pi@raspberrypi:~ $ roslaunch robot_pkg new_grid_map.launch
... logging to /home/pi/.ros/log/8b503498-f97b-11ef-8ea9-e45f01803034/roslaunch-raspberrypi-1503.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://raspberrypi:42839/
SUMMARY
========
CLEAR PARAMETERS
* /rtabmap/rtabmap/
PARAMETERS
* /l515/realsense2_camera/accel_fps: 0
* /l515/realsense2_camera/accel_frame_id: l515_accel_frame
* /l515/realsense2_camera/accel_optical_frame_id: l515_accel_optica...
* /l515/realsense2_camera/align_depth: True
* /l515/realsense2_camera/aligned_depth_to_color_frame_id: l515_aligned_dept...
* /l515/realsense2_camera/aligned_depth_to_fisheye1_frame_id: l515_aligned_dept...
* /l515/realsense2_camera/aligned_depth_to_fisheye2_frame_id: l515_aligned_dept...
* /l515/realsense2_camera/aligned_depth_to_fisheye_frame_id: l515_aligned_dept...
* /l515/realsense2_camera/aligned_depth_to_infra1_frame_id: l515_aligned_dept...
* /l515/realsense2_camera/aligned_depth_to_infra2_frame_id: l515_aligned_dept...
* /l515/realsense2_camera/allow_no_texture_points: False
* /l515/realsense2_camera/base_frame_id: l515_link
* /l515/realsense2_camera/calib_odom_file:
* /l515/realsense2_camera/clip_distance: -2.0
* /l515/realsense2_camera/color_fps: 30
* /l515/realsense2_camera/color_frame_id: l515_color_frame
* /l515/realsense2_camera/color_height: 480
* /l515/realsense2_camera/color_optical_frame_id: l515_color_optica...
* /l515/realsense2_camera/color_width: 640
* /l515/realsense2_camera/confidence_fps: 30
* /l515/realsense2_camera/confidence_height: 480
* /l515/realsense2_camera/confidence_width: 640
* /l515/realsense2_camera/depth_fps: 30
* /l515/realsense2_camera/depth_frame_id: l515_depth_frame
* /l515/realsense2_camera/depth_height: 480
* /l515/realsense2_camera/depth_optical_frame_id: l515_depth_optica...
* /l515/realsense2_camera/depth_width: 640
* /l515/realsense2_camera/device_type: l515
* /l515/realsense2_camera/enable_accel: False
* /l515/realsense2_camera/enable_color: True
* /l515/realsense2_camera/enable_confidence: True
* /l515/realsense2_camera/enable_depth: True
* /l515/realsense2_camera/enable_fisheye1: False
* /l515/realsense2_camera/enable_fisheye2: False
* /l515/realsense2_camera/enable_fisheye: False
* /l515/realsense2_camera/enable_gyro: False
* /l515/realsense2_camera/enable_infra1: False
* /l515/realsense2_camera/enable_infra2: False
* /l515/realsense2_camera/enable_infra: False
* /l515/realsense2_camera/enable_pointcloud: False
* /l515/realsense2_camera/enable_pose: False
* /l515/realsense2_camera/enable_sync: False
* /l515/realsense2_camera/filters: pointcloud
* /l515/realsense2_camera/fisheye1_frame_id: l515_fisheye1_frame
* /l515/realsense2_camera/fisheye1_optical_frame_id: l515_fisheye1_opt...
* /l515/realsense2_camera/fisheye2_frame_id: l515_fisheye2_frame
* /l515/realsense2_camera/fisheye2_optical_frame_id: l515_fisheye2_opt...
* /l515/realsense2_camera/fisheye_fps: 30
* /l515/realsense2_camera/fisheye_frame_id: l515_fisheye_frame
* /l515/realsense2_camera/fisheye_height: 0
* /l515/realsense2_camera/fisheye_optical_frame_id: l515_fisheye_opti...
