Created
March 27, 2020 06:04
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logs from ROS nodes launch
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| $ roslaunch realsense2_camera rovy_rtabmap.launch | |
| ... logging to /home/pi/.ros/log/1d16afb8-6fef-11ea-a505-dca63207de8a/roslaunch-rovy-3696.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://rovy:37925/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2 | |
| * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5 | |
| * /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5 | |
| * /move_base/TrajectoryPlannerROS/holonomic_robot: False | |
| * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0 | |
| * /move_base/TrajectoryPlannerROS/max_vel_x: 0.45 | |
| * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4 | |
| * /move_base/TrajectoryPlannerROS/min_vel_x: 0.1 | |
| * /move_base/global_costmap/footprint: [[-0.205, -0.155]... | |
| * /move_base/global_costmap/global_frame: map | |
| * /move_base/global_costmap/map_type: costmap | |
| * /move_base/global_costmap/observation_sources: point_cloud_sensor | |
| * /move_base/global_costmap/obstacle_range: 2.5 | |
| * /move_base/global_costmap/origin_z: 0.0 | |
| * /move_base/global_costmap/point_cloud_sensor/clearing: True | |
| * /move_base/global_costmap/point_cloud_sensor/data_type: PointCloud2 | |
| * /move_base/global_costmap/point_cloud_sensor/marking: True | |
| * /move_base/global_costmap/point_cloud_sensor/sensor_frame: d435_link | |
| * /move_base/global_costmap/point_cloud_sensor/topic: /rtabmap/cloud_map | |
| * /move_base/global_costmap/publish_frequency: 0.5 | |
| * /move_base/global_costmap/publish_voxel_map: False | |
| * /move_base/global_costmap/raytrace_range: 3.0 | |
| * /move_base/global_costmap/robot_base_frame: t265_odom_frame | |
| * /move_base/global_costmap/static_map: True | |
| * /move_base/global_costmap/transform_tolerance: 0.5 | |
| * /move_base/global_costmap/update_frequency: 1.0 | |
| * /move_base/global_costmap/z_resolution: 0.2 | |
| * /move_base/global_costmap/z_voxels: 2 | |
| * /move_base/local_costmap/footprint: [[-0.205, -0.155]... | |
| * /move_base/local_costmap/global_frame: map | |
| * /move_base/local_costmap/map_type: costmap | |
| * /move_base/local_costmap/observation_sources: point_cloud_sensor | |
| * /move_base/local_costmap/obstacle_range: 2.5 | |
| * /move_base/local_costmap/origin_z: 0.0 | |
| * /move_base/local_costmap/point_cloud_sensor/clearing: True | |
| * /move_base/local_costmap/point_cloud_sensor/data_type: PointCloud2 | |
| * /move_base/local_costmap/point_cloud_sensor/marking: True | |
| * /move_base/local_costmap/point_cloud_sensor/sensor_frame: d435_link | |
| * /move_base/local_costmap/point_cloud_sensor/topic: /rtabmap/cloud_map | |
| * /move_base/local_costmap/publish_frequency: 2.0 | |
| * /move_base/local_costmap/publish_voxel_map: False | |
| * /move_base/local_costmap/raytrace_range: 3.0 | |
| * /move_base/local_costmap/resolution: 0.05 | |
| * /move_base/local_costmap/robot_base_frame: t265_odom_frame | |
| * /move_base/local_costmap/rolling_window: True | |
| * /move_base/local_costmap/static_map: True | |
| * /move_base/local_costmap/transform_tolerance: 0.5 | |
| * /move_base/local_costmap/update_frequency: 5.0 | |
| * /move_base/local_costmap/z_resolution: 0.2 | |
| * /move_base/local_costmap/z_voxels: 2 | |
| * /rosdistro: melodic | |
| * /rosversion: 1.14.3 | |
| * /rtabmap/rtabmap/Mem/IncrementalMemory: false | |
| * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: true | |
| * /rtabmap/rtabmap/approx_sync: True | |
| * /rtabmap/rtabmap/config_path: | |
| * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db | |
| * /rtabmap/rtabmap/frame_id: d435_link | |
| * /rtabmap/rtabmap/ground_truth_base_frame_id: | |
| * /rtabmap/rtabmap/ground_truth_frame_id: | |
| * /rtabmap/rtabmap/landmark_angular_variance: 9999.0 | |
| * /rtabmap/rtabmap/landmark_linear_variance: 0.0001 | |
| * /rtabmap/rtabmap/map_frame_id: map | |
| * /rtabmap/rtabmap/odom_frame_id: | |
| * /rtabmap/rtabmap/odom_sensor_sync: False | |
| * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0 | |
| * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0 | |
