gyu@imsl:~$ ros2 launch rtabmap_examples rtabmap_D405x3.launch.py [INFO] [launch]: All log files can be found below /home/gyu/.ros/log/2025-07-12-22-11-27-983826-imsl-10961 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rtabmap_viz-1]: process started with pid [10962] [INFO] [rviz2-2]: process started with pid [10964] [INFO] [rgbd_sync-3]: process started with pid [10966] [INFO] [rgbd_sync-4]: process started with pid [10968] [INFO] [rgbd_sync-5]: process started with pid [10970] [INFO] [rtabmap-6]: process started with pid [10972] [INFO] [point_cloud_xyzrgb-7]: process started with pid [10974] [INFO] [point_cloud_xyzrgb-8]: process started with pid [10976] [INFO] [point_cloud_xyzrgb-9]: process started with pid [10978] [point_cloud_xyzrgb-7] [INFO] [1752325888.195237769] [point_cloud_xyzrgb1]: Approximate time sync = true [rgbd_sync-4] [INFO] [1752325888.224471564] [camera_left.rgbd_sync2]: rgbd_sync2: approx_sync = true [rgbd_sync-4] [INFO] [1752325888.225086189] [camera_left.rgbd_sync2]: rgbd_sync2: approx_sync_max_interval = 0.050000 [rgbd_sync-4] [INFO] [1752325888.225324123] [camera_left.rgbd_sync2]: rgbd_sync2: topic_queue_size = 10 [rgbd_sync-4] [INFO] [1752325888.225540012] [camera_left.rgbd_sync2]: rgbd_sync2: sync_queue_size = 10 [rgbd_sync-4] [INFO] [1752325888.225744401] [camera_left.rgbd_sync2]: rgbd_sync2: qos = 0 [rgbd_sync-4] [INFO] [1752325888.225940484] [camera_left.rgbd_sync2]: rgbd_sync2: qos_camera_info = 0 [rgbd_sync-4] [INFO] [1752325888.226131379] [camera_left.rgbd_sync2]: rgbd_sync2: depth_scale = 1.000000 [rgbd_sync-4] [INFO] [1752325888.226144404] [camera_left.rgbd_sync2]: rgbd_sync2: decimation = 1 [rgbd_sync-4] [INFO] [1752325888.226152391] [camera_left.rgbd_sync2]: rgbd_sync2: compressed_rate = 0.000000 [rgbd_sync-5] [INFO] [1752325888.239722542] [camera_right.rgbd_sync3]: rgbd_sync3: approx_sync = true [rgbd_sync-5] [INFO] [1752325888.239804309] [camera_right.rgbd_sync3]: rgbd_sync3: approx_sync_max_interval = 0.050000 [rgbd_sync-5] [INFO] [1752325888.239817309] [camera_right.rgbd_sync3]: rgbd_sync3: topic_queue_size = 10 [rgbd_sync-5] [INFO] [1752325888.239822251] [camera_right.rgbd_sync3]: rgbd_sync3: sync_queue_size = 10 [rgbd_sync-5] [INFO] [1752325888.239825513] [camera_right.rgbd_sync3]: rgbd_sync3: qos = 0 [rgbd_sync-5] [INFO] [1752325888.239828773] [camera_right.rgbd_sync3]: rgbd_sync3: qos_camera_info = 0 [rgbd_sync-5] [INFO] [1752325888.239832065] [camera_right.rgbd_sync3]: rgbd_sync3: depth_scale = 1.000000 [rgbd_sync-5] [INFO] [1752325888.239835703] [camera_right.rgbd_sync3]: rgbd_sync3: decimation = 1 [rgbd_sync-5] [INFO] [1752325888.239838713] [camera_right.rgbd_sync3]: rgbd_sync3: compressed_rate = 0.000000 [rgbd_sync-4] [INFO] [1752325888.241045401] [camera_left.rgbd_sync2]: [rgbd_sync-4] rgbd_sync2 subscribed to (approx sync, max