... logging to /home/malar/.ros/log/f0124bc2-e022-11ea-a48b-02ca53d03a22/roslaunch-ip-172-31-3-37-21222.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/malar/overlay_ws/ratkin_ws/src/rtabmap_ros/launch/demo/demo_turtlebot_mapping.launch started roslaunch server http://localhost:42505/ SUMMARY ======== PARAMETERS * /move_base/DWAPlannerROS/acc_lim_theta: 2.0 * /move_base/DWAPlannerROS/acc_lim_x: 1.0 * /move_base/DWAPlannerROS/acc_lim_y: 0.0 * /move_base/DWAPlannerROS/forward_point_distance: 0.325 * /move_base/DWAPlannerROS/global_frame_id: odom * /move_base/DWAPlannerROS/goal_distance_bias: 24.0 * /move_base/DWAPlannerROS/max_rot_vel: 5.0 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2 * /move_base/DWAPlannerROS/max_trans_vel: 0.5 * /move_base/DWAPlannerROS/max_vel_x: 0.5 * /move_base/DWAPlannerROS/max_vel_y: 0.0 * /move_base/DWAPlannerROS/min_rot_vel: 0.4 * /move_base/DWAPlannerROS/min_trans_vel: 0.1 * /move_base/DWAPlannerROS/min_vel_x: 0.0 * /move_base/DWAPlannerROS/min_vel_y: 0.0 * /move_base/DWAPlannerROS/occdist_scale: 0.5 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05 * /move_base/DWAPlannerROS/path_distance_bias: 64.0 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True * /move_base/DWAPlannerROS/publish_traj_pc: True * /move_base/DWAPlannerROS/rot_stopped_vel: 0.4 * /move_base/DWAPlannerROS/scaling_speed: 0.25 * /move_base/DWAPlannerROS/sim_time: 1.0 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.1 * /move_base/DWAPlannerROS/vtheta_samples: 20 * /move_base/DWAPlannerROS/vx_samples: 6 * /move_base/DWAPlannerROS/vy_samples: 1 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3 * /move_base/GlobalPlanner/allow_unknown: True * /move_base/GlobalPlanner/cost_factor: 3.0 * /move_base/GlobalPlanner/default_tolerance: 0.0 * /move_base/GlobalPlanner/lethal_cost: 253 * /move_base/GlobalPlanner/neutral_cost: 50 * /move_base/GlobalPlanner/old_navfn_behavior: False * /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0 * /move_base/GlobalPlanner/planner_window_x: 0.0 * /move_base/GlobalPlanner/planner_window_y: 0.0 * /move_base/GlobalPlanner/publish_potential: True * /move_base/GlobalPlanner/publish_scale: 100 * /move_base/GlobalPlanner/use_dijkstra: True * /move_base/GlobalPlanner/use_grid_path: False * /move_base/GlobalPlanner/use_quadratic: True * /move_base/NavfnROS/allow_unknown: False * /move_base/NavfnROS/default_tolerance: 0.0 * /move_base/NavfnROS/planner_window_x: 0.0 * /move_base/NavfnROS/planner_window_y: 0.0 * /move_base/NavfnROS/visualize_potential: False * /move_base/base_global_planner: navfn/NavfnROS * /move_base/base_local_planner: dwa_local_planner... * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 3.0 * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.5 * /move_base/global_costmap/map_type: voxel * /move_base/global_costmap/max_obstacle_height: 0.6 * /move_base/global_costmap/obstacle_layer/bump/clearing: False * /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2 * /move_base/global_costmap/obstacle_layer/bump/marking: True * /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15 * /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0 * /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso... * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/mark_threshold: 0 * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6 * /move_base/global_costmap/obstacle_layer/observation_sources: scan bump * /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5 * /move_base/global_costmap/obstacle_layer/origin_z: 0.0 * /move_base/global_costmap/obstacle_layer/publish_voxel_map: False * /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0 * /move_base/global_costmap/obstacle_layer/scan/clearing: True * /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan * /move_base/global_costmap/obstacle_layer/scan/marking: True * /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35 * /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25 * /move_base/global_costmap/obstacle_layer/scan/topic: scan * /move_base/global_costmap/obstacle_layer/track_unknown_space: True * /move_base/global_costmap/obstacle_layer/unknown_threshold: 15 * /move_base/global_costmap/obstacle_layer/z_resolution: 0.2 * /move_base/global_costmap/obstacle_layer/z_voxels: 2 * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 0.5 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/robot_radius: 0.2 * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 1.0 * /move_base/local_costmap/global_frame: odom * /move_base/local_costmap/height: 4.0 