| * /rtabmap/rtabmap/publish_tf: True | |
| * /rtabmap/rtabmap/queue_size: 200 | |
| * /rtabmap/rtabmap/scan_cloud_max_points: 0 | |
| * /rtabmap/rtabmap/subscribe_depth: True | |
| * /rtabmap/rtabmap/subscribe_rgb: True | |
| * /rtabmap/rtabmap/subscribe_rgbd: False | |
| * /rtabmap/rtabmap/subscribe_scan: False | |
| * /rtabmap/rtabmap/subscribe_scan_cloud: False | |
| * /rtabmap/rtabmap/subscribe_stereo: False | |
| * /rtabmap/rtabmap/subscribe_user_data: False | |
| * /rtabmap/rtabmap/use_action_for_goal: True | |
| * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 | |
| * /t265/realsense2_camera/accel_fps: 0 | |
| * /t265/realsense2_camera/accel_frame_id: t265_accel_frame | |
| * /t265/realsense2_camera/accel_optical_frame_id: t265_accel_optica... | |
| * /t265/realsense2_camera/align_depth: False | |
| * /t265/realsense2_camera/aligned_depth_to_color_frame_id: t265_aligned_dept... | |
| * /t265/realsense2_camera/aligned_depth_to_fisheye1_frame_id: t265_aligned_dept... | |
| * /t265/realsense2_camera/aligned_depth_to_fisheye2_frame_id: t265_aligned_dept... | |
| * /t265/realsense2_camera/aligned_depth_to_fisheye_frame_id: t265_aligned_dept... | |
| * /t265/realsense2_camera/aligned_depth_to_infra1_frame_id: t265_aligned_dept... | |
| * /t265/realsense2_camera/aligned_depth_to_infra2_frame_id: t265_aligned_dept... | |
| * /t265/realsense2_camera/allow_no_texture_points: False | |
| * /t265/realsense2_camera/base_frame_id: t265_link | |
| * /t265/realsense2_camera/calib_odom_file: | |
| * /t265/realsense2_camera/clip_distance: -1.0 | |
| * /t265/realsense2_camera/color_fps: 30 | |
| * /t265/realsense2_camera/color_frame_id: t265_color_frame | |
| * /t265/realsense2_camera/color_height: 480 | |
| * /t265/realsense2_camera/color_optical_frame_id: t265_color_optica... | |
| * /t265/realsense2_camera/color_width: 640 | |
| * /t265/realsense2_camera/depth_fps: 30 | |
| * /t265/realsense2_camera/depth_frame_id: t265_depth_frame | |
| * /t265/realsense2_camera/depth_height: 480 | |
| * /t265/realsense2_camera/depth_optical_frame_id: t265_depth_optica... | |
| * /t265/realsense2_camera/depth_width: 640 | |
| * /t265/realsense2_camera/device_type: t265 | |
| * /t265/realsense2_camera/enable_accel: True | |
| * /t265/realsense2_camera/enable_color: True | |
| * /t265/realsense2_camera/enable_depth: True | |
| * /t265/realsense2_camera/enable_fisheye1: False | |
| * /t265/realsense2_camera/enable_fisheye2: False | |
| * /t265/realsense2_camera/enable_fisheye: True | |
| * /t265/realsense2_camera/enable_gyro: True | |
| * /t265/realsense2_camera/enable_infra1: True | |
| * /t265/realsense2_camera/enable_infra2: True | |
| * /t265/realsense2_camera/enable_pointcloud: False | |
| * /t265/realsense2_camera/enable_sync: False | |
| * /t265/realsense2_camera/filters: | |
| * /t265/realsense2_camera/fisheye1_frame_id: t265_fisheye1_frame | |
| * /t265/realsense2_camera/fisheye1_optical_frame_id: t265_fisheye1_opt... | |
| * /t265/realsense2_camera/fisheye2_frame_id: t265_fisheye2_frame | |
| * /t265/realsense2_camera/fisheye2_optical_frame_id: t265_fisheye2_opt... | |
| * /t265/realsense2_camera/fisheye_fps: 30 | |
| * /t265/realsense2_camera/fisheye_frame_id: t265_fisheye_frame | |
| * /t265/realsense2_camera/fisheye_height: 0 | |
| * /t265/realsense2_camera/fisheye_optical_frame_id: t265_fisheye_opti... | |
| * /t265/realsense2_camera/fisheye_width: 0 | |
| * /t265/realsense2_camera/gyro_fps: 0 | |
| * /t265/realsense2_camera/gyro_frame_id: t265_gyro_frame | |
| * /t265/realsense2_camera/gyro_optical_frame_id: t265_gyro_optical... | |
| * /t265/realsense2_camera/imu_optical_frame_id: t265_imu_optical_... | |
| * /t265/realsense2_camera/infra1_frame_id: t265_infra1_frame | |
| * /t265/realsense2_camera/infra1_optical_frame_id: t265_infra1_optic... | |
| * /t265/realsense2_camera/infra2_frame_id: t265_infra2_frame | |
| * /t265/realsense2_camera/infra2_optical_frame_id: t265_infra2_optic... | |
| * /t265/realsense2_camera/infra_fps: 30 | |
| * /t265/realsense2_camera/infra_height: 480 | |
| * /t265/realsense2_camera/infra_width: 640 | |
| * /t265/realsense2_camera/initial_reset: True | |
| * /t265/realsense2_camera/json_file_path: | |
| * /t265/realsense2_camera/linear_accel_cov: 0.01 | |
