:~/catkin_ws$ roslaunch realsense2_camera d435i.launch ... logging to /home/hassen/.ros/log/ee9f8c5c-ed62-11eb-a85f-20689d328d50/roslaunch-thewalf-21882.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://thewalf:46569/ SUMMARY ======== CLEAR PARAMETERS * /ukf_se/ PARAMETERS * /ImuFilter/_publish_tf: False * /ImuFilter/_world_frame: enu * /ImuFilter/use_mag: False * /camera/realsense2_camera/accel_fps: 63 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: True * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/allow_no_texture_points: False * /camera/realsense2_camera/base_frame_id: camera_link * /camera/realsense2_camera/calib_odom_file: * /camera/realsense2_camera/clip_distance: -2.0 * /camera/realsense2_camera/color_fps: -1 * /camera/realsense2_camera/color_frame_id: camera_color_frame * /camera/realsense2_camera/color_height: -1 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: -1 * /camera/realsense2_camera/confidence_fps: -1 * /camera/realsense2_camera/confidence_height: -1 * /camera/realsense2_camera/confidence_width: -1 * /camera/realsense2_camera/depth_fps: -1 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame * /camera/realsense2_camera/depth_height: -1 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: -1 * /camera/realsense2_camera/device_type: * /camera/realsense2_camera/enable_accel: True * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_confidence: False * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye1: False * /camera/realsense2_camera/enable_fisheye2: False * /camera/realsense2_camera/enable_fisheye: False * /camera/realsense2_camera/enable_gyro: True * /camera/realsense2_camera/enable_infra1: False * /camera/realsense2_camera/enable_infra2: False * /camera/realsense2_camera/enable_infra: False * /camera/realsense2_camera/enable_pointcloud: False * /camera/realsense2_camera/enable_pose: False * /camera/realsense2_camera/enable_sync: True * /camera/realsense2_camera/filters: * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... * /camera/realsense2_camera/fisheye_fps: -1 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame * /camera/realsense2_camera/fisheye_height: -1 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: -1 * /camera/realsense2_camera/gyro_fps: 200 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra_fps: 30 * /camera/realsense2_camera/infra_height: 720 * /camera/realsense2_camera/infra_rgb: False * /camera/realsense2_camera/infra_width: 1280 * /camera/realsense2_camera/initial_reset: False * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 1.0 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame * /camera/realsense2_camera/ordered_pc: False * /camera/realsense2_camera/pointcloud_texture_index: 0 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /camera/realsense2_camera/pose_frame_id: camera_pose_frame * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... * /camera/realsense2_camera/publish_odom_tf: True * /camera/realsense2_camera/publish_tf: True * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/serial_no: * /camera/realsense2_camera/stereo_module/exposure/1: 7500 * /camera/realsense2_camera/stereo_module/exposure/2: 1 * /camera/realsense2_camera/stereo_module/gain/1: 16 * /camera/realsense2_camera/stereo_module/gain/2: 16 * /camera/realsense2_camera/tf_publish_rate: 0.0 * /camera/realsense2_camera/topic_odom_in: odom_in * /camera/realsense2_camera/unite_imu_method: linear_interpolation * /camera/realsense2_camera/usb_port_id: * /rgbd_odometry/Odom/ResetCountdown: 1 * /rgbd_odometry/approx_sync: False * /rgbd_odometry/frame_id: base_link * /rgbd_odometry/odom_frame_id: odom * /rgbd_odometry/publish_null_when_lost: False * /rgbd_odometry/queue_size: 5000 * /rgbd_odometry/subscribe_depth: False * /rgbd_odometry/subscribe_rgbd: True * /rgbd_odometry/wait_for_transform_duration: 2.0 * /rgbd_sync/approx_sync: False * /rosdistro: kinetic * /rosversion: 1.12.17 * /rtabmap/Mem/RehearsalSimilarity: 0.45 * /rtabmap/RGBD/AngularUpdate: 0.01 * /rtabmap/RGBD/CreateOccupancyGrid: False * /rtabmap/RGBD/LinearUpdate: 0.1 * /rtabmap/RGBD/OptimizeFromGraphEnd: false * /rtabmap/Rtabmap/TimeThr: 700 * /rtabmap/approx_sync: False * /rtabmap/frame_id: camera_link * /rtabmap/odom_frame_id: odom * /rtabmap/queue_size: 100 * /rtabmap/subscribe_depth: True * /rtabmap/subscribe_odom_info: False * /rtabmap/wait_for_transform_duration: 0.2 * /ukf_se/acceleration_gains: [0.8, 0.0, 0.0, 0... * /ukf_se/acceleration_limits: [1.3, 0.0, 0.0, 0... * /ukf_se/alpha: 0.001 * /ukf_se/base_link_frame: base_link * /ukf_se/beta: 2 * /ukf_se/control_config: [True, False, Fal... * /ukf_se/control_timeout: 0.2 * /ukf_se/debug: False * /ukf_se/debug_out_file: /path/to/debug/fi... * /ukf_se/deceleration_gains: [1.0, 0.0, 0.0, 0... * /ukf_se/deceleration_limits: [1.3, 0.0, 0.0, 0... * /ukf_se/frequency: 300 * /ukf_se/imu0: /imu/data * /ukf_se/imu0_config: [False, False, Fa... * /ukf_se/imu0_differential: True * /ukf_se/imu0_linear_acceleration_rejection_threshold: 0.8 * /ukf_se/imu0_nodelay: False * /ukf_se/imu0_pose_rejection_threshold: 0.8 * /ukf_se/imu0_queue_size: 5 * /ukf_se/imu0_relative: False * /ukf_se/imu0_remove_gravitational_acceleration: True * /ukf_se/imu0_twist_rejection_threshold: 0.8 * /ukf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ukf_se/kappa: 0 * /ukf_se/map_frame: map * /ukf_se/odom0: /odom * /ukf_se/odom0_config: [True, True, True... * /ukf_se/odom0_differential: False * /ukf_se/odom0_nodelay: False * /ukf_se/odom0_pose_rejection_threshold: 10000000 * /ukf_se/odom0_queue_size: 2 * /ukf_se/odom0_relative: True * /ukf_se/odom0_twist_rejection_threshold: 10000000 * /ukf_se/odom1: example/another_odom * /ukf_se/odom1_config: [False, False, Tr... * /ukf_se/odom1_differential: False * /ukf_se/odom1_nodelay: False * /ukf_se/odom1_pose_rejection_threshold: 2 * /ukf_se/odom1_queue_size: 2 * /ukf_se/odom1_relative: True * /ukf_se/odom1_twist_rejection_threshold: 0.2 * /ukf_se/odom_frame: odom * /ukf_se/pose0: example/pose * /ukf_se/pose0_config: [True, True, Fals... * /ukf_se/pose0_differential: True * /ukf_se/pose0_nodelay: False * /ukf_se/pose0_queue_size: 5 * /ukf_se/pose0_rejection_threshold: 2 * /ukf_se/pose0_relative: False * /ukf_se/print_diagnostics: True * /ukf_se/process_noise_covariance: [0.05, 0, 0, 0, 0... * /ukf_se/sensor_timeout: 0.1 * /ukf_se/stamped_control: False * /ukf_se/transform_time_offset: 0.0 * /ukf_se/transform_timeout: 0.0 * /ukf_se/twist0: example/twist * /ukf_se/twist0_config: [False, False, Fa... * /ukf_se/twist0_nodelay: False * /ukf_se/twist0_queue_size: 3 * /ukf_se/twist0_rejection_threshold: 2 * /ukf_se/two_d_mode: False * /ukf_se/use_control: False * /ukf_se/world_frame: odom NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / ImuFilter (imu_filter_madgwick/imu_filter_node) rgbd (tf/static_transform_publisher) rgbd_odometry (rtabmap_ros/rgbd_odometry) rgbd_sync (nodelet/nodelet) rtabmap (rtabmap_ros/rtabmap) rviz (rviz/rviz) ukf_se (robot_localization/ukf_localization_node) auto-starting new master process[master]: started with pid [21892] ROS_MASTER_URI=http://localhost:11311 setting /run_id to ee9f8c5c-ed62-11eb-a85f-20689d328d50 process[rosout-1]: started with pid [21905] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [21909] process[camera/realsense2_camera-3]: started with pid [21910] process[ImuFilter-4]: started with pid [21911] process[rgbd_sync-5]: started with pid [21912] process[rgbd_odometry-6]: started with pid [21913] process[rtabmap-7]: started with pid [21914] process[rgbd-8]: