brazilian-institute-of-robotics / bir_bbot-simulation Goto Github PK

No errors, but why does the robot start running randomly when I launch the simulation?

WARN] [1694745985.557269551]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aruco_id_0 at time 0.000000 according to authority unknown_publisher
[ WARN] [1694745985.589518791]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aruco_id_0 at time 0.000000 according to authority unknown_publisher
[ WARN] [1694745985.629464058]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aruco_id_0 at time 0.000000 according to authority unknown_publisher
[INFO] [1694745985.854112, 368.170000]: /clock is published. Proceeding to load the controller(s).
[INFO] [1694745985.855593, 368.171000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1694745985.857901, 368.173000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1694745985.860578, 368.175000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1694745985.865279, 368.180000]: Loading controller: joint_state_controller
[INFO] [1694745985.874283, 368.190000]: Loading controller: base2right_top_leg_position_controller
[INFO] [1694745985.914277, 368.230000]: Loading controller: base2left_top_leg_position_controller
[INFO] [1694745985.947289, 368.263000]: Loading controller: right_top_leg2bottom_leg_position_controller
[INFO] [1694745985.977338, 368.293000]: Loading controller: left_top_leg2bottom_leg_position_controller
[INFO] [1694745986.009127, 368.325000]: Loading controller: mobile_base_controller
[INFO] [1694745986.024251, 368.340000]: Controller Spawner: Loa

ded controllers: joint_state_controller, base2right_top_leg_position_controller, base2left_top_leg_position_controller, right_top_leg2bottom_leg_position_controller, left_top_leg2bottom_leg_position_controller, mobile_base_controller
[INFO] [1694745986.028086, 368.344000]: Started controllers: joint_state_controller, base2right_top_leg_position_controller, base2left_top_leg_position_controller, right_top_leg2bottom_leg_position_controller, left_top_leg2bottom_leg_position_controller, mobile_base_controller

Any suggestions on how to solve this problem?