| * /t265/realsense2_camera/odom_frame_id: t265_odom_frame | |
| * /t265/realsense2_camera/pointcloud_texture_index: 0 | |
| * /t265/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR | |
| * /t265/realsense2_camera/pose_frame_id: t265_pose_frame | |
| * /t265/realsense2_camera/pose_optical_frame_id: t265_pose_optical... | |
| * /t265/realsense2_camera/publish_odom_tf: True | |
| * /t265/realsense2_camera/publish_tf: True | |
| * /t265/realsense2_camera/rosbag_filename: | |
| * /t265/realsense2_camera/serial_no: | |
| * /t265/realsense2_camera/tf_publish_rate: 0.0 | |
| * /t265/realsense2_camera/topic_odom_in: odom_in | |
| * /t265/realsense2_camera/unite_imu_method: none | |
| * /t265/realsense2_camera/usb_port_id: | |
| * /t265/tracking_module/enable_relocalization: False | |
| NODES | |
| /rtabmap/ | |
| rtabmap (rtabmap_ros/rtabmap) | |
| / | |
| move_base (move_base/move_base) | |
| t265_to_d400 (tf/static_transform_publisher) | |
| timed_roslaunch_2_realsense2_camera (timed_roslaunch/timed_roslaunch.sh) | |
| /t265/ | |
| realsense2_camera (nodelet/nodelet) | |
| realsense2_camera_manager (nodelet/nodelet) | |
| ROS_MASTER_URI=http://localhost:11311 | |
| process[t265/realsense2_camera_manager-1]: started with pid [3713] | |
| process[t265/realsense2_camera-2]: started with pid [3714] | |
| process[timed_roslaunch_2_realsense2_camera-3]: started with pid [3715] | |
| process[t265_to_d400-4]: started with pid [3717] | |
| process[rtabmap/rtabmap-5]: started with pid [3720] | |
| process[move_base-6]: started with pid [3725] | |
| [ INFO] [1585289021.940109307]: Initializing nodelet with 4 worker threads. | |
| [DEBUG] [1585289022.080445187]: Creating ClassLoader, base = nav_core::BaseGlobalPlanner, address = 0xbe9f2b98 | |
| [ INFO] [1585289022.087928272]: RealSense ROS v2.2.12 | |
| [ INFO] [1585289022.088063419]: Running with LibRealSense v2.31.0 | |
| [DEBUG] [1585289022.125590549]: Entering determineAvailableClasses()... | |
| [DEBUG] [1585289022.125715030]: Processing xml file /home/pi/catkin_ws/src/navigation/global_planner/bgp_plugin.xml... | |
| [DEBUG] [1585289022.126153489]: XML file specifies lookup name (i.e. magic name) = global_planner/GlobalPlanner. | |
| [DEBUG] [1585289022.126264544]: Processing xml file /home/pi/catkin_ws/src/navigation/carrot_planner/bgp_plugin.xml... | |
| [DEBUG] [1585289022.126501375]: XML file specifies lookup name (i.e. magic name) = carrot_planner/CarrotPlanner. | |
| [DEBUG] [1585289022.126572949]: Processing xml file /home/pi/catkin_ws/src/navigation/base_local_planner/blp_plugin.xml... | |
| [DEBUG] [1585289022.126834632]: XML file specifies lookup name (i.e. magic name) = base_local_planner/TrajectoryPlannerROS. | |
| [DEBUG] [1585289022.126920798]: Processing xml file /home/pi/catkin_ws/src/navigation/navfn/bgp_plugin.xml... | |
| [DEBUG] [1585289022.127198351]: XML file specifies lookup name (i.e. magic name) = navfn/NavfnROS. | |
| [DEBUG] [1585289022.127284739]: Processing xml file /home/pi/catkin_ws/src/navigation/dwa_local_planner/blp_plugin.xml... | |
| [DEBUG] [1585289022.127556033]: XML file specifies lookup name (i.e. magic name) = dwa_local_planner/DWAPlannerROS. | |
| [DEBUG] [1585289022.127640403]: Processing xml file /home/pi/catkin_ws/src/navigation/move_slow_and_clear/recovery_plugin.xml... | |
| [DEBUG] [1585289022.127898086]: XML file specifies lookup name (i.e. magic name) = move_slow_and_clear/MoveSlowAndClear. | |
| [DEBUG] [1585289022.127974178]: Processing xml file /home/pi/catkin_ws/src/navigation/clear_costmap_recovery/ccr_plugin.xml... | |
| [DEBUG] [1585289022.128218194]: XML file specifies lookup name (i.e. magic name) = clear_costmap_recovery/ClearCostmapRecovery. | |
| [DEBUG] [1585289022.128299082]: Processing xml file /home/pi/catkin_ws/src/navigation/rotate_recovery/rotate_plugin.xml... | |
| [DEBUG] [1585289022.128545895]: XML file specifies lookup name (i.e. magic name) = rotate_recovery/RotateRecovery. | |
| [DEBUG] [1585289022.128630783]: Exiting determineAvailableClasses()... | |
| [DEBUG] [1585289022.128700690]: Finished constructring ClassLoader, base = nav_core::BaseGlobalPlanner, address = 0xbe9f2b98 | |