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.5 * /move_base/local_costmap/map_type: voxel * /move_base/local_costmap/max_obstacle_height: 0.6 * /move_base/local_costmap/obstacle_layer/bump/clearing: False * /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2 * /move_base/local_costmap/obstacle_layer/bump/marking: True * /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15 * /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0 * /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso... * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/mark_threshold: 0 * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6 * /move_base/local_costmap/obstacle_layer/observation_sources: scan bump * /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5 * /move_base/local_costmap/obstacle_layer/origin_z: 0.0 * /move_base/local_costmap/obstacle_layer/publish_voxel_map: False * /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0 * /move_base/local_costmap/obstacle_layer/scan/clearing: True * /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan * /move_base/local_costmap/obstacle_layer/scan/marking: True * /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35 * /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25 * /move_base/local_costmap/obstacle_layer/scan/topic: scan * /move_base/local_costmap/obstacle_layer/track_unknown_space: True * /move_base/local_costmap/obstacle_layer/unknown_threshold: 15 * /move_base/local_costmap/obstacle_layer/z_resolution: 0.2 * /move_base/local_costmap/obstacle_layer/z_voxels: 2 * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 2.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/robot_radius: 0.2 * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 4.0 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /move_base/shutdown_costmaps: False [ INFO] [1597625366.397082269]: Starting node... [ INFO] [1597625366.562324236]: Initializing nodelet with 4 worker threads. [ WARN] [1597625366.744041574]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead. [ INFO] [1597625366.749065402]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1597625366.749085414]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1597625366.749092093]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1597625366.749100540]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1597625366.749114384]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1597625366.749125800]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1597625366.749137559]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1597625366.749147952]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1597625366.750101428]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1597625366.782723693, 1048.081000000]: rtabmap: frame_id = base_footprint [ INFO] [1597625366.782751863, 1048.081000000]: rtabmap: odom_frame_id = odom [ INFO] [1597625366.782772575, 1048.081000000]: rtabmap: map_frame_id = map [ INFO] [1597625366.782791867, 1048.081000000]: rtabmap: use_action_for_goal = true [ INFO] [1597625366.782816313, 1048.081000000]: rtabmap: tf_delay = 0.050000 [ INFO] [1597625366.782833579, 1048.081000000]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1597625366.782852558, 1048.081000000]: rtabmap: odom_sensor_sync = false [ INFO] [1597625366.955916028, 1048.254000000]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20" [ INFO] [1597625366.972278822, 1048.271000000]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" [ INFO] [1597625367.066116864, 1048.364000000]: Setting RTAB-Map parameter "Kp/MaxDepth"="3.43" [ INFO] [1597625367.133947673, 1048.432000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1597625367.134624133, 1048.433000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1597625367.161403368, 1048.460000000]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.33434" [ INFO] [1597625367.219468039, 1048.517000000]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1" [ INFO] [1597625367.232311481, 1048.531000000]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1597625367.259955461, 1048.558000000]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1597625367.273508130, 1048.571000000]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1597625367.284273441, 1048.582000000]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0" [ INFO] [1597625367.292457953, 1048.590000000]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1597625367.295864565, 1048.594000000]: Setting RTAB-Map parameter "Reg/Strategy"="0" [ INFO] [1597625367.352254066, 1048.650000000]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0" [ INFO] [1597625367.512364642, 1048.810000000]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1597625367.525382265, 1048.823000000]: Setting RTAB-Map parameter "Vis/MinInliers"="17" [ WARN] [1597625367.878034774, 1049.175000000]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add  [ INFO] [1597625367.878094282, 1049.175000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true. [ INFO] [1597625368.114129534, 1049.411000000]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1597625368.114274072, 1049.411000000]: rtabmap: Deleted database "/home/malar/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1597625368.114306966, 1049.411000000]: rtabmap: Using database from "/home/malar/.ros/rtabmap.db" (0 MB). [DEBUG] (2020-08-16 21:49:28.114) Rtabmap.cpp:289::init() path=/home/malar/.ros/rtabmap.db [DEBUG] (2020-08-16 21:49:28.114) Rtabmap.cpp:3653::setWorkingDirectory() Comparing new working directory path "/home/malar/.ros" with "" [DEBUG] (2020-08-16 21:49:28.114) Rtabmap.cpp:261::setupLogFiles() Log disabled! [ INFO] (2020-08-16 21:49:28.114) Rtabmap.cpp:300::init() Using database "/home/malar/.ros/rtabmap.db". [DEBUG] (2020-08-16 21:49:28.114) VWDictionary.cpp:405::update() incremental=1 [DEBUG] (2020-08-16 21:49:28.114) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:28.114) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:28.114) VWDictionary.cpp:612::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2020-08-16 21:49:28.115) VWDictionary.cpp:620::update()  [DEBUG] (2020-08-16 21:49:28.115) Registration.cpp:48::create() type=0 [DEBUG] (2020-08-16 21:49:28.116) Memory.cpp:533::parseParameters()  [DEBUG] (2020-08-16 21:49:28.116) Memory.cpp:645::parseParameters() new registration strategy 0 [DEBUG] (2020-08-16 21:49:28.116) Registration.cpp:48::create() type=0 [DEBUG] (2020-08-16 21:49:28.119) Memory.cpp:153::init()  [DEBUG] (2020-08-16 21:49:28.119) Memory.cpp:533::parseParameters()  [DEBUG] (2020-08-16 21:49:28.119) Memory.cpp:645::parseParameters() new registration strategy 0 [DEBUG] (2020-08-16 21:49:28.120) Registration.cpp:48::create() type=0 [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:1646::clear()  [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:5233::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:1702::clear()  [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:1726::clear()  [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:1732::clear()  [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:5233::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2020-08-16 21:49:28.120) VWDictionary.cpp:625::clear()  [DEBUG] (2020-08-16 21:49:28.120) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:28.120) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:28.120) Memory.cpp:1763::clear()  [DEBUG] (2020-08-16 21:49:28.120) DBDriverSqlite3.cpp:54::DBDriverSqlite3() treadSafe=1 [DEBUG] (2020-08-16 21:49:28.120) DBDriverSqlite3.cpp:192::setDbInMemory() dbInMemory=0 [DEBUG] (2020-08-16 21:49:28.120) DBDriver.cpp:88::openConnection()  [DEBUG] (2020-08-16 21:49:28.120) DBDriverSqlite3.cpp:413::disconnectDatabaseQuery()  [ INFO] (2020-08-16 21:49:28.120) DBDriverSqlite3.cpp:351::connectDatabaseQuery() Using database "/home/malar/.ros/rtabmap.db" from the hard drive. [ INFO] (2020-08-16 21:49:28.121) DBDriverSqlite3.cpp:382::connectDatabaseQuery() Database "/home/malar/.ros/rtabmap.db" doesn't exist, creating a new one... [DEBUG] (2020-08-16 21:49:28.187) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.066694s [ INFO] (2020-08-16 21:49:28.187) DBDriverSqlite3.cpp:390::connectDatabaseQuery() Database version = 0.19.6 [DEBUG] (2020-08-16 21:49:28.187) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000005s [DEBUG] (2020-08-16 21:49:28.187) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000005s [DEBUG] (2020-08-16 21:49:28.187) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000003s [DEBUG] (2020-08-16 21:49:28.187) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000002s [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:3386::loadLastNodesQuery()  [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:3429::loadLastNodesQuery() Loading 0 signatures... [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2833::loadSignaturesQuery() count=0 [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:3431::loadLastNodesQuery() loaded=0, Time=0.000061s [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:293::loadDataFromDb() Get labels [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2792::getAllLabelsQuery() Time=0.000039 [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:296::loadDataFromDb() Check if all nodes are in Working Memory [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:308::loadDataFromDb() allNodesInWM()=true [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:310::loadDataFromDb() update odomMaxInf vector [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:332::loadDataFromDb() update odomMaxInf vector, done! [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2562::getLastIdQuery() get last id from table "Node" [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2593::getLastIdQuery() Time=0.000043s [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2562::getLastIdQuery() get last id from table "Statistics" [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2593::getLastIdQuery() Time=0.000030s [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:352::loadDataFromDb() Loading dictionary... [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:396::loadDataFromDb() load words [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:3437::loadQuery()  [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2562::getLastIdQuery() get last id from table "Word" [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:2593::getLastIdQuery() Time=0.000028s [DEBUG] (2020-08-16 21:49:28.188) DBDriverSqlite3.cpp:3518::loadQuery() Time=0.000098s [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:400::loadDataFromDb() 0 words loaded! [DEBUG] (2020-08-16 21:49:28.188) VWDictionary.cpp:405::update() incremental=1 [DEBUG] (2020-08-16 21:49:28.188) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:28.188) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:28.188) VWDictionary.cpp:612::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2020-08-16 21:49:28.188) VWDictionary.cpp:620::update()  [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:432::loadDataFromDb() Total word references added = 0 [DEBUG] (2020-08-16 21:49:28.188) Memory.cpp:440::loadDataFromDb()  [DEBUG] (2020-08-16 21:49:28.188) DBDriver.cpp:1053::addInfoAfterRun()  [DEBUG] (2020-08-16 21:49:28.188) Parameters.cpp:104::serialize() output=BRIEF/Bytes:32;BRISK/Octaves:3;BRISK/PatternScale:1;BRISK/Thresh:30;Bayes/FullPredictionUpdate:false;Bayes/PredictionLC:0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23;Bayes/VirtualPlacePriorThr:0.9;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:false;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/CV:0;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:0;FAST/GridRows:0;FAST/MaxThreshold:200;FAST/MinThreshold:7;FAST/NonmaxSuppression:true;FAST/Threshold:20;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:3;GFTT/QualityLevel:0.001;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:true;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthRoiRatios:0.0 0.0 0.0 0.0;Grid/FlatObstacleDetected:true;Grid/FootprintHeight:0.0;Grid/FootprintLength:0.0;Grid/FootprintWidth:0.0;Grid/FromDepth:false;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:20;Grid/NormalsSegmentation:true;Grid/PreVoxelFiltering:true;Grid/RangeMax:0;Grid/RangeMin:0.0;Grid/RayTracing:false;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;GridGlobal/Eroded:false;GridGlobal/FootprintRadius:0.0;GridGlobal/FullUpdate:true;GridGlobal/MaxNodes:0;GridGlobal/MinSize:20;GridGlobal/OccupancyThr:0.5;GridGlobal/ProbClampingMax:0.971;GridGlobal/ProbClampingMin:0.1192;GridGlobal/ProbHit:0.7;GridGlobal/ProbMiss:0.4;GridGlobal/UpdateError:0.01;Icp/CorrespondenceRatio:0.3;Icp/DownsamplingStep:1;Icp/Epsilon:0;Icp/Iterations:30;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.78;Icp/MaxTranslation:0.2;Icp/PM:false;Icp/PMConfig:;Icp/PMMatcherEpsilon:0.0;Icp/PMMatcherKnn:1;Icp/PMOutlierRatio:0.95;Icp/PointToPlane:false;Icp/PointToPlaneK:5;Icp/PointToPlaneMinComplexity:0.02;Icp/PointToPlaneRadius:1.0;Icp/RangeMax:0;Icp/RangeMin:0;Icp/VoxelSize:0.0;ImuFilter/ComplementaryBiasAlpha:0.01;ImuFilter/ComplementaryDoAdpativeGain:true;ImuFilter/ComplementaryDoBiasEstimation:true;ImuFilter/ComplementaryGainAcc:0.01;ImuFilter/MadgwickGain:0.1;ImuFilter/MadgwickZeta:0.0;KAZE/Diffusivity:1;KAZE/Extended:false;KAZE/NOctaveLayers:4;KAZE/NOctaves:4;KAZE/Threshold:0.001;KAZE/Upright:false;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:6;Kp/DictionaryPath:;Kp/FlannRebalancingFactor:2.0;Kp/GridCols:1;Kp/GridRows:1;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:3.43;Kp/MaxFeatures:500;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:true;