sys.stderr [base_controller_spawner-9] process has finished cleanly log file: /home/jeffa/.ros/log/c362956c-4a13-11e7-b2f8-00210051c57a/base_controller_spawner-9*.log