| [DEBUG] [1585289022.128770652]: Creating ClassLoader, base = nav_core::BaseLocalPlanner, address = 0xbe9f2c40 | |
| [DEBUG] [1585289022.129309796]: Entering determineAvailableClasses()... | |
| [DEBUG] [1585289022.129399573]: Processing xml file /home/pi/catkin_ws/src/navigation/global_planner/bgp_plugin.xml... | |
| [DEBUG] [1585289022.129677793]: XML file specifies lookup name (i.e. magic name) = global_planner/GlobalPlanner. | |
| [DEBUG] [1585289022.129759774]: Processing xml file /home/pi/catkin_ws/src/navigation/carrot_planner/bgp_plugin.xml... | |
| [DEBUG] [1585289022.130005790]: XML file specifies lookup name (i.e. magic name) = carrot_planner/CarrotPlanner. | |
| [DEBUG] [1585289022.130080530]: Processing xml file /home/pi/catkin_ws/src/navigation/base_local_planner/blp_plugin.xml... | |
| [DEBUG] [1585289022.130381732]: XML file specifies lookup name (i.e. magic name) = base_local_planner/TrajectoryPlannerROS. | |
| [DEBUG] [1585289022.130473083]: Processing xml file /home/pi/catkin_ws/src/navigation/navfn/bgp_plugin.xml... | |
| [DEBUG] [1585289022.130738210]: XML file specifies lookup name (i.e. magic name) = navfn/NavfnROS. | |
| [DEBUG] [1585289022.130810321]: Processing xml file /home/pi/catkin_ws/src/navigation/dwa_local_planner/blp_plugin.xml... | |
| [DEBUG] [1585289022.131066522]: XML file specifies lookup name (i.e. magic name) = dwa_local_planner/DWAPlannerROS. | |
| [DEBUG] [1585289022.131146855]: Processing xml file /home/pi/catkin_ws/src/navigation/move_slow_and_clear/recovery_plugin.xml... | |
| [DEBUG] [1585289022.131385094]: XML file specifies lookup name (i.e. magic name) = move_slow_and_clear/MoveSlowAndClear. | |
| [DEBUG] [1585289022.131459186]: Processing xml file /home/pi/catkin_ws/src/navigation/clear_costmap_recovery/ccr_plugin.xml... | |
| [DEBUG] [1585289022.131699258]: XML file specifies lookup name (i.e. magic name) = clear_costmap_recovery/ClearCostmapRecovery. | |
| [DEBUG] [1585289022.131776720]: Processing xml file /home/pi/catkin_ws/src/navigation/rotate_recovery/rotate_plugin.xml... | |
| [DEBUG] [1585289022.132025847]: XML file specifies lookup name (i.e. magic name) = rotate_recovery/RotateRecovery. | |
| [DEBUG] [1585289022.132205402]: Exiting determineAvailableClasses()... | |
| [DEBUG] [1585289022.132278142]: Finished constructring ClassLoader, base = nav_core::BaseLocalPlanner, address = 0xbe9f2c40 | |
| [DEBUG] [1585289022.132344623]: Creating ClassLoader, base = nav_core::RecoveryBehavior, address = 0xbe9f2ce8 | |
| [DEBUG] [1585289022.132930636]: Entering determineAvailableClasses()... | |
| [DEBUG] [1585289022.133026154]: Processing xml file /home/pi/catkin_ws/src/navigation/global_planner/bgp_plugin.xml... | |
| [DEBUG] [1585289022.133409965]: XML file specifies lookup name (i.e. magic name) = global_planner/GlobalPlanner. | |
| [DEBUG] [1585289022.133493594]: Processing xml file /home/pi/catkin_ws/src/navigation/carrot_planner/bgp_plugin.xml... | |
| [DEBUG] [1585289022.133870369]: XML file specifies lookup name (i.e. magic name) = carrot_planner/CarrotPlanner. | |
| [DEBUG] [1585289022.133951572]: Processing xml file /home/pi/catkin_ws/src/navigation/base_local_planner/blp_plugin.xml... | |
| [DEBUG] [1585289022.134280884]: XML file specifies lookup name (i.e. magic name) = base_local_planner/TrajectoryPlannerROS. | |
| [DEBUG] [1585289022.134363920]: Processing xml file /home/pi/catkin_ws/src/navigation/navfn/bgp_plugin.xml... | |
| [DEBUG] [1585289022.134637492]: XML file specifies lookup name (i.e. magic name) = navfn/NavfnROS. | |
| [DEBUG] [1585289022.134711121]: Processing xml file /home/pi/catkin_ws/src/navigation/dwa_local_planner/blp_plugin.xml... | |
| [DEBUG] [1585289022.134970767]: XML file specifies lookup name (i.e. magic name) = dwa_local_planner/DWAPlannerROS. | |
| [DEBUG] [1585289022.135041007]: Processing xml file /home/pi/catkin_ws/src/navigation/move_slow_and_clear/recovery_plugin.xml... | |
| [DEBUG] [1585289022.135287376]: XML file specifies lookup name (i.e. magic name) = move_slow_and_clear/MoveSlowAndClear. | |
| [DEBUG] [1585289022.135380671]: Processing xml file /home/pi/catkin_ws/src/navigation/clear_costmap_recovery/ccr_plugin.xml... | |