started with pid [21915] process[rviz-9]: started with pid [21916] process[ukf_se-10]: started with pid [21917] type is rtabmap_ros/rgbd_sync [ INFO] [1627229475.485844269]: Initializing nodelet with 4 worker threads. [ INFO] [1627229476.758553938]: RealSense ROS v2.3.0 [ INFO] [1627229476.758596452]: Built with LibRealSense v2.45.0 [ INFO] [1627229476.758624507]: Running with LibRealSense v2.45.0 [ INFO] [1627229476.784445441]: [ INFO] [1627229476.802027561]: Device with serial number 047422070913 was found. [ INFO] [1627229476.802081674]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-2/4-2:1.0/video4linux/video0 was found. [ INFO] [1627229476.802113190]: Device with name Intel RealSense D435I was found. [ INFO] [1627229476.802656154]: Device with port number 4-2 was found. [ INFO] [1627229476.802701573]: Device USB type: 3.2 [ INFO] [1627229476.808697610]: getParameters... [ INFO] [1627229476.939506572]: setupDevice... [ INFO] [1627229476.939585239]: JSON file is not provided [ INFO] [1627229476.939633809]: ROS Node Namespace: camera [ INFO] [1627229476.939682980]: Device Name: Intel RealSense D435I [ INFO] [1627229476.939711752]: Device Serial No: 047422070913 [ INFO] [1627229476.939747825]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-2/4-2:1.0/video4linux/video0 [ INFO] [1627229476.939795285]: Device FW version: 05.12.14.50 [ INFO] [1627229476.939849082]: Device Product ID: 0x0B3A [ INFO] [1627229476.939882723]: Enable PointCloud: Off [ INFO] [1627229476.939899267]: Align Depth: On [ INFO] [1627229476.939913757]: Sync Mode: On [ INFO] [1627229476.940149710]: Device Sensors: [ INFO] [1627229476.965270325]: Stereo Module was found. [ INFO] [1627229477.003479931]: RGB Camera was found. [ INFO] [1627229477.004714277]: Motion Module was found. [ INFO] [1627229477.007709932]: num_filters: 1 [ INFO] [1627229477.007764407]: Setting Dynamic reconfig parameters. [ WARN] [1627229477.060925457]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options. [ WARN] [1627229477.062621264]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options. [ INFO] [1627229477.123513990]: Done Setting Dynamic reconfig parameters. [ INFO] [1627229477.125052683]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1627229477.127358168]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1627229477.129411655]: gyro stream is enabled - fps: 200 [ INFO] [1627229477.129484621]: accel stream is enabled - fps: 63 [ INFO] [1627229477.129529210]: setupPublishers... [ INFO] [1627229477.133976007]: Expected frequency for depth = 30.00000 [ INFO] [1627229479.340111374]: Expected frequency for color = 30.00000 [ INFO] [1627229479.380763754]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1627229479.420146810]: Start publisher IMU [ INFO] [1627229479.423170010]: setupStreams... [ INFO] [1627229479.424251501]: insert Depth to Stereo Module [ INFO] [1627229479.424343136]: insert Color to RGB Camera [ INFO] [1627229479.424389300]: insert Gyro to Motion Module [ INFO] [1627229479.424438013]: insert Accel to Motion Module [ INFO] [1627229479.507146558]: SELECTED BASE:Depth, 0 [ INFO] [1627229479.529852081]: RealSense Node Is Up! [ WARN] [1627229479.583540195]: [ INFO] [1627229480.615587202]: Starting node... [ INFO] [1627229480.655311373]: /rgbd_sync: approx_sync = false [ INFO] [1627229480.655444179]: /rgbd_sync: queue_size = 10 [ INFO] [1627229480.655496293]: /rgbd_sync: depth_scale = 1.000000 [ INFO] [1627229480.655556395]: /rgbd_sync: decimation = 1 [ INFO] [1627229480.655597919]: /rgbd_sync: compressed_rate = 0.000000 [ INFO] [1627229480.718113896]: /rgbd_sync subscribed to (exact sync): /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info [ INFO] [1627229480.725264001]: Initializing nodelet with 4 worker threads. [ INFO] [1627229480.753820683]: Initializing nodelet with 4 worker threads. [ INFO] [1627229480.978339666]: /rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1627229480.978398505]: /rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1627229480.978430051]: /rtabmap(maps): map_cleanup = true [ INFO] [1627229480.978483987]: /rtabmap(maps): map_always_update = false [ INFO] [1627229480.978516181]: /rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1627229480.978546143]: /rtabmap(maps): cloud_output_voxelized = true [ INFO] [1627229480.978575356]: /rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1627229480.978607224]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1627229480.980500834]: /rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1627229480.983750425]: Odometry: frame_id = base_link [ INFO] [1627229480.983905048]: Odometry: odom_frame_id = odom [ INFO] [1627229480.984007909]: Odometry: publish_tf = true [ INFO] [1627229480.984107681]: Odometry: wait_for_transform = true [ INFO] [1627229480.984213809]: Odometry: wait_for_transform_duration = 2.000000 [ INFO] [1627229480.984341495]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1627229480.984444651]: Odometry: ground_truth_frame_id = [ INFO] [1627229480.984550378]: Odometry: ground_truth_base_frame_id = base_link [ INFO] [1627229480.984662204]: Odometry: config_path = [ INFO] [1627229480.984769022]: Odometry: publish_null_when_lost = false [ INFO] [1627229480.984876223]: Odometry: guess_frame_id = [ INFO] [1627229480.984984007]: Odometry: guess_min_translation = 0.000000 [ INFO] [1627229480.985096505]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1627229480.985207652]: Odometry: guess_min_time = 0.000000 [ INFO] [1627229480.985314937]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1627229480.985424620]: Odometry: max_update_rate = 0.000000 Hz [ INFO] [1627229480.985518878]: Odometry: wait_imu_to_init = false [ INFO] [1627229480.985630949]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0 [ERROR] [1627229481.065501903]: PluginlibFactory: The plugin for class 'octomap_rviz_plugin/ColorOccupancyGrid' failed to load. Error: According to the loaded plugin descriptions the class octomap_rviz_plugin/ColorOccupancyGrid with base class type rviz::Display does not exist. Declared types are rtabmap_ros/Info rtabmap_ros/MapCloud rtabmap_ros/MapGraph rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu [ INFO] [1627229481.134946174]: rtabmap: frame_id = camera_link [ INFO] [1627229481.135003507]: rtabmap: odom_frame_id = odom [ INFO] [1627229481.135036239]: rtabmap: map_frame_id = map [ INFO] [1627229481.135062749]: rtabmap: use_action_for_goal = false [ INFO] [1627229481.135090045]: rtabmap: tf_delay = 0.050000 [ INFO] [1627229481.135116277]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1627229481.135144645]: rtabmap: odom_sensor_sync = false [ INFO] [1627229481.137082146]: rtabmap: gen_scan = false [ INFO] [1627229481.137132596]: rtabmap: gen_depth = false [ INFO] [1627229481.673202137]: Setting odometry parameter "Odom/ResetCountdown"="1" [ INFO] [1627229482.865194233]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45" [ INFO] [1627229483.129843402]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01" [ INFO] [1627229483.136328330]: Setting RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" [ INFO] [1627229483.179993099]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1627229483.281081279]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1627229483.624266103]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700" [ INFO] [1627229483.637249846]: RGBDOdometry: approx_sync = false [ INFO] [1627229483.637298445]: RGBDOdometry: queue_size = 5000 [ INFO] [1627229483.637323304]: RGBDOdometry: subscribe_rgbd = true [ INFO] [1627229483.637346116]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1627229483.637366320]: RGBDOdometry: keep_color = false [ INFO] [1627229483.667910846]: /rgbd_odometry subscribed to: /rgbd_image [ INFO] [1627229484.180599084]: Update RTAB-Map parameter "Optimizer/GravitySigma"="0.3" from arguments [rgbd_odometry-6] process has died [pid 21913, exit code -11, cmd /home/hassen/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info odom:=/odom rgbd_image:=rgbd_image imu:=/ukf_se __name:=rgbd_odometry __log:=/home/hassen/.ros/log/ee9f8c5c-ed62-11eb-a85f-20689d328d50/rgbd_odometry-6.log]. log file: /home/hassen/.ros/log/ee9f8c5c-ed62-11eb-a85f-20689d328d50/rgbd_odometry-6*.log [ INFO] [1627229484.857155782]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1627229484.869126448]: rtabmap: Deleted database "/home/hassen/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1627229484.869214075]: rtabmap: Using database from "/home/hassen/.ros/rtabmap.db" (0 MB). [ INFO] [1627229487.230269167]: rtabmap: Database version = "0.20.7". [ INFO] [1627229487.230400133]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [ INFO] [1627229487.335860512]: /rtabmap: subscribe_depth = true [ INFO] [1627229487.335923052]: /rtabmap: subscribe_rgb = true [ INFO] [1627229487.335967806]: /rtabmap: subscribe_stereo = false [ INFO] [1627229487.336018412]: /rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1627229487.336066901]: /rtabmap: subscribe_odom_info = false [ INFO] [1627229487.336113095]: /rtabmap: subscribe_user_data = false [ INFO] [1627229487.336158422]: /rtabmap: subscribe_scan = false [ INFO] [1627229487.336204042]: /rtabmap: subscribe_scan_cloud = false [ INFO] [1627229487.336248063]: /rtabmap: subscribe_scan_descriptor = false [ INFO] [1627229487.336293754]: /rtabmap: queue_size = 100 [ INFO] [1627229487.336342246]: /rtabmap: approx_sync = false [ INFO] [1627229487.336457906]: Setup depth callback [ INFO] [1627229487.374432958]: /rtabmap subscribed to (exact sync): /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info [ INFO] [1627229487.875522879]: rtabmap (1): Rate=1.00s, Limit=0.700s, Conversion=0.0072s, RTAB-Map=0.2194s, Maps update=0.0002s pub=0.0001s (local map=1, WM=1) QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) [ INFO] [1627229488.086756751]: rtabmap 0.20.12 started... [ INFO] [1627229488.889257421]: rtabmap (2): Rate=1.00s, Limit=0.700s, Conversion=0.0028s, RTAB-Map=0.2034s, Maps update=0.0001s pub=0.0000s (local map=2, WM=2) [ INFO] [1627229490.042054714]: rtabmap (3): Rate=1.00s, Limit=0.700s, Conversion=0.0040s, RTAB-Map=0.1660s, Maps update=0.0001s pub=0.0000s (local map=3, WM=3) [ INFO] [1627229491.396534936]: rtabmap (4): Rate=1.00s, Limit=0.700s, Conversion=0.0021s, RTAB-Map=0.2074s, Maps update=0.0001s pub=0.0000s (local map=4, WM=4) [ INFO] [1627229492.357258433]: rtabmap (5): Rate=1.00s, Limit=0.700s, Conversion=0.0038s, RTAB-Map=0.1991s, Maps update=0.0004s pub=0.0000s (local map=5, WM=5) [ INFO] [1627229493.518348613]: rtabmap (6): Rate=1.00s, Limit=0.700s, Conversion=0.0024s, RTAB-Map=0.1973s, Maps update=0.0001s pub=0.0000s (local map=6, WM=6) [ INFO] [1627229494.547192607]: rtabmap (7): Rate=1.00s, Limit=0.700s, Conversion=0.0055s, RTAB-Map=0.2059s, Maps update=0.0002s pub=0.0000s (local map=7, WM=7) [ INFO] [1627229495.658720129]: rtabmap (8): Rate=1.00s, Limit=0.700s, Conversion=0.0052s, RTAB-Map=0.2145s, Maps update=0.0002s pub=0.0000s (local map=8, WM=8) [ INFO] [1627229496.826555497]: rtabmap (9): Rate=1.00s, Limit=0.700s, Conversion=0.0019s, RTAB-Map=0.1771s, Maps update=0.0001s pub=0.0000s (local map=9, WM=9) [ INFO] [1627229497.920152509]: rtabmap (10): Rate=1.00s, Limit=0.700s, Conversion=0.0038s, RTAB-Map=0.3036s, Maps update=0.0001s