* /l515/realsense2_camera/fisheye_width: 0
* /l515/realsense2_camera/gyro_fps: 0
* /l515/realsense2_camera/gyro_frame_id: l515_gyro_frame
* /l515/realsense2_camera/gyro_optical_frame_id: l515_gyro_optical...
* /l515/realsense2_camera/imu_optical_frame_id: l515_imu_optical_...
* /l515/realsense2_camera/infra1_frame_id: l515_infra1_frame
* /l515/realsense2_camera/infra1_optical_frame_id: l515_infra1_optic...
* /l515/realsense2_camera/infra2_frame_id: l515_infra2_frame
* /l515/realsense2_camera/infra2_optical_frame_id: l515_infra2_optic...
* /l515/realsense2_camera/infra_fps: 30
* /l515/realsense2_camera/infra_height: 480
* /l515/realsense2_camera/infra_rgb: False
* /l515/realsense2_camera/infra_width: 640
* /l515/realsense2_camera/initial_reset: False
* /l515/realsense2_camera/json_file_path:
* /l515/realsense2_camera/linear_accel_cov: 0.01
* /l515/realsense2_camera/odom_frame_id: l515_odom_frame
* /l515/realsense2_camera/ordered_pc: False
* /l515/realsense2_camera/pointcloud_texture_index: 0
* /l515/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /l515/realsense2_camera/pose_frame_id: l515_pose_frame
* /l515/realsense2_camera/pose_optical_frame_id: l515_pose_optical...
* /l515/realsense2_camera/publish_odom_tf: True
* /l515/realsense2_camera/publish_tf: True
* /l515/realsense2_camera/reconnect_timeout: 6.0
* /l515/realsense2_camera/rosbag_filename:
* /l515/realsense2_camera/serial_no:
* /l515/realsense2_camera/stereo_module/exposure/1: 7500
* /l515/realsense2_camera/stereo_module/exposure/2: 1
* /l515/realsense2_camera/stereo_module/gain/1: 16
* /l515/realsense2_camera/stereo_module/gain/2: 16
* /l515/realsense2_camera/tf_publish_rate: 0.0
* /l515/realsense2_camera/topic_odom_in: l515/odom_in
* /l515/realsense2_camera/unite_imu_method: none
* /l515/realsense2_camera/usb_port_id:
* /l515/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.16.0
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: l515_link
* /rtabmap/rtabmap/gen_depth: False
* /rtabmap/rtabmap/gen_depth_decimation: 1
* /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
* /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
* /rtabmap/rtabmap/gen_depth_fill_iterations: 1
* /rtabmap/rtabmap/gen_scan: False
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/initial_pose:
* /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_frame_id_init:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
* /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_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: False
* /rtabmap/rtabmap/subscribe_user_data: False
* /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/confidence_fps: 30
* /t265/realsense2_camera/confidence_height: 480
* /t265/realsense2_camera/confidence_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: False
* /t265/realsense2_camera/enable_color: True
* /t265/realsense2_camera/enable_confidence: True
* /t265/realsense2_camera/enable_depth: True
* /t265/realsense2_camera/enable_fisheye1: False
* /t265/realsense2_camera/enable_fisheye2: False
* /t265/realsense2_camera/enable_fisheye: False
* /t265/realsense2_camera/enable_gyro: False
* /t265/realsense2_camera/enable_infra1: False
* /t265/realsense2_camera/enable_infra2: False
* /t265/realsense2_camera/enable_infra: False
* /t265/realsense2_camera/enable_pointcloud: False
* /t265/realsense2_camera/enable_pose: True
* /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_rgb: False
* /t265/realsense2_camera/infra_width: 640
* /t265/realsense2_camera/initial_reset: False
* /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/ordered_pc: False
* /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/reconnect_timeout: 6.0
* /t265/realsense2_camera/rosbag_filename:
* /t265/realsense2_camera/serial_no:
* /t265/realsense2_camera/stereo_module/exposure/1: 7500
* /t265/realsense2_camera/stereo_module/exposure/2: 1
* /t265/realsense2_camera/stereo_module/gain/1: 16
* /t265/realsense2_camera/stereo_module/gain/2: 16
* /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/realsense2_camera/wait_for_device_timeout: -1.0
NODES
/
t265_to_d400 (tf/static_transform_publisher)
/l515/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
/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 [1535]
process[t265/realsense2_camera-2]: started with pid [1536]
process[l515/realsense2_camera_manager-3]: started with pid [1537]
process[l515/realsense2_camera-4]: started with pid [1538]
process[t265_to_d400-5]: started with pid [1543]
process[rtabmap/rtabmap-6]: started with pid [1549]
[ INFO] [1741149975.921498232]: Initializing nodelet with 4 worker threads.