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Marker/CornerRefinementMethod:0;Marker/Dictionary:0;Marker/Length:0;Marker/MaxDepthError:0.01;Marker/VarianceAngular:0.01;Marker/VarianceLinear:0.001;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:true;Mem/CovOffDiagIgnored:true;Mem/DepthAsMask:true;Mem/GenerateIds:true;Mem/ImageCompressionFormat:.jpg;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/IntermediateNodeDataKept:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/LaserScanNormalRadius:0.0;Mem/LaserScanVoxelSize:0.0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.33434;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:true;Mem/UseOdomGravity:false;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:true;Odom/GuessSmoothingDelay:0;Odom/Holonomic:true;Odom/ImageBufferSize:1;Odom/ImageDecimation:1;Odom/KalmanMeasurementNoise:0.01;Odom/KalmanProcessNoise:0.001;Odom/KeyFrameThr:0.3;Odom/ParticleLambdaR:100;Odom/ParticleLambdaT:100;Odom/ParticleNoiseR:0.002;Odom/ParticleNoiseT:0.002;Odom/ParticleSize:400;Odom/ResetCountdown:0;Odom/ScanKeyFrameThr:0.9;Odom/Strategy:0;Odom/VisKeyFrameThr:150;OdomF2M/BundleAdjustment:1;OdomF2M/BundleAdjustmentMaxFrames:10;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractAngle:45;OdomF2M/ScanSubtractRadius:0.05;OdomF2M/ValidDepthRatio:0.75;OdomFovis/BucketHeight:80;OdomFovis/BucketWidth:80;OdomFovis/CliqueInlierThreshold:0.1;OdomFovis/FastThreshold:20;OdomFovis/FastThresholdAdaptiveGain:0.005;OdomFovis/FeatureSearchWindow:25;OdomFovis/FeatureWindowSize:9;OdomFovis/InlierMaxReprojectionError:1.5;OdomFovis/MaxKeypointsPerBucket:25;OdomFovis/MaxMeanReprojectionError:10.0;OdomFovis/MaxPyramidLevel:3;OdomFovis/MinFeaturesForEstimate:20;OdomFovis/MinPyramidLevel:0;OdomFovis/StereoMaxDisparity:128;OdomFovis/StereoMaxDistEpipolarLine:1.5;OdomFovis/StereoMaxRefinementDisplacement:1.0;OdomFovis/StereoRequireMutualMatch:true;OdomFovis/TargetPixelsPerFeature:250;OdomFovis/UpdateTargetFeaturesWithRefined:false;OdomFovis/UseAdaptiveThreshold:true;OdomFovis/UseBucketing:true;OdomFovis/UseHomographyInitialization:true;OdomFovis/UseImageNormalization:false;OdomFovis/UseSubpixelRefinement:true;OdomLOAM/AngVar:0.01;OdomLOAM/LinVar:0.01;OdomLOAM/LocalMapping:true;OdomLOAM/ScanPeriod:0.1;OdomLOAM/Sensor:2;OdomMSCKF/FastThreshold:10;OdomMSCKF/GridCol:5;OdomMSCKF/GridMaxFeatureNum:4;OdomMSCKF/GridMinFeatureNum:3;OdomMSCKF/GridRow:4;OdomMSCKF/InitCovAccBias:0.01;OdomMSCKF/InitCovExRot:0.00030462;OdomMSCKF/InitCovExTrans:0.000025;OdomMSCKF/InitCovGyroBias:0.01;OdomMSCKF/InitCovVel:0.25;OdomMSCKF/MaxCamStateSize:20;OdomMSCKF/MaxIteration:30;OdomMSCKF/NoiseAcc:0.05;OdomMSCKF/NoiseAccBias:0.01;OdomMSCKF/NoiseFeature:0.035;OdomMSCKF/NoiseGyro:0.005;OdomMSCKF/NoiseGyroBias:0.001;OdomMSCKF/OptTranslationThreshold:0;OdomMSCKF/PatchSize:15;OdomMSCKF/PositionStdThreshold:8.0;OdomMSCKF/PyramidLevels:3;OdomMSCKF/RansacThreshold:3;OdomMSCKF/RotationThreshold:0.2618;OdomMSCKF/StereoThreshold:5;OdomMSCKF/TrackPrecision:0.01;OdomMSCKF/TrackingRateThreshold:0.5;OdomMSCKF/TranslationThreshold:0.4;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;OdomOKVIS/ConfigPath:;OdomORBSLAM2/Bf:0.076;OdomORBSLAM2/Fps:0.0;OdomORBSLAM2/MapSize:3000;OdomORBSLAM2/MaxFeatures:1000;OdomORBSLAM2/ThDepth:40.0;OdomORBSLAM2/VocPath:;OdomVINS/ConfigPath:;OdomViso2/BucketHeight:50;OdomViso2/BucketMaxFeatures:2;OdomViso2/BucketWidth:50;OdomViso2/InlierThreshold:2.0;OdomViso2/MatchBinsize:50;OdomViso2/MatchDispTolerance:2;OdomViso2/MatchHalfResolution:true;OdomViso2/MatchMultiStage:true;OdomViso2/MatchNmsN:3;OdomViso2/MatchNmsTau:50;OdomViso2/MatchOutlierDispTolerance:5;OdomViso2/MatchOutlierFlowTolerance:5;OdomViso2/MatchRadius:200;OdomViso2/MatchRefinement:1;OdomViso2/RansacIters:200;OdomViso2/Reweighting:true;Optimizer/Epsilon:0.0;Optimizer/GravitySigma:0.0;Optimizer/Iterations:20;Optimizer/LandmarksIgnored:false;Optimizer/PriorsIgnored:true;Optimizer/Robust:false;Optimizer/Strategy:1;Optimizer/VarianceIgnored:false;RGBD/AngularSpeedUpdate:0.0;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:true;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearSpeedUpdate:0.0;RGBD/LinearUpdate:0.1;RGBD/LocalBundleOnLoopClosure:false;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/LoopCovLimited:false;RGBD/MarkerDetection:false;RGBD/MaxLocalRetrieved:2;RGBD/MaxLoopClosureDistance:0.0;RGBD/MaxOdomCacheSize:0;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:false;RGBD/OptimizeMaxError:3.