| [DEBUG] [1585289022.135641132]: XML file specifies lookup name (i.e. magic name) = clear_costmap_recovery/ClearCostmapRecovery. | |
| [DEBUG] [1585289022.135733390]: Processing xml file /home/pi/catkin_ws/src/navigation/rotate_recovery/rotate_plugin.xml... | |
| [DEBUG] [1585289022.136059277]: XML file specifies lookup name (i.e. magic name) = rotate_recovery/RotateRecovery. | |
| [DEBUG] [1585289022.136159905]: Exiting determineAvailableClasses()... | |
| [DEBUG] [1585289022.136217238]: Finished constructring ClassLoader, base = nav_core::RecoveryBehavior, address = 0xbe9f2ce8 | |
| [DEBUG] [1585289022.158644902]: Starting planner thread... | |
| [DEBUG] [1585289022.158768790]: Planner thread is suspending | |
| [ INFO] [1585289022.605289905]: | |
| [ INFO] [1585289022.695500094]: Device with serial number 923322071771 was found. | |
| [ INFO] [1585289022.696039034]: Device with physical ID /sys/devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb2/2-2/2-2:1.0/video4linux/video0 was found. | |
| [ INFO] [1585289022.696509197]: Device with name Intel RealSense D435 was found. | |
| [ INFO] [1585289022.698286608]: Device with port number 2-2 was found. | |
| [ INFO] [1585289022.750457356]: Device with serial number 929122111878 was found. | |
| [ INFO] [1585289022.750591651]: Device with physical ID vid_8087 pid_0B37 bus_2 port_1 was found. | |
| [ INFO] [1585289022.750734983]: Device with name Intel RealSense T265 was found. | |
| [ INFO] [1585289022.751280127]: Device with port number 2-1 was found. | |
| [ INFO] [1585289022.751558976]: Resetting device... | |
| 26/03 23:03:42,751 WARNING [2878919696] (types.cpp:49) hardware_reset is not implemented for this device! | |
| [ WARN] [1585289022.752369322]: An exception has been thrown: hardware_reset is not implemented for this device! | |
| [ INFO] [1585289022.769592955]: No calib_odom_file. No input odometry accepted. | |
| [ INFO] [1585289022.769878823]: getParameters... | |
| [ INFO] [1585289022.936503002]: setupDevice... | |
| [ INFO] [1585289022.936620039]: JSON file is not provided | |
| [ INFO] [1585289022.936694112]: ROS Node Namespace: t265 | |
| [ INFO] [1585289022.936760834]: Device Name: Intel RealSense T265 | |
| [ INFO] [1585289022.936824240]: Device Serial No: 929122111878 | |
| [ INFO] [1585289022.936878536]: Device physical port: vid_8087 pid_0B37 bus_2 port_1 | |
| [ INFO] [1585289022.936933480]: Device FW version: 0.2.0.879 | |
| [ INFO] [1585289022.936983721]: Device Product ID: 0x0B37 | |
| [ INFO] [1585289022.937030961]: Enable PointCloud: Off | |
| [ INFO] [1585289022.937078998]: Align Depth: Off | |
| [ INFO] [1585289022.937127349]: Sync Mode: Off | |
| [ INFO] [1585289022.937247033]: Device Sensors: | |
| [ INFO] [1585289022.937518846]: Tracking Module was found. | |
| [ INFO] [1585289022.937746455]: (Depth, 0) sensor isn't supported by current device! -- Skipping... | |
| [ INFO] [1585289022.937848121]: (Color, 0) sensor isn't supported by current device! -- Skipping... | |
| [ INFO] [1585289022.937899417]: (Infrared, 1) sensor isn't supported by current device! -- Skipping... | |
| [ INFO] [1585289022.937942694]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... | |
| [ INFO] [1585289022.937994305]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... | |
| [ INFO] [1585289022.938102174]: num_filters: 0 | |
| [ INFO] [1585289022.938155007]: Setting Dynamic reconfig parameters. | |
| [ INFO] [1585289022.966440919]: Done Setting Dynamic reconfig parameters. | |
| [ INFO] [1585289022.966894544]: setupPublishers... | |
| [ INFO] [1585289022.976439779]: setupStreams... | |
| [ INFO] [1585289022.976778480]: insert Gyro to Tracking Module | |
| [ INFO] [1585289022.976997867]: insert Accel to Tracking Module | |
| [ INFO] [1585289022.977078663]: insert Pose to Tracking Module | |
| [ INFO] [1585289023.003712625]: SELECTED BASE:Pose, 0 | |
| [ INFO] [1585289023.013249508]: RealSense Node Is Up! | |
| [ WARN] [1585289027.235799258]: Timed out waiting for transform from t265_odom_frame to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100075 timeout was 0.1. | |
| [ INFO] [1585289029.335535404]: Starting node... | |
| [ INFO] [1585289029.439002384]: Initializing nodelet with 4 worker threads. | |