[ INFO] [1741149976.096951568]: Initializing nodelet with 4 worker threads.
[ INFO] [1741149977.091501116]: RealSense ROS v2.3.2
[ INFO] [1741149977.091763541]: Built with LibRealSense v2.50.0
[ INFO] [1741149977.091987521]: Running with LibRealSense v2.50.0
[ INFO] [1741149977.160692349]: RealSense ROS v2.3.2
[ INFO] [1741149977.160867200]: Built with LibRealSense v2.50.0
[ INFO] [1741149977.160992847]: Running with LibRealSense v2.50.0
[ INFO] [1741149977.217825024]:
[ INFO] [1741149977.481015128]:
04/03 20:46:17,619 ERROR [547465716032] (handle-libusb.h:100) failed to claim usb interface: 0, error: RS2_USB_STATUS_BUSY
04/03 20:46:17,620 ERROR [547694547264] (sensor.cpp:572) acquire_power failed: failed to set power state
04/03 20:46:17,621 WARNING [547825791296] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ WARN] [1741149977.633552452]: Device 1/2 failed with exception: failed to set power state
04/03 20:46:17,633 WARNING [547694547264] (rs.cpp:310) null pointer passed for argument "device"
[ INFO] [1741149977.703669846]: Device with serial number 905312110768 was found.
[ INFO] [1741149977.704356805]: Device with physical ID 1-1.4-14 was found.
[ INFO] [1741149977.704739006]: Device with name Intel RealSense T265 was found.
[ INFO] [1741149977.706831827]: Device with port number 1-1.4 was found.
04/03 20:46:17,779 WARNING [547825791296] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ERROR] [1741149977.796864027]: The requested device with device name containing l515 is NOT found. Will Try again.
04/03 20:46:17,835 WARNING [547825791296] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
04/03 20:46:17,891 WARNING [547825791296] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1741149978.035686721]: Device with serial number f1230127 was found.
[ INFO] [1741149978.037232564]: Device with physical ID 1-1.3-8 was found.
[ INFO] [1741149978.038605981]: Device with name Intel RealSense L515 was found.
[ INFO] [1741149978.042290830]: Device with port number 1-1.3 was found.
[ INFO] [1741149978.072461407]: Device with serial number 905312110768 was found.
[ INFO] [1741149978.073148792]: Device with physical ID 1-1.4-14 was found.
[ INFO] [1741149978.075116428]: Device with name Intel RealSense T265 was found.
[ INFO] [1741149978.076652993]: Device with port number 1-1.4 was found.
[ INFO] [1741149978.080338212]: Device USB type: 2.1
[ WARN] [1741149978.081861592]: Device 905312110768 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1741149978.101569473]: No calib_odom_file. No input odometry accepted.
[ INFO] [1741149978.103751534]: getParameters...
[ INFO] [1741149978.416126063]: setupDevice...
[ INFO] [1741149978.417650387]: JSON file is not provided
[ INFO] [1741149978.419004194]: ROS Node Namespace: t265
[ INFO] [1741149978.420351760]: Device Name: Intel RealSense T265
[ INFO] [1741149978.421721844]: Device Serial No: 905312110768
[ INFO] [1741149978.424177237]: Device physical port: 1-1.4-14
[ INFO] [1741149978.425819208]: Device FW version: 0.2.0.951
[ INFO] [1741149978.427275422]: Device Product ID: 0x0B37
[ INFO] [1741149978.428636302]: Enable PointCloud: Off
[ INFO] [1741149978.430991918]: Align Depth: Off
[ INFO] [1741149978.432651130]: Sync Mode: Off
[ INFO] [1741149978.434454397]: Device Sensors:
[ INFO] [1741149978.436126869]: Tracking Module was found.