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:true;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:1;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/SavedLocalizationIgnored:false;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:true;Reg/RepeatOnce:true;Reg/Strategy:0;Rtabmap/ComputeRMSE:true;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate:1;Rtabmap/ImageBufferSize:1;Rtabmap/ImagesAlreadyRectified:true;Rtabmap/LoopGPS:true;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:2;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:true;Rtabmap/PublishPdf:true;Rtabmap/PublishRAMUsage:false;Rtabmap/PublishStats:true;Rtabmap/RectifyOnlyFeatures:false;Rtabmap/SaveWMState:false;Rtabmap/StartNewMapOnGoodSignature:false;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:0;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;SIFT/Sigma:1.6;SURF/Extended:false;SURF/GpuKeypointsRatio:0.01;SURF/GpuVersion:false;SURF/HessianThreshold:500;SURF/OctaveLayers:2;SURF/Octaves:4;SURF/Upright:false;Stereo/DenseStrategy:0;Stereo/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128.0;Stereo/MaxLevel:5;Stereo/MinDisparity:0.5;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/Disp12MaxDiff:-1;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;StereoSGBM/BlockSize:15;StereoSGBM/Disp12MaxDiff:1;StereoSGBM/MinDisparity:0;StereoSGBM/Mode:0;StereoSGBM/NumDisparities:128;StereoSGBM/P1:2;StereoSGBM/P2:5;StereoSGBM/PreFilterCap:31;StereoSGBM/SpeckleRange:4;StereoSGBM/SpeckleWindowSize:100;StereoSGBM/UniquenessRatio:20;VhEp/Enabled:false;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:1;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessMatchToProjection:false;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/DepthAsMask:true;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:1;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/GridCols:1;Vis/GridRows:1;Vis/InlierDistance:0.1;Vis/Iterations:300;Vis/MaxDepth:0;Vis/MaxFeatures:1000;Vis/MeanInliersDistance:0.0;Vis/MinDepth:0;Vis/MinInliers:17;Vis/MinInliersDistribution:0.0;Vis/PnPFlags:0;Vis/PnPRefineIterations:0;Vis/PnPReprojError:2;Vis/RefineIterations:5;Vis/RoiRatios:0.0 0.0 0.0 0.0;Vis/SubPixEps:0.02;Vis/SubPixIterations:0;Vis/SubPixWinSize:3;g2o/Baseline:0.075;g2o/Optimizer:0;g2o/PixelVariance:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0 [DEBUG] (2020-08-16 21:49:28.189) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000217s [DEBUG] (2020-08-16 21:49:28.189) Memory.cpp:452::loadDataFromDb() ids start with 1 [DEBUG] (2020-08-16 21:49:28.189) Memory.cpp:453::loadDataFromDb() map ids start with 0 [DEBUG] (2020-08-16 21:49:28.189) Rtabmap.cpp:427::parseParameters()  [DEBUG] (2020-08-16 21:49:28.189) Rtabmap.cpp:3653::setWorkingDirectory() Comparing new working directory path "/home/malar/.ros" with "/home/malar/.ros" [DEBUG] (2020-08-16 21:49:28.189) Rtabmap.cpp:508::parseParameters() new detector strategy 1 [DEBUG] (2020-08-16 21:49:28.189) Memory.cpp:533::parseParameters()  [DEBUG] (2020-08-16 21:49:28.189) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000009s [DEBUG] (2020-08-16 21:49:28.189) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000006s [DEBUG] (2020-08-16 21:49:28.189) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000002s [DEBUG] (2020-08-16 21:49:28.189) DBDriverSqlite3.cpp:485::executeNoResultQuery() Time=0.000002s [DEBUG] (2020-08-16 21:49:28.189) DBDriverSqlite3.cpp:192::setDbInMemory() dbInMemory=0 [DEBUG] (2020-08-16 21:49:28.189) Memory.cpp:645::parseParameters() new registration strategy 0 [DEBUG] (2020-08-16 21:49:28.190) Registration.cpp:48::create() type=0 [DEBUG] (2020-08-16 21:49:28.190) BayesFilter.cpp:114::setPredictionLC() predictionEpsilon = 0.000000 [DEBUG] (2020-08-16 21:49:28.190) BayesFilter.cpp:114::setPredictionLC() predictionEpsilon = 0.000000 [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4737::loadOptimizedPosesQuery()  [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4802::loadOptimizedPosesQuery() lastlocalizationPose=xyz=[null] rpy=[null] [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4812::loadOptimizedPosesQuery() Time=0.000080s [ INFO] (2020-08-16 21:49:28.191) Rtabmap.cpp:321::init() Loaded optimizedPoses=0 lastPose=xyz=[null] rpy=[null] [DEBUG] (2020-08-16 21:49:28.191) Rtabmap.cpp:261::setupLogFiles() Log disabled! [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4872::load2DMapQuery()  [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4909::load2DMapQuery() xMin=0.000000 [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4911::load2DMapQuery() yMin=0.000000 [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4913::load2DMapQuery() cellSize=0.000000 [DEBUG] (2020-08-16 21:49:28.191) DBDriverSqlite3.cpp:4922::load2DMapQuery() Time=0.000090s [ INFO] [1597625368.191331444, 1049.487000000]: rtabmap: Database version = "0.19.6". [ INFO] [1597625368.226312838, 1049.521000000]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1597625368.226347745, 1049.521000000]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1597625368.226379645, 1049.521000000]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1597625368.226406787, 1049.521000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1597625368.226428920, 1049.521000000]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1597625368.226451821, 1049.521000000]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1597625368.226478795, 1049.521000000]: /rtabmap/rtabmap: subscribe_scan = true [ INFO] [1597625368.226500938, 1049.521000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1597625368.226533003, 1049.521000000]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1597625368.226548895, 1049.521000000]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1597625368.226623855, 1049.521000000]: Setup depth callback [ INFO] [1597625368.252592303, 1049.548000000]: /rtabmap/rtabmap subscribed to (approx sync): /camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info, /scan [ INFO] [1597625368.267642213, 1049.563000000]: rtabmap 0.19.6 started... [ WARN] [1597625373.260384578, 1054.548000000]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info, /scan [ WARN] [1597625378.266882896, 1059.548000000]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info, /scan [ WARN] [1597625383.274695735, 1064.548000000]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info, /scan rtabmap: Saving database/long-term memory... (located at /home/malar/.ros/rtabmap.db) [ INFO] (2020-08-16 21:49:46.002) Rtabmap.cpp:356::close() databaseSaved=1 [ INFO] (2020-08-16 21:49:46.002) Rtabmap.cpp:4797::clearPath() status=0 [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:3297::removeAllVirtualLinks()  [DEBUG] (2020-08-16 21:49:46.002) DBDriverSqlite3.cpp:4664::saveOptimizedPosesQuery()  [DEBUG] (2020-08-16 21:49:46.002) DBDriverSqlite3.cpp:4731::saveOptimizedPosesQuery() Time=0.000128s [ INFO] (2020-08-16 21:49:46.002) Memory.cpp:458::close() databaseSaved=1, postInitClosingEvents=1 [ INFO] (2020-08-16 21:49:46.002) Memory.cpp:471::close() No changes added to database. [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:66::closeConnection() isRunning=0 [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:68::closeConnection()  [DEBUG] (2020-08-16 21:49:46.002) DBDriverSqlite3.cpp:413::disconnectDatabaseQuery()  [ INFO] (2020-08-16 21:49:46.002) DBDriverSqlite3.cpp:453::disconnectDatabaseQuery() Disconnecting database /home/malar/.ros/rtabmap.db... [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:83::closeConnection()  [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:66::closeConnection() isRunning=0 [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:68::closeConnection()  [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:327::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:377::emptyTrashes() Total time emptying trashes = 0.000009s... [DEBUG] (2020-08-16 21:49:46.002) DBDriverSqlite3.cpp:413::disconnectDatabaseQuery()  [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:83::closeConnection()  [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:327::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2020-08-16 21:49:46.002) DBDriver.cpp:377::emptyTrashes() Total time emptying trashes = 0.000006s... [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1646::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:5233::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1702::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1726::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1732::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:5233::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2020-08-16 21:49:46.002) VWDictionary.cpp:625::clear()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1763::clear()  [ INFO] (2020-08-16 21:49:46.002) Memory.cpp:458::close() databaseSaved=1, postInitClosingEvents=0 [ INFO] (2020-08-16 21:49:46.002) Memory.cpp:471::close() No changes added to database. [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1646::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:5233::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1702::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1726::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1732::clear()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:5233::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2020-08-16 