how do i solve this issue
user:~$ roslaunch robot_environment launch_world.launch
… logging to /home/user/.ros/log/63b07212-6ca2-11ed-96d5-0242ac130007/roslaunch-4_xterm-32119.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://4_xterm:42529/
SUMMARY
PARAMETERS
- /gazebo/enable_ros_network: True
- /hand_ee_controller/joints: [‘joint_6’, 'join…
- /hand_ee_controller/type: position_controll…
- /joint_state_controller/publish_rate: 500
- /joint_state_controller/type: joint_state_contr…
- /robot_arm: <?xml version="1…
- /robot_arm_controller/joints: [‘joint_1’, 'join…
- /robot_arm_controller/type: position_controll…
- /robot_description: <?xml version="1…
- /rosdistro: noetic
- /rosversion: 1.15.11
- /use_sim_time: True
NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)
spawn_urdfa (gazebo_ros/spawn_model)
tf_footprint_base (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [32146]
ROS_MASTER_URI=http://4_xterm:11311
setting /run_id to 63b07212-6ca2-11ed-96d5-0242ac130007
process[rosout-1]: started with pid [32165]
started core service [/rosout]
process[gazebo-2]: started with pid [32175]
process[gazebo_gui-3]: started with pid [32184]
process[spawn_urdf-4]: started with pid [32188]
process[tf_footprint_base-5]: started with pid [32196]
process[spawn_urdfa-6]: started with pid [32200]
process[controller_spawner-7]: started with pid [32202]
process[robot_state_publisher-8]: started with pid [32204]
++ ls /usr/bin/gzclient-11.5.1
- gzclient_path=/usr/bin/gzclient-11.5.1
- DISPLAY=:2
- /usr/bin/gzclient-11.5.1 -g /opt/ros/noetic/lib/libgazebo_ros_paths_plugin.so -g /opt/ros/noetic/lib/libgazebo_ros_api_plugin.so __name:=gazebo_gui __log:=/home/user/.ros/log/63b07212-6ca2-11ed-96d5-0242ac130007/gazebo_gui-3.log
[INFO] [1669368027.376328, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
Gazebo multi-robot simulator, version 11.5.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[ INFO] [1669368028.318168921]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1669368028.322295680]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[Msg] Connected to gazebo master @ http://172.19.0.7:11345
[Msg] Publicized address: 172.19.0.7
[ INFO] [1669368028.592353696]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1669368028.595013664]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
[Msg] Loading world file [/home/user/catkin_ws/src/robot_environment/worlds/empty_world.world]
[ INFO] [1669368029.075303905]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1669368030.323823077]: Camera Plugin: The ‘robotNamespace’ param did not exit
[ INFO] [1669368030.349015975, 0.001000000]: Camera Plugin (ns = ) <tf_prefix_>, set to “”
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: ‘COLOR’ is currently not supported
[ INFO] [1669368031.137008241, 0.107000000]: Loading gazebo_ros_control plugin
[ INFO] [1669368031.172732382, 0.107000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1669368031.175391757, 0.107000000]: Physics dynamic reconfigure ready.
[ INFO] [1669368031.177808707, 0.107000000]: gazebo_ros_control pluginis waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_urdf-4] process has finished cleanly
log file: /home/user/.ros/log/63b07212-6ca2-11ed-96d5-0242ac130007/spawn_urdf-4*.log
[ INFO] [1669368031.342892095, 0.107000000]: Loaded gazebo_ros_control.
[INFO] [1669368031.444215, 0.204000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1669368031.455263, 0.211000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1669368031.462051, 0.214000]: Loading controller: joint_state_controller
[INFO] [1669368031.491937, 0.240000]: Loading controller: robot_arm_controller
[ERROR] [1669368031.600133993, 0.318000000]: Could not find joint ‘joint_1’ in URDF model.
[ERROR] [1669368031.600468231, 0.318000000]: Failed to initialize the controller
[ERROR] [1669368031.600952047, 0.318000000]: Initializing controller ‘robot_arm_controller’ failed
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/empty_world/pose/local/info, deleting message. This warning is printed only once.
[ERROR] [1669368032.620876, 1.161000]: Failed to load robot_arm_controller
[INFO] [1669368032.626567, 1.165000]: Loading controller: hand_ee_controller
[ERROR] [1669368032.662969046, 1.186000000]: Could not find joint ‘joint_6’ in URDF model.
[ERROR] [1669368032.664927554, 1.187000000]: Failed to initialize the controller
[ERROR] [1669368032.664989959, 1.188000000]: Initializing controller ‘hand_ee_controller’ failed
[spawn_urdfa-6] process has finished cleanly
log file: /home/user/.ros/log/63b07212-6ca2-11ed-96d5-0242ac130007/spawn_urdfa-6*.log
[ERROR] [1669368033.666530, 1.835000]: Failed to load hand_ee_controller
[INFO] [1669368033.675589, 1.841000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1669368033.691381, 1.860000]: Started controllers: joint_state_controller