- ☝️ Check my Google Docs
🟢ROSLaunch that Gazebo world that I created via udacity_office.launch.
✅ It’s probably due to insufficient memory. I have migrated the whole course repos to local windows 11, wsl2, ubuntu 20.04, ros, gazebo 11 (classic). Originally i was using VMWare with the ubuntu 16.04 image.
VMware: vmw_ioctl_command error Cannot allocate memory.
Aborted (core dumped)
[gazebo_gui-3] process has diedobond@udacity:~/catkin_ws$ roslaunch my_robot udacity_office.launch
... logging to /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/roslaunch-udacity-6115.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://192.168.146.128:33359/
SUMMARY
========
PARAMETERS
* /joint_state_publisher/use_gui: False
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
urdf_spawner (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [6131]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to fc58a24c-efb7-11ef-ac2e-000c29b977f9
process[rosout-1]: started with pid [6144]
started core service [/rosout]
process[gazebo-2]: started with pid [6147]
process[gazebo_gui-3]: started with pid [6153]
process[joint_state_publisher-4]: started with pid [6178]
process[robot_state_publisher-5]: started with pid [6179]
process[urdf_spawner-6]: started with pid [6180]
process[rviz-7]: started with pid [6181]
SpawnModel script started
[ INFO] [1740075897.463273383]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1740075897.464587612]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1740075897.525276, 0.000000]: Loading model XML from ros parameter
[INFO] [1740075897.528256, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1740075898.134898, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1740075898.180367, 0.000000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name udacity_office_my_robot
[urdf_spawner-6] process has finished cleanly
log file: /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/urdf_spawner-6*.log
[ INFO] [1740075898.516658742, 1549.348000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1740075898.530733224, 1549.348000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1740075898.531429882, 1549.348000000]: Starting Laser Plugin (ns = /)
[ INFO] [1740075898.535874445, 1549.348000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1740075898.552923307, 1549.348000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1740075898.641781446, 1549.348000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1740075898.641935340, 1549.348000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1740075898.643362848, 1549.348000000]: DiffDrive(ns = //): <tf_prefix> =
[ INFO] [1740075898.644614865, 1549.348000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1740075898.647578356, 1549.348000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1740075898.648702679, 1549.348000000]: DiffDrive(ns = //): Advertise odom on odom
[ INFO] [1740075898.659440552, 1549.353000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1740075898.723666300, 1549.378000000]: Physics dynamic reconfigure ready.
VMware: vmw_ioctl_command error Cannot allocate memory.
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 6153, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/gazebo_gui-3.log].
log file: /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/gazebo_gui-3*.log
[rviz-7] process has finished cleanly
log file: /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/rviz-7*.log
^C[robot_state_publisher-5] killing on exit
[joint_state_publisher-4] killing on exit
[gazebo-2] killing on exit
[gazebo-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robond@udacity:~/catkin_ws$ cat /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/urdf_spawner-6*.log
[rospy.client][INFO] 2025-02-20 10:24:57,418: init_node, name[/urdf_spawner], pid[6180]
[xmlrpc][INFO] 2025-02-20 10:24:57,419: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2025-02-20 10:24:57,419: Started XML-RPC server [http://192.168.146.128:33187/]
[rospy.impl.masterslave][INFO] 2025-02-20 10:24:57,419: _ready: http://192.168.146.128:33187/
[rospy.init][INFO] 2025-02-20 10:24:57,419: ROS Slave URI: [http://192.168.146.128:33187/]
[rospy.registration][INFO] 2025-02-20 10:24:57,419: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2025-02-20 10:24:57,420: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2025-02-20 10:24:57,519: registered with master
[rospy.rosout][INFO] 2025-02-20 10:24:57,520: initializing /rosout core topic
[rospy.rosout][INFO] 2025-02-20 10:24:57,521: connected to core topic /rosout
[rospy.simtime][INFO] 2025-02-20 10:24:57,522: initializing /clock core topic
[rospy.simtime][INFO] 2025-02-20 10:24:57,523: connected to core topic /clock
[rosout][INFO] 2025-02-20 10:24:57,525: Loading model XML from ros parameter
[rosout][INFO] 2025-02-20 10:24:57,528: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2025-02-20 10:24:57,779: topic[/rosout] adding connection to [/rosout], count 0
[rosout][INFO] 2025-02-20 10:24:58,134: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2025-02-20 10:24:58,180: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name udacity_office_my_robot
[rospy.core][INFO] 2025-02-20 10:24:58,180: signal_shutdown [atexit]
[rospy.internal][INFO] 2025-02-20 10:24:58,183: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2025-02-20 10:24:58,184: atexit
🔍 1. SIFT & SURF (Patent Algorithms in OpenCV)
These are feature detection and description algorithms used in computer vision:
Here's the timeline for SIFT and SURF patents:
🧠 SIFT (Scale-Invariant Feature Transform)
Inventor: David Lowe
Patent Number: US Patent 6,711,293
Filed: March 6, 2000
Granted: March 23, 2004
Assignee: University of British Columbia
Expiration: March 6, 2020 (20 years after filing)
🔒 For most of its life, SIFT was under patent, which restricted its inclusion in open-source distributions like OpenCV and ROS.
⚡ SURF (Speeded-Up Robust Features)
Inventors: Herbert Bay, Andreas Ess, Tinne Tuytelaars, Luc Van Gool
Patent Number: WO2006114405A1 / US20090297059A1 (international application)
Filed: March 18, 2006
Published: 2006–2009 depending on jurisdiction
Assignee: ETH Zurich / Vision Components GmbH
Expiration: Generally around March 2026, but enforcement varies, and key parts expired or became abandoned earlier.
🌱 Summary Table
Let me know if you want links to the patent documents or help ensuring your OpenCV is correctly using them now that they're safe to use.