[ INFO] [1458814874.977583819]: Setting odometry parameter "Odom/FillInfoData"="true" [ INFO] [1458814877.276426300]: /rtabmap/rgbd_odometry subscribed to: /camera/color/image_raw, /camera/depth/image_resized, /camera/color/camera_info [ INFO] [1458814877.556414309]: Odom: quality=0, std dev=99.995003m, update time=0.057898s [ INFO] [1458814877.610511275]: Odom: quality=38, std dev=0.004956m, update time=0.052556s [ INFO] [1458814877.649695530]: Odom: quality=70, std dev=0.008937m, update time=0.036668s [ INFO] [1458814877.693221642]: Odom: quality=67, std dev=0.005797m, update time=0.038439s [ INFO] [1458814877.740032325]: Odom: quality=94, std dev=0.009267m, update time=0.043906s [ INFO] [1458814877.794321623]: Odom: quality=75, std dev=0.005394m, update time=0.045348s [ INFO] [1458814877.841829983]: Odom: quality=76, std dev=0.005875m, update time=0.044703s [ INFO] [1458814877.883458656]: Odom: quality=94, std dev=0.006987m, update time=0.036494s [ INFO] [1458814877.933412405]: Odom: quality=95, std dev=0.005561m, update time=0.046521s [ INFO] [1458814878.037815360]: Odom: quality=88, std dev=0.004413m, update time=0.101182s [ INFO] [1458814878.111007195]: Odom: quality=90, std dev=0.005085m, update time=0.067628s [ INFO] [1458814878.277134692]: Odom: quality=93, std dev=0.006263m, update time=0.161067s [ INFO] [1458814878.338105546]: Odom: quality=90, std dev=0.006110m, update time=0.047230s [ INFO] [1458814878.396542361]: Odom: quality=79, std dev=0.007304m, update time=0.056976s [ INFO] [1458814878.490885854]: Odom: quality=92, std dev=0.007618m, update time=0.080675s [ INFO] [1458814878.585956029]: Odom: quality=89, std dev=0.004949m, update time=0.091756s [ INFO] [1458814878.670814136]: Odom: quality=92, std dev=0.008399m, update time=0.080438s [ INFO] [1458814878.737647567]: Odom: quality=90, std dev=0.005583m, update time=0.064290s [ INFO] [1458814878.810758587]: Odom: quality=94, std dev=0.005964m, update time=0.070648s [ INFO] [1458814878.894385970]: Odom: quality=81, std dev=0.006166m, update time=0.052697s [ INFO] [1458814878.979028174]: Odom: quality=95, std dev=0.012762m, update time=0.080877s [ INFO] [1458814879.059260955]: Odom: quality=102, std dev=0.007682m, update time=0.073690s [ INFO] [1458814879.131305438]: Odom: quality=99, std dev=0.008233m, update time=0.059890s [ INFO] [1458814879.211399310]: Odom: quality=81, std dev=0.007952m, update time=0.074479s [ INFO] [1458814879.303987301]: Odom: quality=82, std dev=0.005259m, update time=0.074525s [ INFO] [1458814879.353457395]: Odom: quality=90, std dev=0.004846m, update time=0.045338s [ INFO] [1458814879.412140574]: Odom: quality=111, std dev=0.006828m, update time=0.056554s [ INFO] [1458814879.465999783]: Odom: quality=92, std dev=0.007357m, update time=0.052179s [ INFO] [1458814879.535412647]: Odom: quality=82, std dev=0.006853m, update time=0.063437s [ INFO] [1458814879.621137030]: Odom: quality=91, std dev=0.007201m, update time=0.083386s [ INFO] [1458814879.689408296]: Odom: quality=95, std dev=0.006683m, update time=0.059815s [ INFO] [1458814879.752683333]: Odom: quality=80, std dev=0.007387m, update time=0.056768s [ INFO] [1458814879.916091198]: Odom: quality=90, std dev=0.005716m, update time=0.134318s [ INFO] [1458814880.011217507]: Odom: quality=85, std dev=0.006472m, update time=0.093426s [ INFO] [1458814880.102903326]: Odom: quality=98, std dev=0.006770m, update time=0.088635s [ INFO] [1458814880.199345710]: Odom: quality=79, std dev=0.005845m, update time=0.069565s [ INFO] [1458814880.245414875]: Odom: quality=116, std dev=0.015250m, update time=0.043848s [ INFO] [1458814880.289237228]: Odom: quality=91, std dev=0.005756m, update time=0.042622s [ INFO] [1458814880.340881354]: Odom: quality=87, std dev=0.00629[ INFO] [1458814874.465137014]: Starting node... [ INFO] [1458814874.751467064]: rtabmapviz: Using configuration from "/home/ubuntu/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ WARN] (2016-03-24 12:21:15.761) PreferencesDialog.cpp:2875::setParameter() Trying to set "Kp/NNStrategy" to KdTree but RTAB-Map isn't built with the nonfree module from OpenCV and kdTree cannot be used with binary descriptors. Keeping default combo value: FLANN Linear. [ WARN] (2016-03-24 12:21:15.785) PreferencesDialog.cpp:2875::setParameter() Trying to set "Vis/CorNNType" to KdTree but RTAB-Map isn't built with the nonfree module from OpenCV and kdTree cannot be used with binary descriptors. Keeping default combo value: Brute Force. [ INFO] [1458814875.788731208]: Reading parameters from the ROS server... [ INFO] [1458814876.953634477]: Parameters read = 0 [ INFO] [1458814877.815068012]: /rtabmap/rtabmapviz subscribed to: /camera/color/image_raw, /camera/depth/image_resized, /camera/color/camera_info, /rtabmap/odom, /rtabmap/odom_info [ INFO] [1458814877.933553500]: rtabmapviz started. [ INFO] [1458814874.374525237]: Starting node... [ INFO] [1458814874.764110804]: rtabmap: frame_id = realsense_frame [ INFO] [1458814874.764175428]: rtabmap: map_frame_id = map [ INFO] [1458814874.764187633]: rtabmap: queue_size = 10 [ INFO] [1458814874.764198268]: rtabmap: tf_delay = 0.050000 [ INFO] [1458814874.764205477]: rtabmap: depth_cameras = 1 [ INFO] [1458814875.801636556]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1458814875.808536969]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1458814876.134828666]: Setting RTAB-Map parameter "Mem/SaveDepth16Format"="true" [ INFO] [1458814877.097436111]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1458814877.374802735]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="20" [ INFO] [1458814877.525189741]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0" [ INFO] [1458814879.404926237]: RTAB-Map detection rate = 20.000000 Hz [ INFO] [1458814879.405706879]: rtabmap: Deleted database "/home/ubuntu/.ros/rtabmap.db" (--delete_db_on_start is set). [ INFO] [1458814879.405839482]: rtabmap: Using database from "/home/ubuntu/.ros/rtabmap.db". [ INFO] [1458814879.526506569]: rtabmap: Database version = "0.11.2". [ INFO] [1458814880.150213231]: Registering Depth callback... [ INFO] [1458814880.153581199]: /rtabmap/rtabmap subscribed to: /camera/color/image_raw, /camera/depth/image_resized, /camera/color/camera_info, /rtabmap/odom [ INFO] [1458814880.155273542]: rtabmap 0.11.2 started... [ INFO] [1458814880.456619561]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0606s, Pub=0.0020s (local map=1, WM=1) [ INFO] [1458814880.630690074]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0801s, Pub=0.0006s (local map=1, WM=1) [ INFO] [1458814880.715521310]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0826s, Pub=0.0009s (local map=1, WM=1) [ INFO] [1458814880.916034011]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.1187s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.115626347]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0988s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814881.198827020]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0790s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.265204618]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0636s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.330063853]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0619s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.392051431]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0592s, Pub=0.0006s (local map=1, WM=1) [ INFO] [1458814881.448473197]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0345s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.501478916]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0501s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814881.550235464]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0459s, Pub=0.0003s (local map=1, WM=1) [ INFO] [1458814881.661945813]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0492s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.704599495]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0412s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814881.753090098]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0466s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814881.807064290]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0494s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814881.910761328]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0522s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814881.996438098]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0449s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.058503907]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0378s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.13820393m, update time=0.049347s [ INFO] [1458814880.387492225]: Odom: quality=86, std dev=0.006341m, update time=0.032610s [ INFO] [1458814880.432053162]: Odom: quality=102, std dev=0.007757m, update time=0.042774s [ INFO] [1458814880.489473822]: Odom: quality=92, std dev=0.008057m, update time=0.054838s [ INFO] [1458814880.552421382]: Odom: quality=115, std dev=0.008537m, update time=0.059468s [ INFO] [1458814880.639873733]: Odom: quality=85, std dev=0.005994m, update time=0.070071s [ INFO] [1458814880.695556159]: Odom: quality=95, std dev=0.007628m, update time=0.041447s [ INFO] [1458814880.743708232]: Odom: quality=131, std dev=0.011163m, update time=0.046760s [ INFO] [1458814880.786783971]: Odom: quality=86, std dev=0.005121m, update time=0.036946s [ INFO] [1458814880.843389865]: Odom: quality=91, std dev=0.006880m, update time=0.054764s [ INFO] [1458814880.899639053]: Odom: quality=98, std dev=0.007255m, update time=0.052463s [ INFO] [1458814881.011680846]: Odom: quality=97, std dev=0.007509m, update time=0.106540s [ INFO] [1458814881.097986416]: Odom: quality=99, std dev=0.006929m, update time=0.070879s [ INFO] [1458814881.192838660]: Odom: quality=82, std dev=0.005551m, update time=0.087427s [ INFO] [1458814881.244170271]: Odom: quality=80, std dev=0.005614m, update time=0.047891s [ INFO] [1458814881.287921603]: Odom: quality=102, std dev=0.007667m, update time=0.042186s [ INFO] [1458814881.356345203]: Odom: quality=106, std dev=0.008808m, update time=0.060323s [ INFO] [1458814881.403473746]: Odom: quality=119, std dev=0.007983m, update time=0.045141s [ INFO] [1458814881.446707732]: Odom: quality=109, std dev=0.007252m, update time=0.041473s [ INFO] [1458814881.482699433]: Odom: quality=95, std dev=0.006206m, update time=0.034596s [ INFO] [1458814881.532290516]: Odom: quality=98, std dev=0.006603m, update time=0.047979s [ INFO] [1458814881.575265169]: Odom: quality=85, std dev=0.007312m, update time=0.041137s [ INFO] [1458814881.609716986]: Odom: quality=61, std dev=0.009118m, update time=0.030155s [ INFO] [1458814881.653981872]: Odom: quality=73, std dev=0.007211m, update time=0.043000s [ INFO] [1458814881.703292299]: Odom: quality=102, std dev=0.015670m, update time=0.047841s [ INFO] [1458814881.755242795]: Odom: quality=96, std dev=0.010893m, update time=0.044093s [ INFO] [1458814881.801749841]: Odom: quality=103, std dev=0.017271m, update time=0.044959s [ INFO] [1458814881.846853098]: Odom: quality=89, std dev=0.011505m, update time=0.038861s [ INFO] [1458814881.898014834]: Odom: quality=108, std dev=0.011500m, update time=0.049720s [ INFO] [1458814881.948531554]: Odom: quality=80, std dev=0.008951m, update time=0.048794s [ INFO] [1458814882.018567119]: Odom: quality=96, std dev=0.009804m, update time=0.067618s [ INFO] [1458814882.080220204]: Odom: quality=97, std dev=0.010063m, update time=0.058701s [ INFO] [1458814882.160639866]: Odom: quality=114, std dev=0.007749m, update time=0.077623s [ INFO] [1458814882.245399046]: Odom: quality=85, std dev=0.010426m, update time=0.082077s [ INFO] [1458814882.331403733]: Odom: quality=124, std dev=0.011701m, update time=0.080789s [ INFO] [1458814882.405779509]: Odom: quality=92, std dev=0.008610m, update time=0.072281s [ INFO] [1458814882.462825782]: Odom: quality=87, std dev=0.006295m, update time=0.050417s [ INFO] [1458814882.514047739]: Odom: quality=89, std dev=0.006508m, update time=0.049774s [ INFO] [1458814882.586785942]: Odom: quality=83, std dev=0.008166m, update time=0.071324s [ INFO] [1458814882.635569111]: Odom: quality=94, std dev=0.011059m, update time=0.046621s [ INFO] [1458814882.691930403]: Odom: quality=86, std dev=0.005534m, update time=0.053152s [ INFO] [1458814882.748174715]: Odom: quality=98, std dev=0.007715m, update time=0.054840s63]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0556s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.231160918]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0672s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.314412805]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0638s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814882.388843497]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0546s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.456811518]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0387s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.565208465]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0458s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.676952819]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0389s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.722880979]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0445s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.771123085]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0462s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814882.894789968]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0417s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814882.944288818]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0472s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.078262688]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0407s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.123017472]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0434s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.189652536]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0640s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.300805519]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0363s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.339141045]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0363s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.469810719]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0330s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.512897955]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0415s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.636049285]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0378s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.693093064]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0547s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.739055845]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0436s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.881412693]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0369s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.924451490]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0419s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814883.971094247]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0438s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814884.086908857]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0343s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.126086899]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0376s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.255883754]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0390s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814884.308483559]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0507s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.442859864]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0581s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.491187722]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0451s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.536287911]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0415s, Pub=0.0003s (local map=1, WM=1) [ INFO] [1458814884.642302179]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0364s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.704762959]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0441s, Pub=0.0001s (local map=1, WM=1) [ [ INFO] [1458814882.801387073]: Odom: quality=98, std dev=0.006853m, update time=0.051378s [ INFO] [1458814882.850299603]: Odom: quality=120, std dev=0.009786m, update time=0.042649s [ INFO] [1458814882.911720920]: Odom: quality=99, std dev=0.007988m, update time=0.059170s [ INFO] [1458814882.983662099]: Odom: quality=99, std dev=0.009582m, update time=0.070371s [ INFO] [1458814883.034798129]: Odom: quality=119, std dev=0.009592m, update time=0.049101s [ INFO] [1458814883.089962834]: Odom: quality=116, std dev=0.010057m, update time=0.053180s [ INFO] [1458814883.153117014]: Odom: quality=95, std dev=0.008829m, update time=0.061045s [ INFO] [1458814883.215031856]: Odom: quality=92, std dev=0.007660m, update time=0.059389s [ INFO] [1458814883.261311229]: Odom: quality=96, std dev=0.007395m, update time=0.044929s [ INFO] [1458814883.320546266]: Odom: quality=92, std dev=0.006002m, update time=0.057459s [ INFO] [1458814883.386926743]: Odom: quality=98, std dev=0.008314m, update time=0.064606s [ INFO] [1458814883.435316291]: Odom: quality=114, std dev=0.007555m, update time=0.045372s [ INFO] [1458814883.492414760]: Odom: quality=96, std dev=0.010119m, update time=0.055046s [ INFO] [1458814883.546448745]: Odom: quality=109, std dev=0.007327m, update time=0.052040s [ INFO] [1458814883.596131362]: Odom: quality=120, std dev=0.013163m, update time=0.048322s [ INFO] [1458814883.661427594]: Odom: quality=98, std dev=0.008899m, update time=0.056283s [ INFO] [1458814883.720173627]: Odom: quality=120, std dev=0.010673m, update time=0.057428s [ INFO] [1458814883.787380482]: Odom: quality=109, std dev=0.008246m, update time=0.065299s [ INFO] [1458814883.842230465]: Odom: quality=113, std dev=0.011456m, update time=0.052885s [ INFO] [1458814883.894947241]: Odom: quality=84, std dev=0.011201m, update time=0.051179s [ INFO] [1458814883.954970981]: Odom: quality=114, std dev=0.006367m, update time=0.058340s [ INFO] [1458814884.003662241]: Odom: quality=102, std dev=0.012144m, update time=0.046685s [ INFO] [1458814884.050125896]: Odom: quality=98, std dev=0.007851m, update time=0.044708s [ INFO] [1458814884.110416859]: Odom: quality=101, std dev=0.009093m, update time=0.058465s [ INFO] [1458814884.162301694]: Odom: quality=100, std dev=0.007816m, update time=0.050439s [ INFO] [1458814884.215044179]: Odom: quality=100, std dev=0.006946m, update time=0.045200s [ INFO] [1458814884.270229672]: Odom: quality=92, std dev=0.008466m, update time=0.053547s [ INFO] [1458814884.321447872]: Odom: quality=96, std dev=0.007475m, update time=0.049018s [ INFO] [1458814884.382011693]: Odom: quality=123, std dev=0.008094m, update time=0.058778s [ INFO] [1458814884.434333449]: Odom: quality=85, std dev=0.005848m, update time=0.050473s [ INFO] [1458814884.492330358]: Odom: quality=98, std dev=0.007703m, update time=0.050978s [ INFO] [1458814884.551188760]: Odom: quality=107, std dev=0.010889m, update time=0.056675s [ INFO] [1458814884.603622874]: Odom: quality=110, std dev=0.007800m, update time=0.050784s [ INFO] [1458814884.658647690]: Odom: quality=107, std dev=0.008767m, update time=0.053172s [ INFO] [1458814884.714624383]: Odom: quality=111, std dev=0.008300m, update time=0.054339s [ INFO] [1458814884.761631443]: Odom: quality=95, std dev=0.009372m, update time=0.045609s [ INFO] [1458814884.811968821]: Odom: quality=97, std dev=0.009019m, update time=0.048621s [ INFO] [1458814884.855564763]: Odom: quality=112, std dev=0.009729m, update time=0.042235s [ INFO] [1458814884.907800782]: Odom: quality=106, std dev=0.007664m, update time=0.050546s [ INFO] [1458814884.953160535]: Odom: quality=112, std dev=0.007984m, update time=0.043167s [ INFO] [1458814885.020481461]: Odom: quality=118, std dev=0.009828m, update time=0.064878s [ INFO] [1458814885.067220302]: Odom: quality=103, std dev=0.006459m, update time=0.044801s [ INFO] [1458814885.124568438]: Odom: quality=93, std dev=0.009268m, update time=0.051703s [ INFO] [1458814885.178065015]: Odom: quality=105, std dev=0.009551m, update time=0.051602s [ INFO] [1458814885.228630817]: Odom: quality=110, std dev=0.010381m, update time=0.049182s [ INFO] [1458814885.281458186]: Odom: quality=80, std dev=0.007027m, update time=0.051108s [ INFO] [1458814885.325576051]: Odom: quality=86, std dev=0.009028m, update time=0.042483s [ INFO] [1458814885.381179764]: Odom: quality=102, std dev=0.007414m, update time=0.053623s [ INFO] [1458814885.434872568]: Odom: quality=94, std dev=0.008728m, update time=0.052178s [ INFO] [1458814885.494543447]: Odom: quality=115, std dev=0.008791m, update time=0.055530s [ INFO] [1458814885.558834696]: Odom: quality=96, std dev=0.008399m, update time=0.062402s [ INFO] [1458814885.608260996]: Odom: quality=94, std dev=0.007745m, update time=0.047336s [ INFO] [1458814885.669370989]: Odom: quality=96, std dev=0.007235m, update time=0.059756s [ INFO] [1458814885.721923736]: Odom: quality=94, std dev=0.006844m, update time=0.047480s [ INFO] [1458814885.768594614]: Odom: quality=106, std dev=0.010811m, update time=0.044949s [ INFO] [1458814885.817981642]: Odom: quality=94, std dev=0.008293m, update time=0.043192s [ INFO] [1458814885.860603711]: Odom: quality=99, std dev=0.009102m, update time=0.041195s [ INFO] [1458814885.908176672]: Odom: quality=100, std dev=0.007274m, update time=0.046040s [ INFO] [1458814885.957620105]: Odom: quality=119, std dev=0.010784m, update time=0.048020s [ INFO] [1458814886.008155982]: Odom: quality=95, std dev=0.007146m, update time=0.049019s [ INFO] [1458814886.056986271]: Odom: quality=91, std dev=0.006865m, update time=0.047356s [ INFO] [1458814886.100358750]: Odom: quality=117, std dev=0.008770m, update time=0.041846s [ INFO] [1458814886.146931766]: Odom: quality=100, std dev=0.007179m, update time=0.041818s [ INFO] [1458814886.198116626]: Odom: quality=117, std dev=0.008502m, update time=0.049719s [ INFO] [1458814886.239950174]: Odom: quality=91, std dev=0.008868m, update time=0.040195s [ INFO] [1458814886.286438395]: Odom: quality=93, std dev=0.007892m, update time=0.045016s [ INFO] [1458814886.336385492]: Odom: quality=113, std dev=0.011546m, update time=0.048183s [ INFO] [1458814886.377863975]: Odom: quality=93, std dev=0.008367m, update time=0.039956s [ INFO] [1458814886.427263201]: Odom: quality=118, std dev=0.011889m, update time=0.047643s [ INFO] [1458814886.489513177]: Odom: quality=94, std dev=0.006096m, update time=0.060664s [ INFO] [1458814886.546862044]: Odom: quality=95, std dev=0.008795m, update time=0.055534s [ INFO] [1458814886.618126229]: Odom: quality=94, std dev=0.008186m, update time=0.068063s [ INFO] [1458814886.692241721]: Odom: quality=100, std dev=0.007746m, update time=0.070734s [ INFO] [1458814886.760088123]: Odom: quality=92, std dev=0.007725m, update time=0.064550s [ INFO] [1458814886.837832723]: Odom: quality=126, std dev=0.012889m, update time=0.075069s [ INFO] [1458814886.890150148]: Odom: quality=103, std dev=0.007087m, update time=0.049252s [ INFO] [1458814886.941106137]: Odom: quality=115, std dev=0.010097m, update time=0.049188s [ INFO] [1458814886.990883673]: Odom: quality=112, std dev=0.008488m, update time=0.048116s [ INFO] [1458814887.057199512]: Odom: quality=78, std dev=0.006533m, update time=0.064798s [ INFO] [1458814887.101165079]: Odom: quality=107, std dev=0.007898m, update time=0.042526s [ INFO] [1458814887.143308629]: Odom: quality=90, std dev=0.008702m, update time=0.040589s [ INFO] [1458814887.191211883]: Odom: quality=100, std dev=0.008757m, update time=0.046332s [ INFO] [1458814887.230m[ INFO] [1458814884.805078792]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0401s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814884.905546234]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0465s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.003055907]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0478s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814885.108149592]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0389s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.162620428]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0366s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.267876320]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0371s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.360968951]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0329s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.478919037]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0422s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.542221448]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0371s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814885.642136255]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0322s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.706455293]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0323s, Pub=0.0004s (local map=1, WM=1) [ INFO] [1458814885.785557730]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0574s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814885.870074497]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0484s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.006995976]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0464s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.050936177]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0427s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.152803357]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0504s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.196577653]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0406s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.280639818]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0386s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.322231291]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0336s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.419739266]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0395s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.480337373]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0504s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.626355034]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0720s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.693749975]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0652s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814886.775101983]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0794s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.858241843]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0805s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.913461146]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0524s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814886.988336727]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0454s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.036739088]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0429s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.077515250]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0395s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.181791435]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0368s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.242237476]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0387s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.316055605]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0333s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814887.413648756]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0356s, Pub=0.0009831648]: Odom: quality=103, std dev=0.006237m, update time=0.047313s [ INFO] [1458814887.280194931]: Odom: quality=91, std dev=0.006624m, update time=0.038736s [ INFO] [1458814887.327919742]: Odom: quality=90, std dev=0.010885m, update time=0.046436s [ INFO] [1458814887.376274917]: Odom: quality=107, std dev=0.009804m, update time=0.046914s [ INFO] [1458814887.429229655]: Odom: quality=108, std dev=0.008075m, update time=0.051554s [ INFO] [1458814887.483553877]: Odom: quality=99, std dev=0.008095m, update time=0.052837s [ INFO] [1458814887.524601536]: Odom: quality=95, std dev=0.009003m, update time=0.039538s [ INFO] [1458814887.577239339]: Odom: quality=101, std dev=0.007156m, update time=0.051031s [ INFO] [1458814887.624456351]: Odom: quality=113, std dev=0.009741m, update time=0.045929s [ INFO] [1458814887.677652322]: Odom: quality=110, std dev=0.009847m, update time=0.051630s [ INFO] [1458814887.721371216]: Odom: quality=90, std dev=0.007152m, update time=0.042229s [ INFO] [1458814887.770440333]: Odom: quality=106, std dev=0.007372m, update time=0.047390s [ INFO] [1458814887.852492044]: Odom: quality=103, std dev=0.007111m, update time=0.080098s [ INFO] [1458814887.931970768]: Odom: quality=98, std dev=0.007758m, update time=0.071456s [ INFO] [1458814888.004735602]: Odom: quality=97, std dev=0.009479m, update time=0.070358s [ INFO] [1458814888.072458031]: Odom: quality=106, std dev=0.010002m, update time=0.064867s [ INFO] [1458814888.156791850]: Odom: quality=108, std dev=0.008501m, update time=0.072849s [ INFO] [1458814888.227692650]: Odom: quality=116, std dev=0.008681m, update time=0.064574s [ INFO] [1458814888.274594826]: Odom: quality=108, std dev=0.010819m, update time=0.045418s [ INFO] [1458814888.322817637]: Odom: quality=92, std dev=0.008444m, update time=0.046820s [ INFO] [1458814888.374357823]: Odom: quality=142, std dev=0.014841m, update time=0.049839s [ INFO] [1458814888.449857766]: Odom: quality=108, std dev=0.008640m, update time=0.042818s [ INFO] [1458814888.503323777]: Odom: quality=111, std dev=0.008477m, update time=0.051712s [ INFO] [1458814888.559842080]: Odom: quality=116, std dev=0.007665m, update time=0.054816s [ INFO] [1458814888.606863038]: Odom: quality=105, std dev=0.008758m, update time=0.045141s [ INFO] [1458814888.658089481]: Odom: quality=116, std dev=0.011949m, update time=0.049699s [ INFO] [1458814888.712701312]: Odom: quality=137, std dev=0.014937m, update time=0.053109s [ INFO] [1458814888.754130620]: Odom: quality=100, std dev=0.008538m, update time=0.039919s [ INFO] [1458814888.806771276]: Odom: quality=97, std dev=0.007571m, update time=0.050994s [ INFO] [1458814888.848408623]: Odom: quality=94, std dev=0.009355m, update time=0.038801s [ INFO] [1458814888.900909989]: Odom: quality=96, std dev=0.006794m, update time=0.051043s [ INFO] [1458814888.949201469]: Odom: quality=116, std dev=0.009211m, update time=0.041241s [ INFO] [1458814889.004581121]: Odom: quality=126, std dev=0.008782m, update time=0.053090s [ INFO] [1458814889.049051860]: Odom: quality=105, std dev=0.014939m, update time=0.040325s [ INFO] [1458814889.104838974]: Odom: quality=106, std dev=0.007393m, update time=0.054342s [ INFO] [1458814889.154345622]: Odom: quality=127, std dev=0.009144m, update time=0.046130s [ INFO] [1458814889.210359929]: Odom: quality=91, std dev=0.006247m, update time=0.053887s [ INFO] [1458814889.271641890]: Odom: quality=111, std dev=0.009400m, update time=0.058696s [ INFO] [1458814889.329339837]: Odom: quality=123, std dev=0.010665m, update time=0.056027s [ INFO] [1458814889.381820166]: Odom: quality=104, std dev=0.007767m, update time=0.050797s [ INFO] [1458814889.435657528]: Odom: quality=123, std dev=0.010917m, update time=0.052224s [ INFO] [1458814889.489685244]1s (local map=1, WM=1) [ INFO] [1458814887.474186314]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0422s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.568607793]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0421s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.663441219]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0373s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.777369482]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0437s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814887.914674459]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0503s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.010388377]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0691s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814888.114031792]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0993s, Pub=0.0003s (local map=1, WM=1) [ INFO] [1458814888.186109782]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0638s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814888.237308338]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0486s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.314197666]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0369s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.361632211]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0368s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.417119284]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0540s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814888.497426266]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0447s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.548676417]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0433s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814888.646408282]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0376s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.699053756]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0394s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.793513430]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0368s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.897449440]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0462s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814888.999905335]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0473s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814889.101993203]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0492s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814889.202454143]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0454s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814889.343414208]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0542s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814889.401901242]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0552s, Pub=0.0005s (local map=1, WM=1) [ INFO] [1458814889.479036791]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0416s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814889.536790847]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0564s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814889.607238031]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0657s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814889.725536392]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0441s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814889.778265032]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0495s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814889.900575857]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0699s, Pub=0.0003s (local map=1, WM=1) [ INFO] [1458814890.030468487]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0542s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814890.068204525]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0348s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.146228432]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0669s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.204353234]: rtabmap: Rate=0.05s, Limit=0.000s: Odom: quality=93, std dev=0.008043m, update time=0.049698s [ INFO] [1458814889.558567074]: Odom: quality=95, std dev=0.007943m, update time=0.067092s [ INFO] [1458814889.623646636]: Odom: quality=107, std dev=0.011275m, update time=0.057104s [ INFO] [1458814889.668859860]: Odom: quality=105, std dev=0.009391m, update time=0.043796s [ INFO] [1458814889.722590500]: Odom: quality=104, std dev=0.007734m, update time=0.050651s [ INFO] [1458814889.776038101]: Odom: quality=105, std dev=0.009408m, update time=0.051578s [ INFO] [1458814889.828339475]: Odom: quality=109, std dev=0.007866m, update time=0.050618s [ INFO] [1458814889.888407213]: Odom: quality=148, std dev=0.012430m, update time=0.057905s [ INFO] [1458814889.962651550]: Odom: quality=106, std dev=0.009879m, update time=0.072027s [ INFO] [1458814890.018157422]: Odom: quality=91, std dev=0.010402m, update time=0.053649s [ INFO] [1458814890.077433878]: Odom: quality=101, std dev=0.008629m, update time=0.057584s [ INFO] [1458814890.149431524]: Odom: quality=97, std dev=0.009583m, update time=0.068675s [ INFO] [1458814890.203126838]: Odom: quality=93, std dev=0.007562m, update time=0.051650s [ INFO] [1458814890.252260037]: Odom: quality=116, std dev=0.010038m, update time=0.043394s [ INFO] [1458814890.295648326]: Odom: quality=111, std dev=0.009682m, update time=0.041732s [ INFO] [1458814890.343062639]: Odom: quality=113, std dev=0.011295m, update time=0.045781s [ INFO] [1458814890.390171250]: Odom: quality=95, std dev=0.007815m, update time=0.045757s [ INFO] [1458814890.438957151]: Odom: quality=115, std dev=0.008898m, update time=0.047195s [ INFO] [1458814890.481255579]: Odom: quality=92, std dev=0.008389m, update time=0.040547s [ INFO] [1458814890.550966677]: Odom: quality=107, std dev=0.009229m, update time=0.068077s [ INFO] [1458814890.609920592]: Odom: quality=117, std dev=0.007917m, update time=0.054576s [ INFO] [1458814890.663804287]: Odom: quality=89, std dev=0.008765m, update time=0.052144s [ INFO] [1458814890.716314893]: Odom: quality=89, std dev=0.008537m, update time=0.044736s [ INFO] [1458814890.763577493]: Odom: quality=113, std dev=0.008729m, update time=0.045609s [ INFO] [1458814890.814017189]: Odom: quality=112, std dev=0.010364m, update time=0.042576s [ INFO] [1458814890.861754032]: Odom: quality=89, std dev=0.008772m, update time=0.046309s [ INFO] [1458814890.911126044]: Odom: quality=99, std dev=0.010556m, update time=0.047584s [ INFO] [1458814890.962361257]: Odom: quality=111, std dev=0.008576m, update time=0.049647s [ INFO] [1458814891.010548411]: Odom: quality=104, std dev=0.009536m, update time=0.045174s [ INFO] [1458814891.062006790]: Odom: quality=99, std dev=0.007237m, update time=0.047921s [ INFO] [1458814891.113259058]: Odom: quality=92, std dev=0.008329m, update time=0.047901s [ INFO] [1458814891.158189053]: Odom: quality=102, std dev=0.007579m, update time=0.043411s [ INFO] [1458814891.215326729]: Odom: quality=105, std dev=0.007793m, update time=0.055597s [ INFO] [1458814891.259999983]: Odom: quality=92, std dev=0.007786m, update time=0.043067s [ INFO] [1458814891.310561024]: Odom: quality=85, std dev=0.008724m, update time=0.048581s [ INFO] [1458814891.355947095]: Odom: quality=106, std dev=0.009121m, update time=0.044026s [ INFO] [1458814891.409868170]: Odom: quality=99, std dev=0.008290m, update time=0.052223s [ INFO] [1458814891.450618278]: Odom: quality=94, std dev=0.007388m, update time=0.039414s [ INFO] [1458814891.499478124]: Odom: quality=94, std dev=0.006368m, update time=0.047096s [ INFO] [1458814891.545276495]: Odom: quality=104, std dev=0.009966m, update time=0.044309s [ INFO] [1458814891.599573805]: Odom: quality=109, std dev=0.008002m, update time=0.052661s [ INFO] [1458814891.651478089]: Odom: qualit, RTAB-Map=0.0471s, Pub=0.0004s (local map=1, WM=1) [ INFO] [1458814890.245913285]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0395s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.303615850]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0384s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814890.385651828]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0405s, Pub=0.0004s (local map=1, WM=1) [ INFO] [1458814890.443517366]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0507s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.526696803]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0432s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.660218293]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0480s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814890.710261566]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0439s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.760797115]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0414s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.862254285]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0459s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814890.960944140]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0478s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.011816736]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0381s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.107816735]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0447s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.204823257]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0448s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.303620729]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0399s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.402540506]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0449s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814891.490217111]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0370s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.588602123]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0417s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.633143130]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0316s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.707483309]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0532s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.811069060]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0468s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814891.902789737]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0546s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814891.999407718]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0398s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.081922555]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0350s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.185226484]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0375s, Pub=0.0003s (local map=1, WM=1) [ INFO] [1458814892.276146196]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0356s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814892.334159313]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0410s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.433016537]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0368s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.506345452]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0587s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.643011250]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0341s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.684360278]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0275s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.797463784]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0502s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814892.946068935]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0563s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.001556699]: rtaby=100, std dev=0.008629m, update time=0.045762s [ INFO] [1458814891.704317002]: Odom: quality=111, std dev=0.008463m, update time=0.051213s [ INFO] [1458814891.751461169]: Odom: quality=108, std dev=0.009832m, update time=0.042226s [ INFO] [1458814891.798559933]: Odom: quality=134, std dev=0.014134m, update time=0.045668s [ INFO] [1458814891.846878645]: Odom: quality=98, std dev=0.008239m, update time=0.041291s [ INFO] [1458814891.900408139]: Odom: quality=121, std dev=0.010613m, update time=0.051813s [ INFO] [1458814891.948368540]: Odom: quality=104, std dev=0.008214m, update time=0.039505s [ INFO] [1458814891.996747354]: Odom: quality=114, std dev=0.009298m, update time=0.046635s [ INFO] [1458814892.045779205]: Odom: quality=98, std dev=0.008725m, update time=0.038189s [ INFO] [1458814892.105828900]: Odom: quality=114, std dev=0.012339m, update time=0.058334s [ INFO] [1458814892.146142304]: Odom: quality=99, std dev=0.009838m, update time=0.038906s [ INFO] [1458814892.192938521]: Odom: quality=107, std dev=0.009946m, update time=0.045439s [ INFO] [1458814892.238329837]: Odom: quality=101, std dev=0.010210m, update time=0.043927s [ INFO] [1458814892.289478713]: Odom: quality=112, std dev=0.009639m, update time=0.049505s [ INFO] [1458814892.346368457]: Odom: quality=105, std dev=0.010379m, update time=0.055646s [ INFO] [1458814892.393535844]: Odom: quality=95, std dev=0.009922m, update time=0.045783s [ INFO] [1458814892.446222262]: Odom: quality=104, std dev=0.009965m, update time=0.042866s [ INFO] [1458814892.488031807]: Odom: quality=129, std dev=0.011526m, update time=0.040178s [ INFO] [1458814892.607602494]: Odom: quality=54, std dev=0.008641m, update time=0.048175s [ INFO] [1458814892.655276983]: Odom: quality=92, std dev=0.008403m, update time=0.045971s [ INFO] [1458814892.745500409]: Odom: quality=103, std dev=0.007564m, update time=0.043904s [ INFO] [1458814892.796324363]: Odom: quality=86, std dev=0.007958m, update time=0.049181s [ INFO] [1458814892.845076879]: Odom: quality=107, std dev=0.008567m, update time=0.046716s [ INFO] [1458814892.886394486]: Odom: quality=128, std dev=0.010848m, update time=0.040001s [ INFO] [1458814892.941174636]: Odom: quality=102, std dev=0.010513m, update time=0.053082s [ INFO] [1458814892.992443112]: Odom: quality=107, std dev=0.009566m, update time=0.048238s [ INFO] [1458814893.045127201]: Odom: quality=89, std dev=0.007141m, update time=0.051187s [ INFO] [1458814893.093300241]: Odom: quality=104, std dev=0.009313m, update time=0.046326s [ INFO] [1458814893.145889097]: Odom: quality=98, std dev=0.007055m, update time=0.051235s [ INFO] [1458814893.188155899]: Odom: quality=114, std dev=0.012145m, update time=0.040739s [ INFO] [1458814893.242184497]: Odom: quality=95, std dev=0.007621m, update time=0.052359s [ INFO] [1458814893.283918495]: Odom: quality=102, std dev=0.007540m, update time=0.040360s [ INFO] [1458814893.338084858]: Odom: quality=128, std dev=0.012574m, update time=0.052535s [ INFO] [1458814893.378499837]: Odom: quality=90, std dev=0.007013m, update time=0.038586s [ INFO] [1458814893.426257700]: Odom: quality=110, std dev=0.009912m, update time=0.046453s [ INFO] [1458814893.473775477]: Odom: quality=111, std dev=0.009751m, update time=0.044140s [ INFO] [1458814893.526634558]: Odom: quality=95, std dev=0.014326m, update time=0.051473s [ INFO] [1458814893.581274556]: Odom: quality=78, std dev=0.009365m, update time=0.052809s [ INFO] [1458814893.631759638]: Odom: quality=45, std dev=0.037717m, update time=0.048966s [ WARN] (2016-03-24 12:21:33.682) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814893.683895978]: Odom: quality=0, std dev=0.000000m, update time=0.049980s [ WARN] (2016-03-24 12:21:33.726) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814893.728156952]: Odom: quality=0, std dev=0.000000m, update time=0.042686s [ WARN] (2016-03-24 12:21:33.775) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 9/20 between -1 and 0" [ INFO] [1458814893.776817661]: Odom: quality=9, std dev=0.000000m, update time=0.041620s [ INFO] [1458814893.828108893]: Odom: quality=65, std dev=0.036227m, update time=0.049974s [ INFO] [1458814893.888112461]: Odom: quality=70, std dev=0.027089m, update time=0.050178s [ INFO] [1458814893.946945853]: Odom: quality=61, std dev=0.014918m, update time=0.056970s [ WARN] (2016-03-24 12:21:33.990) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 4/20 between -1 and 0" [ INFO] [1458814893.992136366]: Odom: quality=4, std dev=0.000000m, update time=0.043391s [ WARN] (2016-03-24 12:21:34.034) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.035900461]: Odom: quality=0, std dev=0.000000m, update time=0.042158s [ WARN] (2016-03-24 12:21:34.079) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.080) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.081170250]: Odom: quality=0, std dev=0.000000m, update time=0.043578s [ WARN] (2016-03-24 12:21:34.124) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.125677640]: Odom: quality=0, std dev=0.000000m, update time=0.042724s [ WARN] (2016-03-24 12:21:34.171) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.171) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.172837124]: Odom: quality=0, std dev=0.000000m, update time=0.045372s [ WARN] (2016-03-24 12:21:34.222) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.223) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.224706626]: Odom: quality=0, std dev=0.000000m, update time=0.050334s [ WARN] (2016-03-24 12:21:34.275) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.277527859]: Odom: quality=0, std dev=0.000000m, update time=0.051216s [ WARN] (2016-03-24 12:21:34.322) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.323) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.324373268]: Odom: quality=0, std dev=0.000000m, update time=0.045064s [ WARN] (2016-03-24 12:21:34.367) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.368) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.370353460]: Odom: quality=0, std dev=0.000000m, update time=0.044270s [ WARN] (2016-03-24 12:21:34.422) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.423) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.424451643]: Odom: quality=0, std dev=0.000000m, update time=0.052457s [ WARN] (2016-03-24 12:21:34.475) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.476) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.477862762]: Odom: quality=0, std dev=0.000000m, update time=0.051845s [ WARN] (2016-03-24 12:21:34.520) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.521) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.523363082]: Odom: quality=0, std dev=0.000000m, update time=0.044095s [ WARN] (2016-03-24 12:21:34.564) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.565) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.566549317]: Odom: quality=0, std dev=0.000000m, update time=0.041446s [ WARN] (2016-03-24 12:21:34.608) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.608) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.609759228]: Odom: quality=0, std dev=0.000000m, update time=0.040996s [ WARN] (2016-03-24 12:21:34.650) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.650) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.652005712]: Odom: quality=0, std dev=0.000000m, update time=0.040916s [ WARN] (2016-03-24 12:21:34.697) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.698) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.700751932]: Odom: quality=0, std dev=0.000000m, update time=0.047163s [ WARN] (2016-03-24 12:21:34.751) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.751) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.753066749]: Odom: quality=0, std dev=0.000000m, update time=0.045628s [ WARN] (2016-03-24 12:21:34.798) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.799) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.801169557]: Odom: quality=0, std dev=0.000000m, update time=0.046447s [ WARN] (2016-03-24 12:21:34.848) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.849) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.850613047]: Odom: quality=0, std dev=0.000000m, update time=0.042468s [ WARN] (2016-03-24 12:21:34.893) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inlimap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0533s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.054519149]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0496s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.151509672]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0463s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.244189860]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0526s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.340255233]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0521s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.442461110]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0611s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.539654494]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0633s, Pub=0.0002s (local map=1, WM=1) [ INFO] [1458814893.621219294]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0374s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.676210934]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0402s, Pub=0.0001s (local map=1, WM=1) [ERROR] (2016-03-24 12:21:33.830) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4400 is ignored! [ INFO] [1458814893.830189729]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0003s, Pub=0.0000s (local map=1, WM=1) [ INFO] [1458814893.865925165]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0342s, Pub=0.0001s (local map=1, WM=1) [ INFO] [1458814893.928320291]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0377s, Pub=0.0001s (local map=1, WM=1) [ WARN] [1458814894.195476928]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814893.916491)! [ WARN] [1458814894.195556404]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:34.197) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4408 is ignored! [ INFO] [1458814894.197160528]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0004s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814894.409465335]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814894.082819)! [ WARN] [1458814894.409536792]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:34.410) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4415 is ignored! [ INFO] [1458814894.410576938]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814894.686257429]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814894.382851)! [ WARN] [1458814894.686340680]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:34.687) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4422 is ignored! [ INFO] [1458814894.687816726]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814894.892903285]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814894.583347)! [ WARN] [1458814894.892998078]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:34.894) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4430 is ignored! [ INFO] [1458814894.894631483]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814895.157490993]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814894.815667)!rs 0/20 between -1 and 0" [ INFO] [1458814894.895684377]: Odom: quality=0, std dev=0.000000m, update time=0.043377s [ WARN] (2016-03-24 12:21:34.948) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.949) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.950548992]: Odom: quality=0, std dev=0.000000m, update time=0.047899s [ WARN] (2016-03-24 12:21:34.993) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:34.993) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814894.995384672]: Odom: quality=0, std dev=0.000000m, update time=0.043100s [ WARN] (2016-03-24 12:21:35.044) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.045376712]: Odom: quality=0, std dev=0.000000m, update time=0.047889s [ WARN] (2016-03-24 12:21:35.092) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.092) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.093752569]: Odom: quality=0, std dev=0.000000m, update time=0.046982s [ WARN] (2016-03-24 12:21:35.137) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.137) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.139232642]: Odom: quality=0, std dev=0.000000m, update time=0.043405s [ WARN] (2016-03-24 12:21:35.181) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.181) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.183324810]: Odom: quality=0, std dev=0.000000m, update time=0.042752s [ WARN] (2016-03-24 12:21:35.224) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.224) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.226210799]: Odom: quality=0, std dev=0.000000m, update time=0.041056s [ WARN] (2016-03-24 12:21:35.269) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.270779986]: Odom: quality=0, std dev=0.000000m, update time=0.042687s [ WARN] (2016-03-24 12:21:35.317) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.318817657]: Odom: quality=0, std dev=0.000000m, update time=0.046273s [ WARN] (2016-03-24 12:21:35.362) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.364685258]: Odom: quality=0, std dev=0.000000m, update time=0.044334s [ WARN] (2016-03-24 12:21:35.419) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.420796819]: Odom: quality=0, std dev=0.000000m, update time=0.047783s [ WARN] (2016-03-24 12:21:35.465) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.467563103]: Odom: quality=0, std dev=0.000000m, update time=0.045063s [ WARN] (2016-03-24 12:21:35.511) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.511) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.512975494]: Odom: quality=0, std dev=0.000000m, update time=0.043497s [ WARN] (2016-03-24 12:21:35.559) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.560) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.561888505]: Odom: quality=0, std dev=0.000000m, update time=0.047619s [ WARN] (2016-03-24 12:21:35.611) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.612) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.613229764]: Odom: quality=0, std dev=0.000000m, update time=0.043701s [ WARN] (2016-03-24 12:21:35.655) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.656519615]: Odom: quality=0, std dev=0.000000m, update time=0.041695s [ WARN] (2016-03-24 12:21:35.701) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.702975043]: Odom: quality=0, std dev=0.000000m, update time=0.044921s [ WARN] (2016-03-24 12:21:35.744) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.745) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.746317202]: Odom: quality=0, std dev=0.000000m, update time=0.039767s [ WARN] (2016-03-24 12:21:35.787) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.787) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.788831610]: Odom: quality=0, std dev=0.000000m, update time=0.041166s [ WARN] (2016-03-24 12:21:35.831) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.832) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.833503591]: Odom: quality=0, std dev=0.000000m, update time=0.042985s [ WARN] (2016-03-24 12:21:35.880) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.881) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.882343060]: Odom: quality=0, std dev=0.000000m, update time=0.047204s [ WARN] (2016-03-24 12:21:35.938) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.938) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.940527698]: Odom: quality=0, std dev=0.000000m, update time=0.056563s [ WARN] (2016-03-24 12:21:35.987) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:35.987) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814895.989210418]: Odom: quality=0, std dev=0.000000m, update time=0.045094s [ WARN] (2016-03-24 12:21:36.037) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.038842912]: Odom: quality=0, std dev=0.000000m, update time=0.048103s [ WARN] (2016-03-24 12:21:36.081) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.082) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.083489193]: Odom: quality=0, std dev=0.000000m, update time=0.043222s [ WARN] (2016-03-24 12:21:36.131) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.133811512]: Odom: quality=0, std dev=0.000000m, update time=0.048619s [ WARN] (2016-03-24 12:21:36.179) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.180733050]: Odom: quality=0, std dev=0.000000m, update time=0.045247s [ WARN] (2016-03-24 12:21:36.228) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.229) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.231208871]: Odom: quality=0, std dev=0.000000m, update time=0.048729s [ WARN] (2016-03-24 12:21:36.274) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.275514418]: Odom: quality=0, std dev=0.000000m, update time=0.042479s [ WARN] (2016-03-24 12:21:36.318) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 3/20 between -1 and 0" [ INFO] [1458814896.319359401]: Odom: quality=3, std dev=0.000000m, update time=0.042374s [ WARN] (2016-03-24 12:21:36.364) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.365530677]: Odom: quality=0, std dev=0.000000m, update time=0.044635s [ WARN] (2016-03-24 12:21:36.410) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.411) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.412238925]: Odom: quality=0, std dev=0.000000m, update time=0.043800s [ WARN] (2016-03-24 12:21:36.453) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.453) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.454860563]: Odom: quality=0, std dev=0.000000m, update time=0.041187s [ WARN] (2016-03-24 12:21:36.502) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.502) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.504750304]: Odom: quality=0, std dev=0.000000m, update time=0.048361s [ WARN] (2016-03-24 12:21:36.558) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.560519645]: Odom: quality=0, std dev=0.000000m, update time=0.050994s [ WARN] (2016-03-24 12:21:36.604) util3d_re0m [ WARN] [1458814895.157654148]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:35.159) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4436 is ignored! [ INFO] [1458814895.159484874]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814895.367061261]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814894.882263)! [ WARN] [1458814895.367097009]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:35.368) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4437 is ignored! [ INFO] [1458814895.368184282]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814895.575610844]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814895.282378)! [ WARN] [1458814895.575647256]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:35.576) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4451 is ignored! [ INFO] [1458814895.576983126]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814895.821287332]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814895.550004)! [ WARN] [1458814895.821341771]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:35.822) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4457 is ignored! [ INFO] [1458814895.823008127]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814896.030782600]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814895.715588)! [ WARN] [1458814896.030835473]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:36.031) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4464 is ignored! [ INFO] [1458814896.032006630]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814896.287532992]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814896.015357)! [ WARN] [1458814896.287574157]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:36.289) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4471 is ignored! [ INFO] [1458814896.289131780]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814896.493120777]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814896.182456)! [ WARN] [1458814896.493161723]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:36.494) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4478 is ignored! [ INFO] [1458814896.494569732]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814896.766722689]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814896.415377)! [ WARN]gistration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.604) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.606034414]: Odom: quality=0, std dev=0.000000m, update time=0.043733s [ WARN] (2016-03-24 12:21:36.648) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.649) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.650774317]: Odom: quality=0, std dev=0.000000m, update time=0.043268s [ WARN] (2016-03-24 12:21:36.700) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.702269465]: Odom: quality=0, std dev=0.000000m, update time=0.049722s [ WARN] (2016-03-24 12:21:36.743) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.744) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.745273830]: Odom: quality=0, std dev=0.000000m, update time=0.041450s [ WARN] (2016-03-24 12:21:36.791) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.792) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.793943121]: Odom: quality=0, std dev=0.000000m, update time=0.047305s [ WARN] (2016-03-24 12:21:36.837) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.838985022]: Odom: quality=0, std dev=0.000000m, update time=0.043392s [ WARN] (2016-03-24 12:21:36.879) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 8/20 between -1 and 0" [ INFO] [1458814896.880858512]: Odom: quality=8, std dev=0.000000m, update time=0.040279s [ WARN] (2016-03-24 12:21:36.924) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:36.924) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.926172708]: Odom: quality=0, std dev=0.000000m, update time=0.043527s [ WARN] (2016-03-24 12:21:36.970) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814896.971592699]: Odom: quality=0, std dev=0.000000m, update time=0.043148s [ WARN] (2016-03-24 12:21:37.015) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.016) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.018169540]: Odom: quality=0, std dev=0.000000m, update time=0.044925s [ WARN] (2016-03-24 12:21:37.069) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.070) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.072203405]: Odom: quality=0, std dev=0.000000m, update time=0.052276s [ WARN] (2016-03-24 12:21:37.123) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.124650946]: Odom: quality=0, std dev=0.000000m, update time=0.048820s [ WARN] (2016-03-24 12:21:37.175) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.175) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.176939031]: Odom: quality=0, std dev=0.000000m, update time=0.050923s [ WARN] (2016-03-24 12:21:37.221) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.221) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.223186537]: Odom: quality=0, std dev=0.000000m, update time=0.044789s [ WARN] (2016-03-24 12:21:37.267) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.268) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.269694839]: Odom: quality=0, std dev=0.000000m, update time=0.045113s [ WARN] (2016-03-24 12:21:37.311) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.311) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.312943966]: Odom: quality=0, std dev=0.000000m, update time=0.041551s [ WARN] (2016-03-24 12:21:37.355) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.357093659]: Odom: quality=0, std dev=0.000000m, update time=0.042665s [ WARN] (2016-03-24 12:21:37.398) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.398) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.401512552]: Odom: quality=0, std dev=0.000000m, update time=0.042954s [ WARN] (2016-03-24 12:21:37.452) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.452) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.454061925]: Odom: quality=0, std dev=0.000000m, update time=0.050862s [ WARN] (2016-03-24 12:21:37.502) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.502) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.503614623]: Odom: quality=0, std dev=0.000000m, update time=0.047805s [ WARN] (2016-03-24 12:21:37.549) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.549) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.551035624]: Odom: quality=0, std dev=0.000000m, update time=0.044352s [ WARN] (2016-03-24 12:21:37.596) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.596) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.598888336]: Odom: quality=0, std dev=0.000000m, update time=0.046401s [ WARN] (2016-03-24 12:21:37.642) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.643758042]: Odom: quality=0, std dev=0.000000m, update time=0.041997s [ WARN] (2016-03-24 12:21:37.688) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.689) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.690239071]: Odom: quality=0, std dev=0.000000m, update time=0.045010s [ WARN] (2016-03-24 12:21:37.739) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.739) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.740541000]: Odom: quality=0, std dev=0.000000m, update time=0.048481s [ WARN] (2016-03-24 12:21:37.780) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.781) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.782690725]: Odom: quality=0, std dev=0.000000m, update time=0.040633s [ WARN] (2016-03-24 12:21:37.823) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.824) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.825407836]: Odom: quality=0, std dev=0.000000m, update time=0.041126s [ WARN] (2016-03-24 12:21:37.869) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.869) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.871183132]: Odom: quality=0, std dev=0.000000m, update time=0.043217s [ WARN] (2016-03-24 12:21:37.917) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.917) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.918930161]: Odom: quality=0, std dev=0.000000m, update time=0.046110s [ WARN] (2016-03-24 12:21:37.962) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:37.962) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814897.964407871]: Odom: quality=0, std dev=0.000000m, update time=0.043740s [ WARN] (2016-03-24 12:21:38.009) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.009) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.010644755]: Odom: quality=0, std dev=0.000000m, update time=0.042186s [ WARN] (2016-03-24 12:21:38.053) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.055168828]: Odom: quality=0, std dev=0.000000m, update time=0.043061s [ WARN] (2016-03-24 12:21:38.102) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.103) OdometryF2M.cpp:227::computeTransform() Registrati [1458814896.766810526]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:36.768) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4484 is ignored! [ INFO] [1458814896.768248976]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814896.974353154]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814896.482406)! [ WARN] [1458814896.974390118]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:36.975) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4485 is ignored! [ INFO] [1458814896.975659945]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814897.182836355]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814896.882527)! [ WARN] [1458814897.182881392]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:37.184) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4499 is ignored! [ INFO] [1458814897.184312176]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814897.430778249]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814897.149140)! [ WARN] [1458814897.430816217]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:37.432) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4505 is ignored! [ INFO] [1458814897.432680293]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814897.638127071]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814897.315614)! [ WARN] [1458814897.638165643]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:37.639) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4512 is ignored! [ INFO] [1458814897.639223791]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814897.897757274]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814897.615351)! [ WARN] [1458814897.897799592]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:37.899) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4519 is ignored! [ INFO] [1458814897.899437754]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814898.105486847]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814897.781777)! [ WARN] [1458814898.105518010]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:38.106) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4527 is ignored! [ INFO] [1458814898.106579292]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814898.360026847]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814898.081900)! [ WARN] [1458814898.36on failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.105121607]: Odom: quality=0, std dev=0.000000m, update time=0.048555s [ WARN] (2016-03-24 12:21:38.152) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.152) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.154199543]: Odom: quality=0, std dev=0.000000m, update time=0.044566s [ WARN] (2016-03-24 12:21:38.199) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.199) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.200825946]: Odom: quality=0, std dev=0.000000m, update time=0.044972s [ WARN] (2016-03-24 12:21:38.250) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.250) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.251880315]: Odom: quality=0, std dev=0.000000m, update time=0.048927s [ WARN] (2016-03-24 12:21:38.293) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 3/20 between -1 and 0" [ INFO] [1458814898.295296054]: Odom: quality=3, std dev=0.000000m, update time=0.041883s [ WARN] (2016-03-24 12:21:38.341) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.342657585]: Odom: quality=0, std dev=0.000000m, update time=0.040750s [ WARN] (2016-03-24 12:21:38.384) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.384) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.386047303]: Odom: quality=0, std dev=0.000000m, update time=0.041923s [ WARN] (2016-03-24 12:21:38.431) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.431) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.432732413]: Odom: quality=0, std dev=0.000000m, update time=0.045114s [ WARN] (2016-03-24 12:21:38.477) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.478217195]: Odom: quality=0, std dev=0.000000m, update time=0.043981s [ WARN] (2016-03-24 12:21:38.520) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.522204221]: Odom: quality=0, std dev=0.000000m, update time=0.041834s [ WARN] (2016-03-24 12:21:38.658) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.658) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.660058152]: Odom: quality=0, std dev=0.000000m, update time=0.046365s [ WARN] (2016-03-24 12:21:38.707) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.707) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.708998446]: Odom: quality=0, std dev=0.000000m, update time=0.047045s [ WARN] (2016-03-24 12:21:38.751) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.752) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.753246476]: Odom: quality=0, std dev=0.000000m, update time=0.042712s [ WARN] (2016-03-24 12:21:38.800) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.800) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.801952660]: Odom: quality=0, std dev=0.000000m, update time=0.047051s [ WARN] (2016-03-24 