| [ INFO] [1585289031.178840640]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 | |
| [ INFO] [1585289031.178959657]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 | |
| [ INFO] [1585289031.179024620]: /rtabmap/rtabmap(maps): map_cleanup = true | |
| [ INFO] [1585289031.179074101]: /rtabmap/rtabmap(maps): map_always_update = false | |
| [ INFO] [1585289031.179121286]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true | |
| [ INFO] [1585289031.179164508]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true | |
| [ INFO] [1585289031.179636504]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false | |
| [ INFO] [1585289031.179718929]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 | |
| [ INFO] [1585289031.229214189]: rtabmap: frame_id = d435_link | |
| [ INFO] [1585289031.229306429]: rtabmap: map_frame_id = map | |
| [ INFO] [1585289031.229362670]: rtabmap: use_action_for_goal = true | |
| [ INFO] [1585289031.229421706]: rtabmap: tf_delay = 0.050000 | |
| [ INFO] [1585289031.229473706]: rtabmap: tf_tolerance = 0.100000 | |
| [ INFO] [1585289031.229520631]: rtabmap: odom_sensor_sync = false | |
| [ INFO] [1585289031.719726737]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="false" | |
| [ INFO] [1585289031.721137596]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="true" | |
| [ WARN] [1585289032.268241739]: Timed out waiting for transform from t265_odom_frame to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100399 timeout was 0.1. | |
| [ INFO] [1585289032.307367141]: Update RTAB-Map parameter "Grid/CellSize"="0.02" from arguments | |
| [ INFO] [1585289032.307830545]: Update RTAB-Map parameter "Grid/MaxObstacleHeight"="0.2" from arguments | |
| [ INFO] [1585289032.307965525]: Update RTAB-Map parameter "Grid/RangeMax"="2" from arguments | |
| [ INFO] [1585289032.308083839]: Update RTAB-Map parameter "Grid/RayTracing"="true" from arguments | |
| [ INFO] [1585289032.308171912]: Update RTAB-Map parameter "Rtabmap/DetectionRate"="2" from arguments | |
| [ INFO] [1585289032.308290263]: Update RTAB-Map parameter "Vis/PnPFlags"="1" from arguments | |
| [ INFO] [1585289033.149193230]: RTAB-Map detection rate = 2.000000 Hz | |
| [ INFO] [1585289033.150088074]: rtabmap: Using database from "/home/pi/.ros/rtabmap.db" (21 MB). | |
| [ INFO] [1585289036.641104474]: rtabmap: 2D occupancy grid map loaded (251x232). | |
| [ INFO] [1585289036.713328943]: rtabmap: Database version = "0.19.6". | |
| [ INFO] [1585289036.784443477]: /rtabmap/rtabmap: subscribe_depth = true | |
| [ INFO] [1585289036.784528920]: /rtabmap/rtabmap: subscribe_rgb = true | |
| [ INFO] [1585289036.784577401]: /rtabmap/rtabmap: subscribe_stereo = false | |
| [ INFO] [1585289036.784625568]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) | |
| [ INFO] [1585289036.784771400]: /rtabmap/rtabmap: subscribe_odom_info = false | |
| [ INFO] [1585289036.785563097]: /rtabmap/rtabmap: subscribe_user_data = false | |
| [ INFO] [1585289036.785643541]: /rtabmap/rtabmap: subscribe_scan = false | |
| [ INFO] [1585289036.785695355]: /rtabmap/rtabmap: subscribe_scan_cloud = false | |
| [ INFO] [1585289036.785742151]: /rtabmap/rtabmap: queue_size = 200 | |
| [ INFO] [1585289036.785790336]: /rtabmap/rtabmap: approx_sync = true | |
| [ INFO] [1585289036.787214139]: Setup depth callback | |
| [ INFO] [1585289036.861567257]: | |
| /rtabmap/rtabmap subscribed to (approx sync): | |
| /odom, | |
| /d435/color/image_raw, | |
| /d435/aligned_depth_to_color/image_raw, | |
| /d435/color/camera_info | |
| [ INFO] [1585289036.891167128]: rtabmap 0.19.6 started... | |
| [ WARN] (2020-03-26 23:03:57.065) Rtabmap.cpp:1058::process() Update map correction based on last localization saved in database! correction = xyz=-0.224518,-0.033275,0.006349 rpy=0.010323,0.056121,-1.718222, nearest id = 36 of last pose = xyz=-0.223927,-0.034301,0.005847 rpy=0.005758,-0.015073,-1.721471, odom = xyz=0.000955,0.000731,-0.000456 rpy=-0.004408,-0.071224,-0.002521 | |
| [ WARN] (2020-03-26 23:03:57.267) Rtabmap.cpp:2154::process() Rejected loop closure 34 -> 204: Not enough inliers 0/20 (matches=1) between 34 and 204 | |
| [ WARN] [1585289037.295972382]: Timed out waiting for transform from t265_odom_frame to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100244 timeout was 0.1. | |