[ INFO] [1741149978.438388947]: (Depth, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1741149978.439888883]: (Color, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1741149978.441232338]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1741149978.442641700]: num_filters: 0
[ INFO] [1741149978.445083592]: Setting Dynamic reconfig parameters.
[ WARN] [1741149978.461745937]: Param '/t265/tracking_module/frames_queue_size' has value 256 that is not in range [0, 32]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1741149978.492950601]: Done Setting Dynamic reconfig parameters.
[ INFO] [1741149978.494653868]: pose stream is enabled - fps: 200
[ INFO] [1741149978.496215952]: setupPublishers...
[ INFO] [1741149978.508649599]: setupStreams...
[ INFO] [1741149978.537606129]: SELECTED BASE:Pose, 0
[ INFO] [1741149978.542903486]: RealSense Node Is Up!
[ WARN] [1741149979.041165248]:
[ INFO] [1741149983.836518347]:
04/03 20:46:24,096 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
04/03 20:46:24,254 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
04/03 20:46:24,310 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
04/03 20:46:24,366 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1741149984.505747356]: Device with serial number f1230127 was found.
[ INFO] [1741149984.508863171]: Device with physical ID 1-1.3-8 was found.
[ INFO] [1741149984.509651222]: Device with name Intel RealSense L515 was found.
[ INFO] [1741149984.514493100]: Device with port number 1-1.3 was found.
[ INFO] [1741149984.515787184]: Device USB type: 2.1
[ WARN] [1741149984.516625161]: Device f1230127 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1741149984.528655051]: getParameters...
[ INFO] [1741149984.873631187]: setupDevice...
[ INFO] [1741149984.873958852]: JSON file is not provided
[ INFO] [1741149984.874210906]: ROS Node Namespace: l515
[ INFO] [1741149984.874436515]: Device Name: Intel RealSense L515
[ INFO] [1741149984.874639273]: Device Serial No: f1230127
[ INFO] [1741149984.874898476]: Device physical port: 1-1.3-8
[ INFO] [1741149984.875196029]: Device FW version: 01.05.08.01
[ INFO] [1741149984.875418380]: Device Product ID: 0x0B64
[ INFO] [1741149984.875612805]: Enable PointCloud: On
[ INFO] [1741149984.875802618]: Align Depth: On
[ INFO] [1741149984.875976543]: Sync Mode: On
[ INFO] [1741149984.876279634]: Device Sensors:
[ INFO] [1741149984.980500615]: L500 Depth Sensor was found.
[ INFO] [1741149985.022687007]: RGB Camera was found.
[ INFO] [1741149985.023765371]: Motion Module was found.
[ INFO] [1741149985.026739224]: Add Filter: pointcloud
[ INFO] [1741149985.032489707]: num_filters: 2
[ INFO] [1741149985.033682663]: Setting Dynamic reconfig parameters.
[ INFO] [1741149985.567304970]: Starting node...
[ INFO] [1741149985.701418565]: Initializing nodelet with 4 worker threads.
[ INFO] [1741149986.733146519]: Done Setting Dynamic reconfig parameters.
[ WARN] [1741149986.733790422]: Given stream configuration is not supported by the device! Stream: Depth, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: Z16
[ WARN] [1741149986.733994384]: Using default profile instead.
[ INFO] [1741149986.734668621]: depth stream is enabled - width: 320, height: 240, fps: 30, Format: Z16
[ INFO] [1741149986.736560869]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ WARN] [1741149986.736797201]: Given stream configuration is not supported by the device! Stream: Confidence, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: None
[ INFO] [1741149986.738095378]: setupPublishers...