12:21:38.849) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.849) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.850992425]: Odom: quality=0, std dev=0.000000m, update time=0.043862s [ WARN] (2016-03-24 12:21:38.894) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.894) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.895873602]: Odom: quality=0, std dev=0.000000m, update time=0.043321s [ WARN] (2016-03-24 12:21:38.943) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.944) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.945381940]: Odom: quality=0, std dev=0.000000m, update time=0.044547s [ WARN] (2016-03-24 12:21:38.988) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:38.989) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814898.990457247]: Odom: quality=0, std dev=0.000000m, update time=0.043527s [ WARN] (2016-03-24 12:21:39.040) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 16/20 between -1 and 0" [ INFO] [1458814899.041613502]: Odom: quality=16, std dev=0.000000m, update time=0.049113s [ WARN] (2016-03-24 12:21:39.084) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.084) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.085887490]: Odom: quality=0, std dev=0.000000m, update time=0.042713s [ WARN] (2016-03-24 12:21:39.134) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.134) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.136406049]: Odom: quality=0, std dev=0.000000m, update time=0.048957s [ WARN] (2016-03-24 12:21:39.177) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.177) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.179066644]: Odom: quality=0, std dev=0.000000m, update time=0.040711s [ WARN] (2016-03-24 12:21:39.225) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.226618494]: Odom: quality=0, std dev=0.000000m, update time=0.045989s [ WARN] (2016-03-24 12:21:39.275) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.275) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.276990376]: Odom: quality=0, std dev=0.000000m, update time=0.048280s [ WARN] (2016-03-24 12:21:39.319) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.321286852]: Odom: quality=0, std dev=0.000000m, update time=0.042945s [ WARN] (2016-03-24 12:21:39.371) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.371) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.373622949]: Odom: quality=0, std dev=0.000000m, update time=0.050596s [ WARN] (2016-03-24 12:21:39.420) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.421882963]: Odom: quality=0, std dev=0.000000m, update time=0.045163s [ WARN] (2016-03-24 12:21:39.468) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.469792655]: Odom: quality=0, std dev=0.000000m, update time=0.046523s [ WARN] (2016-03-24 12:21:39.512) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.512) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.513606315]: Odom: quality=0, std dev=0.000000m, update time=0.042023s [ WARN] (2016-03-24 12:21:39.559) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.559) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.561346667]: Odom: quality=0, std dev=0.000000m, update time=0.045902s [ WARN] (2016-03-24 12:21:39.603) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.604) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.605699460]: Odom: quality=0, std dev=0.000000m, update time=0.042727s [ WARN] (2016-03-24 12:21:39.651) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.651) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.653143636]: Odom: quality=0, std dev=0.000000m, update time=0.046124s [ WARN] (2016-03-24 12:21:39.696) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.697432249]: Odom: quality=0, std dev=0.000000m, update time=0.042737s [ WARN] (2016-03-24 12:21:39.743) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.743) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.745094768]: Odom: quality=0, std dev=0.000000m, update time=0077900]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:38.361) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4533 is ignored! [ INFO] [1458814898.361720048]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814898.564791533]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814898.282171)! [ WARN] [1458814898.564863216]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:38.567) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4540 is ignored! [ INFO] [1458814898.567637973]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814898.774992636]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814898.462455)! [ WARN] [1458814898.775073191]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:38.776) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4544 is ignored! [ INFO] [1458814898.776505563]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814899.057716077]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814898.715091)! [ WARN] [1458814899.057799328]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:39.059) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4550 is ignored! [ INFO] [1458814899.059805541]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0002s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814899.266825924]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814898.781518)! [ WARN] [1458814899.266898349]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:39.268) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4551 is ignored! [ INFO] [1458814899.268897949]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814899.474873109]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814899.148283)! [ WARN] [1458814899.474918967]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:39.476) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4564 is ignored! [ INFO] [1458814899.476255534]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0000s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814899.721491066]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814899.448313)! [ WARN] [1458814899.721534463]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:39.723) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4571 is ignored! [ INFO] [1458814899.723545278]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814899.929270635]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814899.615276)! [ WARN] [1458814899.929312612]: Could0.043576s [ WARN] (2016-03-24 12:21:39.794) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.796473977]: Odom: quality=0, std dev=0.000000m, update time=0.049916s [ WARN] (2016-03-24 12:21:39.840) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:39.841) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.842210258]: Odom: quality=0, std dev=0.000000m, update time=0.043858s [ WARN] (2016-03-24 12:21:39.884) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.885754879]: Odom: quality=0, std dev=0.000000m, update time=0.042085s [ WARN] (2016-03-24 12:21:39.934) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.935788948]: Odom: quality=0, std dev=0.000000m, update time=0.048378s [ WARN] (2016-03-24 12:21:39.982) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814899.983945917]: Odom: quality=0, std dev=0.000000m, update time=0.045316s [ WARN] (2016-03-24 12:21:40.028) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814900.029789233]: Odom: quality=0, std dev=0.000000m, update time=0.044264s [ WARN] (2016-03-24 12:21:40.077) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:40.077) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814900.078650734]: Odom: quality=0, std dev=0.000000m, update time=0.044893s [ WARN] (2016-03-24 12:21:40.122) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814900.124104169]: Odom: quality=0, std dev=0.000000m, update time=0.043986s [ WARN] (2016-03-24 12:21:40.172) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2016-03-24 12:21:40.173) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 0" [ INFO] [1458814900.174304693]: Odom: quality=0, std dev=0.000000m, update time=0.048460s [ WARN] (2016-03-24 12:21:40.231) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 16/20 between -1 and 0" not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:39.931) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4578 is ignored! [ INFO] [1458814899.931314066]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ WARN] [1458814900.187746105]: rtabmap: Could not get transform from odom to realsense_frame after 0.200000 seconds (for stamp=1458814899.915261)! [ WARN] [1458814900.187843020]: Could not get TF transform from odom to realsense_frame, sensors will not be synchronized with odometry pose. [ERROR] (2016-03-24 12:21:40.189) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4585 is ignored! [ INFO] [1458814900.189808144]: rtabmap: Rate=0.05s, Limit=0.000s, RTAB-Map=0.0001s, Pub=0.0000s (local map=1, WM=1) [ERROR] (2016-03-24 12:21:40.397) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 4592 is ignored! rtabmap: Saving database/long-term memory... (located at /home/ubuntu/.ros/rtabmap.db) ... logging to /home/ubuntu/.ros/log/8c087a78-f1a9-11e5-a072-000c29e41701/roslaunch-ubuntu-73511.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. ]2;/home/ubuntu/catkin_ws/src/rtabmap_ros/launch/r200.launch started roslaunch server http://ubuntu:46514/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.16 * /rtabmap/rgbd_odometry/Odom/FillInfoData: true * /rtabmap/rgbd_odometry/frame_id: realsense_frame * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2 * /rtabmap/rtabmap/Mem/IncrementalMemory: true * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /rtabmap/rtabmap/Mem/SaveDepth16Format: true * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false * /rtabmap/rtabmap/Rtabmap/DetectionRate: 20 * /rtabmap/rtabmap/Rtabmap/TimeThr: 0 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db * /rtabmap/rtabmap/frame_id: realsense_frame * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_scan: False * /rtabmap/rtabmap/subscribe_scan_cloud: False * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 * /rtabmap/rtabmapviz/frame_id: realsense_frame * /rtabmap/rtabmapviz/subscribe_depth: True * /rtabmap/rtabmapviz/subscribe_odom_info: True * /rtabmap/rtabmapviz/subscribe_scan: False * /rtabmap/rtabmapviz/subscribe_scan_cloud: False * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2 NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) ROS_MASTER_URI=http://localhost:11311 ]2;/home/ubuntu/catkin_ws/src/rtabmap_ros/launch/r200.launch http://localhost:11311 core service [/rosout] found process[rtabmap/rgbd_odometry-1]: started with pid [73532] process[rtabmap/rtabmap-2]: started with pid [73533] process[rtabmap/rtabmapviz-3]: started with pid [73534] [rtabmap/rtabmap-2] killing on exit [rtabmap/rgbd_odometry-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done