| [ INFO] [1585289037.372209116]: rtabmap (204): Rate=0.50s, Limit=0.000s, RTAB-Map=0.3068s, Maps update=0.0013s pub=0.0006s (local map=75, WM=75) | |
| [ WARN] [1585289037.419041143]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided | |
| [ WARN] [1585289037.420852795]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided | |
| [ INFO] [1585289037.423521977]: global_costmap: Using plugin "static_layer" | |
| [ INFO] [1585289037.440383619]: Requesting the map... | |
| [ WARN] (2020-03-26 23:03:57.775) Rtabmap.cpp:2154::process() Rejected loop closure 40 -> 205: Not enough inliers 0/20 (matches=0) between 40 and 205 | |
| [ WARN] [1585289037.873479219]: Many occupancy grids should be loaded (~75), this may take a while to update the map(s)... | |
| [ WARN] [1585289037.938461433]: Map(s) updated! (0.064991 s) | |
| [ INFO] [1585289037.940259048]: rtabmap (205): Rate=0.50s, Limit=0.000s, RTAB-Map=0.2499s, Maps update=0.0656s pub=0.0014s (local map=75, WM=75) | |
| [ INFO] [1585289038.047211219]: Resizing costmap to 251 X 232 at 0.020000 m/pix | |
| [ INFO] [1585289038.146943708]: Received a 251 X 232 map at 0.020000 m/pix | |
| [ INFO] [1585289038.158570244]: global_costmap: Using plugin "obstacle_layer" | |
| [ INFO] [1585289038.185603673]: Subscribed to Topics: point_cloud_sensor | |
| [ INFO] [1585289038.256356193]: global_costmap: Using plugin "inflation_layer" | |
| [ WARN] (2020-03-26 23:03:58.316) Rtabmap.cpp:2154::process() Rejected loop closure 33 -> 206: Not enough inliers 0/20 (matches=0) between 33 and 206 | |
| [DEBUG] [1585289038.393943728]: Attempting to create managed instance for class navfn/NavfnROS. | |
| [DEBUG] [1585289038.394090968]: Class navfn/NavfnROS maps to library lib/libnavfn in classes_available_. | |
| [DEBUG] [1585289038.394444021]: Iterating through all possible paths where lib/libnavfn could be located... | |
| [DEBUG] [1585289038.394581131]: Checking path /home/pi/catkin_ws/devel/lib/lib/libnavfn.so | |
| [DEBUG] [1585289038.394670759]: Checking path /home/pi/catkin_ws/devel/lib//libnavfn.so | |
| [DEBUG] [1585289038.394754703]: Library lib/libnavfn found at explicit path /home/pi/catkin_ws/devel/lib//libnavfn.so. | |
| [DEBUG] [1585289038.397235683]: navfn/NavfnROS maps to real class type navfn::NavfnROS | |
| [DEBUG] [1585289038.397491051]: boost::shared_ptr to object of real type navfn::NavfnROS created. | |
| [ WARN] (2020-03-26 23:03:58.423) MapsManager.cpp:984::publishMaps() Graph has changed! The whole cloud is regenerated. | |
| [ WARN] [1585289038.434102237]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided | |
| [ WARN] [1585289038.435558243]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided | |
| [ INFO] [1585289038.438491368]: local_costmap: Using plugin "static_layer" | |
| [ INFO] [1585289038.440747220]: Assembled 75 obstacle and 0 ground clouds (11139 points, 0.017118s) | |
| [ INFO] [1585289038.444548671]: rtabmap (206): Rate=0.50s, Limit=0.000s, RTAB-Map=0.2611s, Maps update=0.0018s pub=0.0208s (local map=75, WM=75) | |
| [ INFO] [1585289038.458533521]: Requesting the map... | |
| [ INFO] [1585289038.465779166]: Resizing static layer to 251 X 232 at 0.020000 m/pix | |
| [ INFO] [1585289038.564286684]: Received a 251 X 232 map at 0.020000 m/pix | |
| [ INFO] [1585289038.576004070]: local_costmap: Using plugin "obstacle_layer" | |
| [ INFO] [1585289038.592049237]: Subscribed to Topics: point_cloud_sensor | |
| [ INFO] [1585289038.639645185]: local_costmap: Using plugin "inflation_layer" | |
| [DEBUG] [1585289038.759834713]: Attempting to create managed instance for class base_local_planner/TrajectoryPlannerROS. | |
| [DEBUG] [1585289038.760009711]: Class base_local_planner/TrajectoryPlannerROS maps to library lib/libtrajectory_planner_ros in classes_available_. | |
| [DEBUG] [1585289038.760280061]: Iterating through all possible paths where lib/libtrajectory_planner_ros could be located... | |
| [DEBUG] [1585289038.760430875]: Checking path /home/pi/catkin_ws/devel/lib/lib/libtrajectory_planner_ros.so | |
| [DEBUG] [1585289038.760560040]: Checking path /home/pi/catkin_ws/devel/lib//libtrajectory_planner_ros.so | |