pub=0.0000s (local map=10, WM=10) [ INFO] [1627229498.837771983]: rtabmap (11): Rate=1.00s, Limit=0.700s, Conversion=0.0031s, RTAB-Map=0.1886s, Maps update=0.0001s pub=0.0000s (local map=11, WM=11) [ INFO] [1627229500.108542152]: rtabmap (12): Rate=1.00s, Limit=0.700s, Conversion=0.0027s, RTAB-Map=0.1929s, Maps update=0.0002s pub=0.0000s (local map=12, WM=12) [ INFO] [1627229501.234090882]: rtabmap (13): Rate=1.00s, Limit=0.700s, Conversion=0.0035s, RTAB-Map=0.1853s, Maps update=0.0001s pub=0.0000s (local map=13, WM=13) [ INFO] [1627229502.425206615]: rtabmap (14): Rate=1.00s, Limit=0.700s, Conversion=0.0042s, RTAB-Map=0.2240s, Maps update=0.0001s pub=0.0000s (local map=14, WM=14) [ INFO] [1627229503.481457138]: rtabmap (15): Rate=1.00s, Limit=0.700s, Conversion=0.0026s, RTAB-Map=0.1904s, Maps update=0.0003s pub=0.0000s (local map=15, WM=15) [ INFO] [1627229504.681379155]: rtabmap (16): Rate=1.00s, Limit=0.700s, Conversion=0.0052s, RTAB-Map=0.2250s, Maps update=0.0001s pub=0.0000s (local map=16, WM=16) [ INFO] [1627229505.830615531]: rtabmap (17): Rate=1.00s, Limit=0.700s, Conversion=0.0041s, RTAB-Map=0.2026s, Maps update=0.0001s pub=0.0000s (local map=17, WM=17) [ INFO] [1627229507.033410421]: rtabmap (18): Rate=1.00s, Limit=0.700s, Conversion=0.0044s, RTAB-Map=0.2140s, Maps update=0.0001s pub=0.0000s (local map=18, WM=18) [ INFO] [1627229508.414642868]: rtabmap (19): Rate=1.00s, Limit=0.700s, Conversion=0.0023s, RTAB-Map=0.5578s, Maps update=0.0244s pub=0.0000s (local map=19, WM=19) [ INFO] [1627229509.293321286]: rtabmap (20): Rate=1.00s, Limit=0.700s, Conversion=0.0049s, RTAB-Map=0.2570s, Maps update=0.0001s pub=0.0000s (local map=20, WM=20) [ INFO] [1627229510.538500590]: rtabmap (21): Rate=1.00s, Limit=0.700s, Conversion=0.0021s, RTAB-Map=0.2556s, Maps update=0.0001s pub=0.0000s (local map=21, WM=21) [ INFO] [1627229512.151573701]: rtabmap (22): Rate=1.00s, Limit=0.700s, Conversion=0.0033s, RTAB-Map=0.3663s, Maps update=0.0001s pub=0.0000s (local map=22, WM=22) [ INFO] [1627229513.504655242]: rtabmap (23): Rate=1.00s, Limit=0.700s, Conversion=0.0023s, RTAB-Map=0.3187s, Maps update=0.0001s pub=0.0000s (local map=23, WM=23) [ INFO] [1627229514.795969152]: rtabmap (24): Rate=1.00s, Limit=0.700s, Conversion=0.0038s, RTAB-Map=0.4046s, Maps update=0.0001s pub=0.0001s (local map=24, WM=24) [ INFO] [1627229515.730703212]: rtabmap (25): Rate=1.00s, Limit=0.700s, Conversion=0.0035s, RTAB-Map=0.3525s, Maps update=0.0001s pub=0.0000s (local map=25, WM=25) [ INFO] [1627229516.840003280]: rtabmap (26): Rate=1.00s, Limit=0.700s, Conversion=0.0022s, RTAB-Map=0.3820s, Maps update=0.0002s pub=0.0000s (local map=26, WM=26) [ INFO] [1627229517.980969315]: rtabmap (27): Rate=1.00s, Limit=0.700s, Conversion=0.0287s, RTAB-Map=0.3481s, Maps update=0.0001s pub=0.0000s (local map=27, WM=27) [ INFO] [1627229519.616540515]: rtabmap (28): Rate=1.00s, Limit=0.700s, Conversion=0.0029s, RTAB-Map=0.5751s, Maps update=0.0001s pub=0.0000s (local map=28, WM=28) [ INFO] [1627229522.213516988]: rtabmap (29): Rate=1.00s, Limit=0.700s, Conversion=0.0309s, RTAB-Map=0.6892s, Maps update=0.0002s pub=0.0000s (local map=29, WM=29) [rviz-9] process has finished cleanly log file: /home/hassen/.ros/log/ee9f8c5c-ed62-11eb-a85f-20689d328d50/rviz-9*.log ^C[ukf_se-10] killing on exit [rgbd-8] killing on exit [rtabmap-7] killing on exit [rgbd_sync-5] killing on exit [camera/realsense2_camera_manager-2] killing on exit [camera/realsense2_camera-3] killing on exit [ImuFilter-4] killing on exit rtabmap: Saving database/long-term memory... (located at /home/hassen/.ros/rtabmap.db) rtabmap: Saving database/long-term memory...done! (located at /home/hassen/.ros/rtabmap.db, 19 MB) [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done hassen@thewalf:~/catkin_ws$