Summit XL steel errors during launch

[akileshrajan]

Hello,

I am trying to launch the Summit XL Steel simulation on gazebo with navigation using the instructions mentioned.
I use the command roslaunch summit_xl_sim_bringup summit_xls_complete.launch
But, I get several errors.

I found a similar issue reported in the issue 15, but the solution mentioned there doesn't seem to work. I am not able to find the yaml file mentioned in the solution to the above issue to make the recommended changes.
Maybe I am looking at it wrong or something I am doing is not right.

Any help is much appreciated.
Below are the details of the error:

auto-starting new master
process[master]: started with pid [30220]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 46c8328c-157b-11eb-9fa6-38d547ac34e2
process[rosout-1]: started with pid [30233]
started core service [/rosout]
process[robot/robot_state_publisher-2]: started with pid [30250]
process[robot/urdf_spawner_summit_model-3]: started with pid [30251]
process[robot/controller_spawner-4]: started with pid [30252]
process[robot/twist_mux-5]: started with pid [30266]
process[robot/twist_marker-6]: started with pid [30279]
process[robot/map_server-7]: started with pid [30302]
process[robot/amcl-8]: started with pid [30319]
process[robot/move_base-9]: started with pid [30335]
process[gazebo-10]: started with pid [30353]
process[gazebo_gui-11]: started with pid [30374]
process[rviz-12]: started with pid [30399]
[ INFO] [1603490479.342321554]: Requesting the map...
[ WARN] [1603490479.343292877]: Request for map failed; trying again...
[INFO] [1603490479.449792, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1603490479.498800089]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1603490479.499196423]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1603490479.526290060]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1603490479.526605334]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1603490479.702561, 0.000000]: Loading model XML from ros parameter
[INFO] [1603490479.705242, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1603490481.364996771]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1603490481.369622917]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1603490481.410089662]: Physics dynamic reconfigure ready.
[ INFO] [1603490481.412015584]: Physics dynamic reconfigure ready.
[INFO] [1603490481.512005, 0.015000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1603490481.760212792, 0.045000000]: Camera Plugin: Using the 'robotNamespace' param: '/robot/'
[ INFO] [1603490481.762364905, 0.045000000]: Camera Plugin (ns = /robot/)  <tf_prefix_>, set to "/robot"
[ INFO] [1603490481.762499236, 0.045000000]: <robotNamespace> set to: /robot//
[ INFO] [1603490481.762519836, 0.045000000]: <topicName> set to: /robot//imu/data
[ INFO] [1603490481.762531246, 0.045000000]: <frameName> set to: robot_imu_link
[ INFO] [1603490481.762553553, 0.045000000]: <updateRateHZ> set to: 100
[ INFO] [1603490481.762575037, 0.045000000]: <gaussianNoise> set to: 0
[ INFO] [1603490481.762597928, 0.045000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1603490481.762636063, 0.045000000]: <rpyOffset> set to: 0 -0 0
Master Unknown message type[subscr] From[55696]
[ INFO] [1603490481.804065109, 0.045000000]: Laser Plugin: Using the 'robotNamespace' param: '/robot/'
[ INFO] [1603490481.804107555, 0.045000000]: Starting GazeboRosLaser Plugin (ns = /robot/)
[ INFO] [1603490481.804680242, 0.045000000]: GPU Laser Plugin (ns = /robot/) <tf_prefix_>, set to "/robot"
[ INFO] [1603490481.805603361, 0.045000000]: LoadThread function completed
[ INFO] [1603490481.810759706, 0.045000000]: Laser Plugin: Using the 'robotNamespace' param: '/robot/'
[ INFO] [1603490481.810795577, 0.045000000]: Starting GazeboRosLaser Plugin (ns = /robot/)
[INFO] [1603490481.811535, 0.045000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1603490481.811608637, 0.045000000]: GPU Laser Plugin (ns = /robot/) <tf_prefix_>, set to "/robot"
[ INFO] [1603490481.812477451, 0.045000000]: LoadThread function completed
[ INFO] [1603490481.830590145, 0.045000000]: Loading gazebo_ros_control plugin
[ INFO] [1603490481.830688833, 0.045000000]: Starting gazebo_ros_control plugin in namespace: /robot/
[ INFO] [1603490481.831207345, 0.045000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot/robot_description] on the ROS param server.
[ERROR] [1603490481.939565724, 0.045000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/robot_front_right_wheel_joint
[ERROR] [1603490481.940310173, 0.045000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/robot_front_left_wheel_joint
[ERROR] [1603490481.941003047, 0.045000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/robot_back_left_wheel_joint
[ERROR] [1603490481.941637360, 0.045000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/robot_back_right_wheel_joint
[ERROR] [1603490481.942262808, 0.045000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/robot_front_laser_base_joint
[ERROR] [1603490481.942881154, 0.045000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/robot_rear_laser_base_joint
[ INFO] [1603490481.946871339, 0.045000000]: Loaded gazebo_ros_control.
[ INFO] [1603490481.949864129, 0.045000000]: PlanarMovePlugin missing <enableYAxis>, defaults to "1"
[robot/urdf_spawner_summit_model-3] process has finished cleanly
log file: /home/akilesh/.ros/log/46c8328c-157b-11eb-9fa6-38d547ac34e2/robot-urdf_spawner_summit_model-3*.log
[INFO] [1603490482.159622, 0.245000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1603490482.160716, 0.246000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1603490482.161719, 0.248000]: Loading controller: joint_read_state_controller
[INFO] [1603490482.166706, 0.253000]: Loading controller: joint_pan_position_controller
[ERROR] [1603490482.192840388, 0.277000000]: Exception thrown while initializing controller joint_pan_position_controller.
Could not find resource 'robot_front_ptz_camera_pan_joint' in 'hardware_interface::VelocityJointInterface'.
[ERROR] [1603490482.192915822, 0.277000000]: Initializing controller 'joint_pan_position_controller' failed
[ INFO] [1603490482.503542397, 0.588000000]: Received a 4992 X 4992 map @ 0.020 m/pix

[ INFO] [1603490482.923518542, 1.008000000]: Initializing likelihood field model; this can take some time on large maps...
[ERROR] [1603490483.199025, 1.283000]: Failed to load joint_pan_position_controller
[INFO] [1603490483.199284, 1.283000]: Loading controller: joint_tilt_position_controller
[ERROR] [1603490483.224110538, 1.308000000]: Exception thrown while initializing controller joint_tilt_position_controller.
Could not find resource 'robot_front_ptz_camera_tilt_joint' in 'hardware_interface::VelocityJointInterface'.
[ERROR] [1603490483.224146760, 1.308000000]: Initializing controller 'joint_tilt_position_controller' failed
[ERROR] [1603490484.228260, 2.311000]: Failed to load joint_tilt_position_controller
[INFO] [1603490484.228565, 2.312000]: Controller Spawner: Loaded controllers: joint_read_state_controller
[INFO] [1603490484.230355, 2.314000]: Started controllers: joint_read_state_controller
[ INFO] [1603490484.766970476, 2.850000000]: Done initializing likelihood field model.