[ INFO] [1741149986.755521532]: Expected frequency for depth = 30.00000
[ INFO] [1741149988.073915462]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1741149988.074515570]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1741149988.077339886]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1741149988.077752198]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1741149988.077940975]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1741149988.078117363]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1741149988.078213177]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1741149988.078300639]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1741149988.083388831]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1741149988.333825273]: rtabmap: frame_id = l515_link
[ INFO] [1741149988.333978458]: rtabmap: map_frame_id = map
[ INFO] [1741149988.334048142]: rtabmap: log_to_rosout_level = 4
[ INFO] [1741149988.334107846]: rtabmap: initial_pose =
[ INFO] [1741149988.334160123]: rtabmap: use_action_for_goal = false
[ INFO] [1741149988.334234067]: rtabmap: tf_delay = 0.050000
[ INFO] [1741149988.334299067]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1741149988.334360881]: rtabmap: odom_sensor_sync = false
[ INFO] [1741149988.338709947]: rtabmap: gen_scan = false
[ INFO] [1741149988.338853632]: rtabmap: gen_depth = false
[ INFO] [1741149989.615099529]: Expected frequency for color = 30.00000
[ INFO] [1741149989.872724148]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1741149989.929078195]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1741149989.933899740]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1741149990.115031601]: setupStreams...
04/03 20:46:30,384 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1741149990.434877693]: SELECTED BASE:Depth, 0
04/03 20:46:30,437 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
04/03 20:46:30,488 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1741149990.550887895]: RealSense Node Is Up!
[ WARN] [1741149990.558804291]:
[ WARN] [1741149990.558992549]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
04/03 20:46:31,443 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
[ INFO] [1741149992.162766917]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1741149992.166925707]: rtabmap: Deleted database "/home/pi/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1741149992.167517148]: rtabmap: Using database from "/home/pi/.ros/rtabmap.db" (0 MB).
[ INFO] [1741149992.522879149]: rtabmap: Database version = "0.20.23".
[ INFO] [1741149992.523061611]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1741149992.672570293]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1741149992.672731106]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1741149992.672808958]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1741149992.672881698]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1741149992.672948883]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1741149992.673020216]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1741149992.673090493]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1741149992.673163937]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1741149992.673227215]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1741149992.673291473]: /rtabmap/rtabmap: queue_size = 200
[ INFO] [1741149992.673353603]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1741149992.673729082]: Setup depth callback
04/03 20:46:32,695 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741149992.831449658]:
/rtabmap/rtabmap subscribed to (approx sync):
/t265/odom/sample \
/l515/color/image_raw \
/l515/aligned_depth_to_color/image_raw \
/l515/color/camera_info
[ INFO] [1741149993.793783031]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0283s, RTAB-Map=0.2887s, Maps update=0.0013s pub=0.0021s (local map=1, WM=1)
[ INFO] [1741149993.913886705]: rtabmap 0.20.23 started...