| [DEBUG] [1585289038.760702409]: Library lib/libtrajectory_planner_ros found at explicit path /home/pi/catkin_ws/devel/lib//libtrajectory_planner_ros.so. | |
| [DEBUG] [1585289038.763016224]: base_local_planner/TrajectoryPlannerROS maps to real class type base_local_planner::TrajectoryPlannerROS | |
| [DEBUG] [1585289038.774810462]: boost::shared_ptr to object of real type base_local_planner::TrajectoryPlannerROS created. | |
| [ INFO] [1585289038.774984312]: Created local_planner base_local_planner/TrajectoryPlannerROS | |
| [ INFO] [1585289038.800222442]: Sim period is set to 0.05 | |
| [ WARN] [1585289038.828857673]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution. | |
| [ INFO] [1585289038.962468277]: Assembled 0 obstacle and 0 ground clouds (11139 points, 0.000232s) | |
| [ INFO] [1585289038.962707405]: rtabmap (207): Rate=0.50s, Limit=0.000s, RTAB-Map=0.2372s, Maps update=0.0034s pub=0.0004s (local map=75, WM=75) | |
| [DEBUG] [1585289039.155563477]: Attempting to create managed instance for class clear_costmap_recovery/ClearCostmapRecovery. | |
| [DEBUG] [1585289039.155976418]: Class clear_costmap_recovery/ClearCostmapRecovery maps to library lib/libclear_costmap_recovery in classes_available_. | |
| [DEBUG] [1585289039.156269027]: Iterating through all possible paths where lib/libclear_costmap_recovery could be located... | |
| [DEBUG] [1585289039.156372785]: Checking path /home/pi/catkin_ws/devel/lib/lib/libclear_costmap_recovery.so | |
| [DEBUG] [1585289039.156467988]: Checking path /home/pi/catkin_ws/devel/lib//libclear_costmap_recovery.so | |
| [DEBUG] [1585289039.156825096]: Library lib/libclear_costmap_recovery found at explicit path /home/pi/catkin_ws/devel/lib//libclear_costmap_recovery.so. | |
| [DEBUG] [1585289039.159960256]: clear_costmap_recovery/ClearCostmapRecovery maps to real class type clear_costmap_recovery::ClearCostmapRecovery | |
| [DEBUG] [1585289039.160191754]: boost::shared_ptr to object of real type clear_costmap_recovery::ClearCostmapRecovery created. | |
| [ INFO] [1585289039.166391186]: Recovery behavior will clear layer 'obstacles' | |
| [DEBUG] [1585289039.166528981]: Attempting to create managed instance for class rotate_recovery/RotateRecovery. | |
| [DEBUG] [1585289039.166603758]: rotate_recovery/RotateRecovery maps to real class type rotate_recovery::RotateRecovery | |
| [DEBUG] [1585289039.167058680]: boost::shared_ptr to object of real type rotate_recovery::RotateRecovery created. | |
| [DEBUG] [1585289039.177052229]: Attempting to create managed instance for class clear_costmap_recovery/ClearCostmapRecovery. | |
| [DEBUG] [1585289039.177173395]: clear_costmap_recovery/ClearCostmapRecovery maps to real class type clear_costmap_recovery::ClearCostmapRecovery | |
| [DEBUG] [1585289039.177537892]: boost::shared_ptr to object of real type clear_costmap_recovery::ClearCostmapRecovery created. | |
| [ INFO] [1585289039.182470556]: Recovery behavior will clear layer 'obstacles' | |
| [ INFO] [1585289039.272013092]: odom received! | |
| [ INFO] [1585289039.472461122]: Assembled 0 obstacle and 0 ground clouds (11139 points, 0.000057s) | |
| [ INFO] [1585289039.473098117]: rtabmap (208): Rate=0.50s, Limit=0.000s, RTAB-Map=0.1878s, Maps update=0.0014s pub=0.0004s (local map=75, WM=75) | |
| [ INFO] [1585289039.935203330]: Assembled 0 obstacle and 0 ground clouds (11139 points, 0.000058s) | |
| [ INFO] [1585289039.935514383]: rtabmap (209): Rate=0.50s, Limit=0.000s, RTAB-Map=0.1810s, Maps update=0.0013s pub=0.0003s (local map=75, WM=75) | |
| [ INFO] [1585289040.500682329]: Assembled 0 obstacle and 0 ground clouds (11139 points, 0.000065s) | |
| [ INFO] [1585289040.501053511]: rtabmap (210): Rate=0.50s, Limit=0.000s, RTAB-Map=0.1807s, Maps update=0.0026s pub=0.0004s (local map=75, WM=75) | |
| [ INFO] [1585289041.072634295]: Assembled 0 obstacle and 0 ground clouds (11139 points, 0.000063s) | |
| [ INFO] [1585289041.073071014]: rtabmap (211): Rate=0.50s, Limit=0.000s, RTAB-Map=0.1876s, Maps update=0.0017s pub=0.0005s (local map=75, WM=75) | |
| [ INFO] [1585289041.541286842]: Assembled 0 obstacle and 0 ground clouds (11139 points, 0.000065s) |
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