interval=0.050000s): [rgbd_sync-4] /camera/left/left_rgb_camera/image_raw, [rgbd_sync-4] /camera/left/depth/left_depth_camera/depth/image_raw, [rgbd_sync-4] /camera/left/left_rgb_camera/camera_info [rgbd_sync-5] [INFO] [1752325888.246510442] [camera_right.rgbd_sync3]: [rgbd_sync-5] rgbd_sync3 subscribed to (approx sync, max interval=0.050000s): [rgbd_sync-5] /camera/right/right_rgb_camera/image_raw, [rgbd_sync-5] /camera/right/depth/right_depth_camera/depth/image_raw, [rgbd_sync-5] /camera/right/right_rgb_camera/camera_info [rgbd_sync-3] [INFO] [1752325888.256881388] [camera_front.rgbd_sync1]: rgbd_sync1: approx_sync = true [rgbd_sync-3] [INFO] [1752325888.257324198] [camera_front.rgbd_sync1]: rgbd_sync1: approx_sync_max_interval = 0.050000 [rgbd_sync-3] [INFO] [1752325888.257343006] [camera_front.rgbd_sync1]: rgbd_sync1: topic_queue_size = 10 [rgbd_sync-3] [INFO] [1752325888.257346642] [camera_front.rgbd_sync1]: rgbd_sync1: sync_queue_size = 10 [rgbd_sync-3] [INFO] [1752325888.257349826] [camera_front.rgbd_sync1]: rgbd_sync1: qos = 0 [rgbd_sync-3] [INFO] [1752325888.257353001] [camera_front.rgbd_sync1]: rgbd_sync1: qos_camera_info = 0 [rgbd_sync-3] [INFO] [1752325888.257356996] [camera_front.rgbd_sync1]: rgbd_sync1: depth_scale = 1.000000 [rgbd_sync-3] [INFO] [1752325888.257360395] [camera_front.rgbd_sync1]: rgbd_sync1: decimation = 1 [rgbd_sync-3] [INFO] [1752325888.257363213] [camera_front.rgbd_sync1]: rgbd_sync1: compressed_rate = 0.000000 [rgbd_sync-3] [INFO] [1752325888.264372724] [camera_front.rgbd_sync1]: [rgbd_sync-3] rgbd_sync1 subscribed to (approx sync, max interval=0.050000s): [rgbd_sync-3] /camera/front/front_rgb_camera/image_raw, [rgbd_sync-3] /camera/front/depth/front_depth_camera/depth/image_raw, [rgbd_sync-3] /camera/front/front_rgb_camera/camera_info [point_cloud_xyzrgb-8] [INFO] [1752325888.351563245] [point_cloud_xyzrgb2]: Approximate time sync = true [rtabmap-6] [INFO] [1752325888.374977491] [rtabmap]: rtabmap(maps): latch = true [rtabmap-6] [INFO] [1752325888.375435409] [rtabmap]: rtabmap(maps): map_filter_radius = 0.000000 [rtabmap-6] [INFO] [1752325888.375624477] [rtabmap]: rtabmap(maps): map_filter_angle = 30.000000 [rtabmap-6] [INFO] [1752325888.375735789] [rtabmap]: rtabmap(maps): map_cleanup = true [rtabmap-6] [INFO] [1752325888.375846562] [rtabmap]: rtabmap(maps): map_always_update = false [rtabmap-6] [INFO] [1752325888.375950559] [rtabmap]: rtabmap(maps): map_empty_ray_tracing = true [rtabmap-6] [INFO] [1752325888.376048857] [rtabmap]: rtabmap(maps): cloud_output_voxelized = true [rtabmap-6] [INFO] [1752325888.376149552] [rtabmap]: rtabmap(maps): cloud_subtract_filtering = false [rtabmap-6] [INFO] [1752325888.376302857] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [rtabmap-6] [INFO] [1752325888.376356386] [rtabmap]: rtabmap(maps): octomap_tree_depth = 16 [rtabmap-6] [INFO] [1752325888.388152983] [rtabmap]: rtabmap: frame_id = base_link [rtabmap-6] [INFO] [1752325888.388173542] [rtabmap]: rtabmap: odom_frame_id = odom [rtabmap-6] [INFO] [1752325888.388176475] [rtabmap]: rtabmap: map_frame_id = map [rtabmap-6] [INFO] [1752325888.388178613] [rtabmap]: rtabmap: log_to_rosout_level = 4 [rtabmap-6] [INFO] [1752325888.388180887] [rtabmap]: rtabmap: initial_pose = [rtabmap-6] [INFO] [1752325888.388182976] [rtabmap]: rtabmap: use_action_for_goal = false [rtabmap-6] [INFO] [1752325888.388185076] [rtabmap]: rtabmap: tf_delay = 0.050000 [rtabmap-6] [INFO] [1752325888.388189991] [rtabmap]: rtabmap: tf_tolerance = 0.100000 [rtabmap-6] [INFO] [1752325888.388192313] [rtabmap]: rtabmap: odom_sensor_sync = false [rtabmap-6] [INFO] [1752325888.388194420] [rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false [rtabmap-6] [INFO] [1752325888.388196512] [rtabmap]: rtabmap: wait_for_transform = 0.200000 [rtabmap-6] [INFO] [1752325888.388199881] [rtabmap]: rtabmap: gen_scan = false [rtabmap-6] [INFO] [1752325888.388201928] [rtabmap]: rtabmap: gen_depth = false [point_cloud_xyzrgb-9] [INFO] [1752325888.388539257] [point_cloud_xyzrgb3]: Approximate time sync = true [rtabmap-6] [INFO] [1752325888.401092830] [rtabmap]: Setting RTAB-Map parameter "Grid/3D"="false" [rtabmap-6] [INFO] [1752325888.401250254] [rtabmap]: Setting RTAB-Map parameter "Grid/RangeMax"="7" [rtabmap-6] [INFO] [1752325888.401266441] [rtabmap]: Setting RTAB-Map parameter "Grid/RayTracing"="true" [rtabmap-6] [INFO] [1752325888.401294515] [rtabmap]: Setting RTAB-Map parameter "Grid/Sensor"="0" [rtabmap-6] [INFO] [1752325888.401904791] [rtabmap]: Setting RTAB-Map parameter "Marker/CornerRefinementMethod"="1" [rtabmap-6] [INFO] [1752325888.401926406] [rtabmap]: Setting RTAB-Map parameter "Marker/Dictionary"="5" [rtabmap-6] [INFO] [1752325888.401943184] [rtabmap]: Setting RTAB-Map parameter "Marker/Length"="0.17" [rtabmap-6] [INFO] [1752325888.401961220] [rtabmap]: Setting RTAB-Map parameter "Marker/MaxDepthError"="0.1" [rtabmap-6] [INFO] [1752325888.401980413] [rtabmap]: Setting RTAB-Map parameter "Marker/MaxRange"="1.5" [rtabmap-6] [INFO] [1752325888.401995189] [rtabmap]: Setting RTAB-Map parameter "Marker/MinRange"="0.5" [rtabmap-6] [INFO] [1752325888.402039214] [rtabmap]: Setting RTAB-Map parameter "Marker/VarianceAngular"="99" [rtabmap-6] [INFO] [1752325888.402053774] [rtabmap]: Setting RTAB-Map parameter "Marker/VarianceLinear"="0.5" [rtabmap-6] [INFO] [1752325888.402170378] [rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="True" [rtabmap-6] [INFO] [1752325888.402183320] [rtabmap]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="True" [rtabmap-6] [INFO] [1752325888.402495029] [rtabmap]: Setting RTAB-Map parameter "Optimizer/LandmarksIgnored"="false" [rtabmap-6] [INFO] [1752325888.402525578] [rtabmap]: Setting RTAB-Map parameter "Optimizer/Robust"="false" [rtabmap-6] [INFO] [1752325888.402547576] [rtabmap]: Setting RTAB-Map parameter "Optimizer/Strategy"="2" [rtabmap-6] [INFO] [1752325888.402870312] [rtabmap]: Setting RTAB-Map parameter "RGBD/MarkerDetection"="true" [rtabmap-6] [INFO] [1752325888.402913229] [rtabmap]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" [rtabmap-6] [INFO] [1752325888.402936587] [rtabmap]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [rtabmap-6] [INFO] [1752325888.402958818] [rtabmap]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="0" [rtabmap-6] [INFO] [1752325888.403139104] [rtabmap]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [rtabmap-6] [INFO] [1752325888.403161685] [rtabmap]: Setting RTAB-Map parameter "Reg/Strategy"="1" [rtabmap-6] [INFO] [1752325888.404463772] [rtabmap]: Setting RTAB-Map parameter "Vis/MinInliers"="8" [rtabmap-6] [WARN] [1752325888.404879100] [rtabmap]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add [rtabmap-6] [INFO] [1752325888.405052709] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz [rtabmap-6] [INFO] [1752325888.405967049] [rtabmap]: rtabmap: Deleted database "/home/gyu/maps/gt.db" (--delete_db_on_start or -d are set). [rtabmap-6] [INFO] [1752325888.405993173] [rtabmap]: rtabmap: Using database from "/home/gyu/maps/gt.db" (0 MB). [rtabmap_viz-1] [INFO] [1752325888.550153815] [rtabmap_viz]: rtabmap_viz: Using configuration from "/home/gyu/.ros/rtabmapGUI.ini" [rtabmap-6] [INFO] [1752325888.607462033] [rtabmap]: rtabmap: Database version = "0.21.9". [rtabmap-6] [INFO] [1752325888.607498184] [rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [rtabmap-6] [INFO] [1752325888.621489862] [rtabmap]: Setup callbacks [rtabmap-6] [INFO] [1752325888.621571299] [rtabmap]: rtabmap: subscribe_depth = false [rtabmap-6] [INFO] [1752325888.621577875] [rtabmap]: rtabmap: subscribe_rgb = false [rtabmap-6] [INFO] [1752325888.621581911] [rtabmap]: rtabmap: subscribe_stereo = false [rtabmap-6] [INFO] [1752325888.621585156] [rtabmap]: rtabmap: subscribe_rgbd = true (rgbd_cameras=3) [rtabmap-6] [INFO] [1752325888.621589125] [rtabmap]: rtabmap: subscribe_sensor_data = false [rtabmap-6] [INFO] [1752325888.621592195] [rtabmap]: rtabmap: subscribe_odom_info = false [rtabmap-6] [INFO] [1752325888.621595439] [rtabmap]: rtabmap: subscribe_user_data = false [rtabmap-6] [INFO] [1752325888.621599071] [rtabmap]: rtabmap: subscribe_scan = true [rtabmap-6] [INFO] [1752325888.621602955] [rtabmap]: rtabmap: subscribe_scan_cloud = false [rtabmap-6] [INFO] [1752325888.621606633] [rtabmap]: rtabmap: subscribe_scan_descriptor = false [rtabmap-6] [INFO] [1752325888.621609741] [rtabmap]: rtabmap: topic_queue_size = 10 [rtabmap-6] [INFO] [1752325888.621611988] [rtabmap]: rtabmap: sync_queue_size = 10 [rtabmap-6] [INFO] [1752325888.621614067] [rtabmap]: rtabmap: qos_image = 0 [rtabmap-6] [INFO] [1752325888.621616277] [rtabmap]: rtabmap: qos_camera_info = 0 [rtabmap-6] [INFO] [1752325888.621618471] [rtabmap]: rtabmap: qos_scan = 0 [rtabmap-6] [INFO] [1752325888.621620517] [rtabmap]: rtabmap: qos_odom = 0 [rtabmap-6] [INFO] [1752325888.621622673] [rtabmap]: rtabmap: qos_user_data = 0 [rtabmap-6] [INFO] [1752325888.621624720] [rtabmap]: rtabmap: approx_sync = true [rtabmap-6] [INFO] [1752325888.621640347] [rtabmap]: Setup rgbd3 callback [rtabmap-6] [INFO] [1752325888.622775946] [rtabmap]: [rtabmap-6] rtabmap subscribed to (approx sync): [rtabmap-6] /camera_front/rgbd_image \ [rtabmap-6] /camera_left/rgbd_image \ [rtabmap-6] /camera_right/rgbd_image \ [rtabmap-6] /scan [rviz2-2] [INFO] [1752325888.698024921] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1752325888.698083576] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1752325888.721150848] [rviz2]: Stereo is NOT SUPPORTED [rtabmap_viz-1] libpng warning: iCCP: known incorrect sRGB profile [rtabmap_viz-1] libpng warning: iCCP: known incorrect sRGB profile [rtabmap_viz-1] libpng warning: iCCP: known incorrect sRGB profile [rtabmap_viz-1] [INFO] [1752325889.307592152] [rtabmap_viz]: Reading parameters from the ROS server... [rtabmap_viz-1] [INFO] [1752325889.635703435] [rtabmap_viz]: Parameters read = 383 [rtabmap_viz-1] [INFO] [1752325889.635730556] [rtabmap_viz]: Parameters successfully read. [rtabmap-6] [INFO] [1752325889.969124955] [rtabmap]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0047s, RTAB-Map=0.0643s, Maps update=0.0096s pub=0.0017s delay=0.4030s (local map=2, WM=1) [rviz2-2] [INFO] [1752325890.000542987] [rviz2]: Trying to create a map of size 176 x 137 using 1 swatches [rtabmap_viz-1] [INFO] [1752325890.013082553] [rtabmap_viz]: rtabmap_viz: subscribe_depth = false [rtabmap_viz-1] [INFO] [1752325890.013110525] [rtabmap_viz]: rtabmap_viz: subscribe_rgb = false [rtabmap_viz-1] [INFO] [1752325890.013114575] [rtabmap_viz]: rtabmap_viz: subscribe_stereo = false [rtabmap_viz-1] [INFO] [1752325890.013117996] [rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1) [rtabmap_viz-1] [INFO] [1752325890.013122286] [rtabmap_viz]: rtabmap_viz: subscribe_sensor_data = false [rtabmap_viz-1] [INFO] [1752325890.013125442] [rtabmap_viz]: rtabmap_viz: subscribe_odom_info = false [rtabmap_viz-1] [INFO] [1752325890.013128987] [rtabmap_viz]: rtabmap_viz: subscribe_user_data = false [rtabmap_viz-1] [INFO] [1752325890.013132433] [rtabmap_viz]: rtabmap_viz: subscribe_scan = false [rtabmap_viz-1] [INFO] [1752325890.013136622] [rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false [rtabmap_viz-1] [INFO] [1752325890.013139307] [rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false [rtabmap_viz-1] [INFO] [1752325890.013141521] [rtabmap_viz]: rtabmap_viz: topic_queue_size = 10 [rtabmap_viz-1] [INFO] [1752325890.013144252] [rtabmap_viz]: rtabmap_viz: sync_queue_size = 10 [rtabmap_viz-1] [INFO] [1752325890.013146449] [rtabmap_viz]: rtabmap_viz: qos_image = 0 [rtabmap_viz-1] [INFO] [1752325890.013148829] [rtabmap_viz]: rtabmap_viz: qos_camera_info = 0 [rtabmap_viz-1] [INFO] [1752325890.013150899] [rtabmap_viz]: rtabmap_viz: qos_scan = 0 [rtabmap_viz-1] [INFO] [1752325890.013153082] [rtabmap_viz]: rtabmap_viz: qos_odom = 0 [rtabmap_viz-1] [INFO] [1752325890.013155004] [rtabmap_viz]: rtabmap_viz: qos_user_data = 0 [rtabmap_viz-1] [INFO] [1752325890.013157118] [rtabmap_viz]: rtabmap_viz: approx_sync = true [rtabmap_viz-1] [INFO] [1752325890.013167611] [rtabmap_viz]: Setup scan callback [rtabmap_viz-1] [INFO] [1752325890.013505763] [rtabmap_viz]: [rtabmap_viz-1] rtabmap_viz subscribed to: [rtabmap_viz-1] /odom [rtabmap_viz-1] [INFO] [1752325890.014601710] [rtabmap_viz]: rtabmap_viz started. [rtabmap-6] [INFO] [1752325891.710944692] [rtabmap]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0019s, RTAB-Map=0.0420s, Maps update=0.0071s pub=0.0013s delay=0.1030s (local map=3, WM=2) [rtabmap-6] [ WARN] (2025-07-12 22:11:33.392) Rtabmap.cpp:4560::process() Republishing data of requested node(s) 1 (Rtabmap/MaxRepublished=2) [rtabmap-6] [INFO] [1752325893.402775161] [rtabmap]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0028s, RTAB-Map=0.0396s, Maps update=0.0076s pub=0.0020s delay=0.4030s (local map=4, WM=3) [rviz2-2] [INFO] [1752325893.460919307] [rviz2]: Trying to create a map of size 177 x 137 using 1 swatches [rtabmap-6] [INFO] [1752325895.849507839] [rtabmap]: rtabmap (4): Rate=1.00s, Limit=0.000s, Conversion=0.0025s, RTAB-Map=0.0411s, Maps update=0.0088s pub=0.0010s delay=0.0030s (local map=5, WM=4) [rtabmap-6] [ WARN] (2025-07-12 22:11:37.341) Rtabmap.cpp:4560::process() Republishing data of requested node(s) 2 3 (Rtabmap/MaxRepublished=2) [rtabmap-6] [INFO] [1752325897.351729726] [rtabmap]: rtabmap (5): Rate=1.00s, Limit=0.000s, Conversion=0.0019s, RTAB-Map=0.0445s, Maps update=0.0070s pub=0.0031s delay=0.1030s (local map=6, WM=5) [rtabmap-6] [INFO] [1752325898.433095788] [rtabmap]: rtabmap (6): Rate=1.00s, Limit=0.000s, Conversion=0.0024s, RTAB-Map=0.0450s, Maps update=0.0074s pub=0.0011s delay=0.0030s (local map=7, WM=6) [rviz2-2] [INFO] [1752325898.466881744] [rviz2]: Trying to create a map of size 177 x 138 using 1 swatches [rtabmap-6] [ WARN] (2025-07-12 22:11:40.541) Rtabmap.cpp:4560::process() Republishing data of requested node(s) 4 5 (Rtabmap/MaxRepublished=2) [rtabmap-6] [INFO] [1752325900.555944849] [rtabmap]: rtabmap (7): Rate=1.00s, Limit=0.000s, Conversion=0.0020s, RTAB-Map=0.0445s, Maps update=0.0108s pub=0.0030s delay=0.9030s (local map=8, WM=7) [rtabmap-6] [INFO] [1752325900.858485107] [rtabmap]: rtabmap (8): Rate=1.00s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.0434s, Maps update=0.0066s pub=0.0015s delay=0.0030s (local map=9, WM=8) [rtabmap-6] [ WARN] (2025-07-12 22:11:42.334) Rtabmap.cpp:4560::process() Republishing data of requested node(s) 6 7 (Rtabmap/MaxRepublished=2) [rtabmap-6] [INFO] [1752325902.345535872] [rtabmap]: rtabmap (9): Rate=1.00s, Limit=0.000s, Conversion=0.0036s, RTAB-Map=0.0481s, Maps update=0.0068s pub=0.0036s delay=0.3030s (local map=10, WM=9) [rviz2-2] [INFO] [1752325902.405304967] [rviz2]: Trying to creat