04/03 20:46:33,957 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741149994.792854692]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0058s, RTAB-Map=0.1941s, Maps update=0.0007s pub=0.0000s (local map=1, WM=1)
04/03 20:46:34,906 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:46:35,210 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741149996.114025213]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0024s, RTAB-Map=0.2653s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:36,463 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741149997.344757555]: rtabmap (4): Rate=1.00s, Limit=0.000s, Conversion=0.0060s, RTAB-Map=0.2259s, Maps update=0.0003s pub=0.0001s (local map=1, WM=1)
04/03 20:46:37,715 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741149998.466026412]: rtabmap (5): Rate=1.00s, Limit=0.000s, Conversion=0.0038s, RTAB-Map=0.2568s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:38,966 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741149999.844226167]: rtabmap (6): Rate=1.00s, Limit=0.000s, Conversion=0.0032s, RTAB-Map=0.2335s, Maps update=0.0003s pub=0.0000s (local map=1, WM=1)
04/03 20:46:40,218 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150001.291422858]: rtabmap (7): Rate=1.00s, Limit=0.000s, Conversion=0.0037s, RTAB-Map=0.1820s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
[ INFO] [1741150002.895793423]: rtabmap (8): Rate=1.00s, Limit=0.000s, Conversion=0.0029s, RTAB-Map=0.2133s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:43,891 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150004.110795446]: rtabmap (9): Rate=1.00s, Limit=0.000s, Conversion=0.0040s, RTAB-Map=0.2293s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:45,143 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150005.629116868]: rtabmap (10): Rate=1.00s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.2045s, Maps update=0.0006s pub=0.0001s (local map=1, WM=1)
04/03 20:46:46,395 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150006.962756901]: rtabmap (11): Rate=1.00s, Limit=0.000s, Conversion=0.0030s, RTAB-Map=0.2268s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:47,648 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150008.186637230]: rtabmap (12): Rate=1.00s, Limit=0.000s, Conversion=0.0044s, RTAB-Map=0.2338s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:48,900 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150009.650091348]: rtabmap (13): Rate=1.00s, Limit=0.000s, Conversion=0.0032s, RTAB-Map=0.2512s, Maps update=0.0003s pub=0.0000s (local map=1, WM=1)
04/03 20:46:50,153 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150010.836249116]: rtabmap (14): Rate=1.00s, Limit=0.000s, Conversion=0.0039s, RTAB-Map=0.2106s, Maps update=0.0002s pub=0.0001s (local map=1, WM=1)
04/03 20:46:51,405 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150012.073401301]: rtabmap (15): Rate=1.00s, Limit=0.000s, Conversion=0.0036s, RTAB-Map=0.2026s, Maps update=0.0002s pub=0.0000s (local map=1, WM=1)
04/03 20:46:52,656 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150013.411126834]: rtabmap (16): Rate=1.00s, Limit=0.000s, Conversion=0.0038s, RTAB-Map=0.2597s, Maps update=0.0001s pub=0.0001s (local map=2, WM=2)
04/03 20:46:53,908 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150014.353845128]: rtabmap (17): Rate=1.00s, Limit=0.000s, Conversion=0.0036s, RTAB-Map=0.2212s, Maps update=0.0238s pub=0.0009s (local map=2, WM=2)
04/03 20:46:55,161 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150015.809616800]: rtabmap (18): Rate=1.00s, Limit=0.000s, Conversion=0.0022s, RTAB-Map=0.2121s, Maps update=0.0191s pub=0.0003s (local map=3, WM=3)
04/03 20:46:56,414 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150017.221898195]: rtabmap (19): Rate=1.00s, Limit=0.000s, Conversion=0.0090s, RTAB-Map=0.2787s, Maps update=0.0376s pub=0.0016s (local map=4, WM=4)
04/03 20:46:57,667 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150018.473911856]: rtabmap (20): Rate=1.00s, Limit=0.000s, Conversion=0.0036s, RTAB-Map=0.1945s, Maps update=0.0247s pub=0.0003s (local map=5, WM=5)