21:49:46.002) VWDictionary.cpp:625::clear()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.002) Memory.cpp:1763::clear()  [DEBUG] (2020-08-16 21:49:46.002) VWDictionary.cpp:625::clear()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.002) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.003) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.003) Rtabmap.cpp:427::parseParameters()  [DEBUG] (2020-08-16 21:49:46.003) Rtabmap.cpp:261::setupLogFiles() Log disabled! [DEBUG] (2020-08-16 21:49:46.003) Rtabmap.cpp:508::parseParameters() new detector strategy 1 [DEBUG] (2020-08-16 21:49:46.003) BayesFilter.cpp:114::setPredictionLC() predictionEpsilon = 0.000000 [DEBUG] (2020-08-16 21:49:46.003) BayesFilter.cpp:114::setPredictionLC() predictionEpsilon = 0.000000 rtabmap: Saving database/long-term memory...done! (located at /home/malar/.ros/rtabmap.db, 0 MB) [DEBUG] (2020-08-16 21:49:46.013) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.013) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.013) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.013) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.014) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.014) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.014) FlannIndex.cpp:52::release()  [DEBUG] (2020-08-16 21:49:46.014) FlannIndex.cpp:80::release()  [DEBUG] (2020-08-16 21:49:46.014) Rtabmap.cpp:155::~Rtabmap()  [ INFO] (2020-08-16 21:49:46.014) Rtabmap.cpp:356::close() databaseSaved=1 [ INFO] (2020-08-16 21:49:46.014) Rtabmap.cpp:4797::clearPath() status=0 [DEBUG] (2020-08-16 21:49:46.014) Rtabmap.cpp:427::parseParameters()  [DEBUG] (2020-08-16 21:49:46.014) Rtabmap.cpp:261::setupLogFiles() Log disabled! [DEBUG] (2020-08-16 21:49:46.014) Rtabmap.cpp:508::parseParameters() new detector strategy 1 [DEBUG] (2020-08-16 21:49:46.014) BayesFilter.cpp:114::setPredictionLC() predictionEpsilon = 0.000000 [DEBUG] (2020-08-16 21:49:46.014) BayesFilter.cpp:114::setPredictionLC() predictionEpsilon = 0.000000 [ WARN] [1597625366.466475560, 1047.766000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 1047.77 timeout was 0.1. [ INFO] [1597625368.318152345, 1049.614000000]: Using plugin "static_layer" [ INFO] [1597625368.325329780, 1049.621000000]: Requesting the map... * /navigation_velocity_smoother/accel_lim_v: 1.0 * /navigation_velocity_smoother/accel_lim_w: 2.0 * /navigation_velocity_smoother/decel_factor: 1.5 * /navigation_velocity_smoother/frequency: 20.0 * /navigation_velocity_smoother/robot_feedback: 2 * /navigation_velocity_smoother/speed_lim_v: 0.8 * /navigation_velocity_smoother/speed_lim_w: 5.4 * /rosdistro: kinetic * /rosversion: 1.12.14 * /rtabmap/rtabmap/GridGlobal/MinSize: 20 * /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3 * /rtabmap/rtabmap/Kp/MaxDepth: 3.43 * /rtabmap/rtabmap/Mem/IncrementalMemory: true * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.33434 * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1 * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false * /rtabmap/rtabmap/RGBD/ProximityBySpace: true * /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0 * /rtabmap/rtabmap/Reg/Force3DoF: true * /rtabmap/rtabmap/Reg/Strategy: 0 * /rtabmap/rtabmap/Rtabmap/TimeThr: 0 * /rtabmap/rtabmap/Vis/InlierDistance: 0.1 * /rtabmap/rtabmap/Vis/MinInliers: 17 * /rtabmap/rtabmap/database_path: rtabmap.db * /rtabmap/rtabmap/frame_id: base_footprint * /rtabmap/rtabmap/map_negative_poses_ignored: True * /rtabmap/rtabmap/odom_frame_id: odom * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001 * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_scan: True * /rtabmap/rtabmap/use_action_for_goal: True * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap) / kobuki_safety_controller (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 ]2;/home/malar/overlay_ws/ratkin_ws/src/rtabmap_ros/launch/demo/demo_turtlebot_mapping.launch http://localhost:11311 process[navigation_velocity_smoother-1]: started with pid [21240] process[kobuki_safety_controller-2]: started with pid [21241] process[move_base-3]: started with pid [21242] process[rtabmap/rtabmap-4]: started with pid [21288] [rtabmap/rtabmap-4] killing on exit [move_base-3] killing on exit [navigation_velocity_smoother-1] killing on exit [kobuki_safety_controller-2] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done