04/03 20:46:58,919 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150019.725809139]: rtabmap (21): Rate=1.00s, Limit=0.000s, Conversion=0.0055s, RTAB-Map=0.2033s, Maps update=0.0269s pub=0.0003s (local map=6, WM=6)
04/03 20:47:00,174 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150021.027948212]: rtabmap (22): Rate=1.00s, Limit=0.000s, Conversion=0.0033s, RTAB-Map=0.2688s, Maps update=0.0347s pub=0.0037s (local map=7, WM=7)
04/03 20:47:01,425 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150022.327414884]: rtabmap (23): Rate=1.00s, Limit=0.000s, Conversion=0.0049s, RTAB-Map=0.2010s, Maps update=0.0447s pub=0.0008s (local map=8, WM=8)
04/03 20:47:02,679 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150023.578133686]: rtabmap (24): Rate=1.00s, Limit=0.000s, Conversion=0.0082s, RTAB-Map=0.2599s, Maps update=0.0345s pub=0.0004s (local map=9, WM=9)
04/03 20:47:03,931 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150025.376031567]: rtabmap (25): Rate=1.00s, Limit=0.000s, Conversion=0.0093s, RTAB-Map=0.3124s, Maps update=0.0367s pub=0.0006s (local map=10, WM=10)
04/03 20:47:06,403 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150026.546169892]: rtabmap (26): Rate=1.00s, Limit=0.000s, Conversion=0.0068s, RTAB-Map=0.2949s, Maps update=0.0234s pub=0.0004s (local map=11, WM=11)
04/03 20:47:07,655 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150028.015903809]: rtabmap (27): Rate=1.00s, Limit=0.000s, Conversion=0.0050s, RTAB-Map=0.4999s, Maps update=0.0256s pub=0.0004s (local map=12, WM=12)
[ INFO] [1741150029.011047719]: rtabmap (28): Rate=1.00s, Limit=0.000s, Conversion=0.0030s, RTAB-Map=0.2416s, Maps update=0.0347s pub=0.0004s (local map=13, WM=13)
04/03 20:47:10,109 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150030.386150508]: rtabmap (29): Rate=1.00s, Limit=0.000s, Conversion=0.0060s, RTAB-Map=0.2129s, Maps update=0.0249s pub=0.0004s (local map=14, WM=14)
04/03 20:47:11,364 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150031.564667768]: rtabmap (30): Rate=1.00s, Limit=0.000s, Conversion=0.0039s, RTAB-Map=0.2198s, Maps update=0.0231s pub=0.0006s (local map=15, WM=15)
04/03 20:47:12,617 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150032.893278500]: rtabmap (31): Rate=1.00s, Limit=0.000s, Conversion=0.0102s, RTAB-Map=0.2233s, Maps update=0.0261s pub=0.0004s (local map=16, WM=16)
04/03 20:47:13,874 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150034.129810693]: rtabmap (32): Rate=1.00s, Limit=0.000s, Conversion=0.0070s, RTAB-Map=0.2676s, Maps update=0.0343s pub=0.0005s (local map=17, WM=17)
04/03 20:47:15,125 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150035.498353303]: rtabmap (33): Rate=1.00s, Limit=0.000s, Conversion=0.0032s, RTAB-Map=0.2678s, Maps update=0.0279s pub=0.0005s (local map=18, WM=18)
04/03 20:47:16,063 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:16,379 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150036.675274635]: rtabmap (34): Rate=1.00s, Limit=0.000s, Conversion=0.0090s, RTAB-Map=0.2657s, Maps update=0.0245s pub=0.0000s (local map=18, WM=18)
04/03 20:47:17,631 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150037.844283158]: rtabmap (35): Rate=1.00s, Limit=0.000s, Conversion=0.0038s, RTAB-Map=0.2900s, Maps update=0.0268s pub=0.0005s (local map=19, WM=19)
04/03 20:47:18,883 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150038.887736359]: rtabmap (36): Rate=1.00s, Limit=0.000s, Conversion=0.0077s, RTAB-Map=0.2369s, Maps update=0.0423s pub=0.0004s (local map=20, WM=20)
04/03 20:47:20,135 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150040.438482741]: rtabmap (37): Rate=1.00s, Limit=0.000s, Conversion=0.0029s, RTAB-Map=0.6146s, Maps update=0.0245s pub=0.0005s (local map=21, WM=21)
04/03 20:47:21,387 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150041.652192624]: rtabmap (38): Rate=1.00s, Limit=0.000s, Conversion=0.0023s, RTAB-Map=0.2506s, Maps update=0.0346s pub=0.0004s (local map=22, WM=22)
04/03 20:47:22,639 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] (2025-03-04 20:47:23.212) Rtabmap.cpp:2862::process() Rejected loop closure 1 -> 39: Not enough inliers 0/20 (matches=71) between 1 and 39
[ INFO] [1741150043.277817194]: rtabmap (39): Rate=1.00s, Limit=0.000s, Conversion=0.0027s, RTAB-Map=0.6197s, Maps update=0.0601s pub=0.0011s (local map=23, WM=23)
04/03 20:47:23,893 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] (2025-03-04 20:47:24.475) Rtabmap.cpp:2862::process() Rejected loop closure 18 -> 40: Not enough inliers 0/20 (matches=40) between 18 and 40
[ INFO] [1741150044.510446661]: rtabmap (40): Rate=1.00s, Limit=0.000s, Conversion=0.0036s, RTAB-Map=0.7020s, Maps update=0.0269s pub=0.0000s (local map=23, WM=23)
04/03 20:47:25,147 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150045.668173709]: rtabmap (41): Rate=1.00s, Limit=0.000s, Conversion=0.0051s, RTAB-Map=0.5770s, Maps update=0.0333s pub=0.0004s (local map=24, WM=24)
04/03 20:47:26,407 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150046.746601182]: rtabmap (42): Rate=1.00s, Limit=0.000s, Conversion=0.0036s, RTAB-Map=0.5284s, Maps update=0.0384s pub=0.0004s (local map=25, WM=25)
[ INFO] [1741150047.625527591]: rtabmap (43): Rate=1.00s, Limit=0.000s, Conversion=0.0068s, RTAB-Map=0.3042s, Maps update=0.0007s pub=0.0000s (local map=25, WM=25)
04/03 20:47:27,664 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150048.679561135]: rtabmap (44): Rate=1.00s, Limit=0.000s, Conversion=0.0059s, RTAB-Map=0.2809s, Maps update=0.0589s pub=0.0001s (local map=25, WM=25)
04/03 20:47:28,916 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150050.116564836]: rtabmap (45): Rate=1.00s, Limit=0.000s, Conversion=0.0086s, RTAB-Map=0.3055s, Maps update=0.0663s pub=0.0001s (local map=25, WM=25)
[ INFO] [1741150051.018896024]: rtabmap (46): Rate=1.00s, Limit=0.000s, Conversion=0.0048s, RTAB-Map=0.2187s, Maps update=0.0007s pub=0.0000s (local map=25, WM=25)
04/03 20:47:31,373 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150052.516050488]: rtabmap (47): Rate=1.00s, Limit=0.000s, Conversion=0.0081s, RTAB-Map=0.2803s, Maps update=0.0340s pub=0.0000s (local map=25, WM=25)
04/03 20:47:32,625 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150053.642193452]: rtabmap (48): Rate=1.00s, Limit=0.000s, Conversion=0.0072s, RTAB-Map=0.2701s, Maps update=0.0458s pub=0.0001s (local map=25, WM=25)
04/03 20:47:33,878 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1741150055.012925913]: rtabmap (49): Rate=1.00s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.2360s, Maps update=0.0242s pub=0.0001s (local map=25, WM=25)
04/03 20:47:35,131 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:36,384 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:37,636 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:38,888 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:40,140 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:41,391 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:42,644 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:43,896 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:45,149 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:46,403 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:48,867 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:50,122 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:51,374 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:52,625 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:53,877 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:55,129 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
04/03 20:47:56,382 WARNING [547448930624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
^C[rtabmap/rtabmap-6] killing on exit
[t265_to_d400-5] killing on exit
[l515/realsense2_camera-4] killing on exit
[l515/realsense2_camera_manager-3] killing on exit
[t265/realsense2_camera-2] killing on exit
[t265/realsense2_camera_manager-1] killing on exit
^C^C 04/03 20:47:57,025 ERROR [546643624256] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 131
^C 04/03 20:47:57,351 ERROR [546668802368] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130
rtabmap: Saving database/long-term memory... (located at /home/pi/.ros/rtabmap.db)
rtabmap: 2D occupancy grid map saved.
rtabmap: Saving database/long-term memory...done! (located at /home/pi/.ros/rtabmap.db, 14 MB)
shutting down processing monitor...
... shutting down processing monitor complete
done