[ INFO] [1671623651.043501418]: rtabmap 0.20.22 started... [ WARN] [1671623654.730502236, 1671607327.504851455]: Could not get transform from t265_odom_frame to base_link after 0.200000 seconds (for stamp=1671607327.228340)! Error="Lookup would require extrapolation into the past. Requested time 1671607327.228340000 but the earliest data is at time 1671607327.369114942, when looking up transform from frame [base_link] to frame [t265_odom_frame]. canTransform returned after 0.205551 timeout was 0.2.". 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().) [ WARN] [1671623654.931470039, 1671607327.706071366]: Could not get transform from base_link to d435_1_color_optical_frame after 0.200000 seconds (for stamp=1671607327.424864)! Error="Lookup would require extrapolation into the past. Requested time 1671607327.424864054 but the earliest data is at time 1671607327.579149011, when looking up transform from frame [d435_1_color_optical_frame] to frame [base_link]. canTransform returned after 0.20122 timeout was 0.2.". [ERROR] [1671623654.931505512, 1671607327.706071366]: TF of received image 0 at time 1671607327.424864s is not set! [ERROR] [1671623654.931522700, 1671607327.706071366]: Could not convert rgb/depth msgs! Aborting rtabmap update... [ WARN] [1671623655.948842038, 1671607328.720927708]: Graph has changed! The whole cloud is regenerated. [ INFO] [1671623655.950744455, 1671607328.720927708]: Assembled 1 obstacle and 1 ground clouds (3066 points, 0.001941s) [ INFO] [1671623655.951470595, 1671607328.720927708]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.1503s, RTAB-Map=0.0677s, Maps update=0.0057s pub=0.0027s (local map=1, WM=1) [ INFO] [1671623657.114489539, 1671607329.888383330]: Assembled 0 obstacle and 0 ground clouds (3066 points, 0.000005s) [ INFO] [1671623657.114546107, 1671607329.888383330]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.3784s, Maps update=0.0108s pub=0.0001s (local map=1, WM=1) [ INFO] [1671623658.427871901, 1671607331.200022040]: Assembled 1 obstacle and 1 ground clouds (4659 points, 0.000591s) [ INFO] [1671623658.427975706, 1671607331.200022040]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.6389s, Maps update=0.0137s pub=0.0007s (local map=2, WM=2) [ INFO] [1671623659.421045886, 1671607332.193524253]: Assembled 1 obstacle and 1 ground clouds (6485 points, 0.000581s) [ INFO] [1671623659.421177308, 1671607332.193524253]: rtabmap (4): Rate=1.00s, Limit=0.000s, Conversion=0.0012s, RTAB-Map=0.6743s, Maps update=0.0133s pub=0.0007s (local map=3, WM=3) [ INFO] [1671623661.300302044, 1671607334.067138658]: Assembled 1 obstacle and 1 ground clouds (8743 points, 0.000763s) [ INFO] [1671623661.300520883, 1671607334.067138658]: rtabmap (5): Rate=1.00s, Limit=0.000s, Conversion=0.0013s, RTAB-Map=1.5689s, Maps update=0.0223s pub=0.0010s (local map=4, WM=4) [ INFO] [1671623663.321885935, 1671607336.089098079]: Assembled 1 obstacle and 1 ground clouds (10400 points, 0.000815s) [ INFO] [1671623663.322100597, 1671607336.089098079]: rtabmap (6): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=1.9913s, Maps update=0.0227s pub=0.0010s (local map=5, WM=5) [ INFO] [1671623665.279768506, 1671607338.046883363]: Assembled 1 obstacle and 1 ground clouds (12614 points, 0.000869s) [ INFO] [1671623665.279930691, 1671607338.046883363]: rtabmap (7): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=1.9267s, Maps update=0.0238s pub=0.0010s (local map=6, WM=6) [ INFO] [1671623666.735234960, 1671607339.501165598]: Assembled 1 obstacle and 1 ground clouds (15117 points, 0.001081s) [ INFO] [1671623666.735453017, 1671607339.501165598]: rtabmap (8): Rate=1.00s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=1.4265s, Maps update=0.0227s pub=0.0013s (local map=7, WM=7) [ INFO] [1671623667.625926870, 1671607340.399393296]: Assembled 1 obstacle and 1 ground clouds (17908 points, 0.001246s) [ INFO] [1671623667.626249805, 1671607340.399393296]: rtabmap (9): Rate=1.00s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.8659s, Maps update=0.0175s pub=0.0016s (local map=8, WM=8) [ INFO] [1671623668.234447905, 1671607341.004622490]: Assembled 1 obstacle and 1 ground clouds (20443 points, 0.001351s) [ INFO] [1671623668.234699907, 1671607341.004622490]: rtabmap (10): Rate=1.00s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.5870s, Maps update=0.0141s pub=0.0016s (local map=9, WM=9) [ INFO] [1671623668.853898080, 1671607341.619425025]: Assembled 1 obstacle and 1 ground clouds (22760 points, 0.001691s) [ INFO] [1671623668.854238322, 1671607341.629481895]: rtabmap (11): Rate=1.00s, Limit=0.000s, Conversion=0.0013s, RTAB-Map=0.2604s, Maps update=0.0008s pub=0.0020s (local map=10, WM=10) [ INFO] [1671623669.651908398, 1671607342.422331035]: Assembled 1 obstacle and 1 ground clouds (24783 points, 0.001919s) [ INFO] [1671623669.652250486, 1671607342.422331035]: rtabmap (12): Rate=1.00s, Limit=0.000s, Conversion=0.0027s, RTAB-Map=0.0919s, Maps update=0.0011s pub=0.0023s (local map=11, WM=11) [ INFO] [1671623670.832464627, 1671607343.605248029]: Assembled 1 obstacle and 1 ground clouds (26387 points, 0.001803s) [ INFO] [1671623670.832851775, 1671607343.605248029]: rtabmap (13): Rate=1.00s, Limit=0.000s, Conversion=0.0024s, RTAB-Map=0.2627s, Maps update=0.0080s pub=0.0022s (local map=12, WM=12) [ INFO] [1671623671.618889490, 1671607344.389029734]: Assembled 1 obstacle and 1 ground clouds (27913 points, 0.002430s) [ INFO] [1671623671.619215907, 1671607344.389029734]: rtabmap (14): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0785s, Maps update=0.0009s pub=0.0028s (local map=13, WM=13) [ INFO] [1671623672.614421289, 1671607345.381449221]: Assembled 1 obstacle and 1 ground clouds (29949 points, 0.001957s) [ INFO] [1671623672.614882164, 1671607345.381449221]: rtabmap (15): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0718s, Maps update=0.0009s pub=0.0024s (local map=14, WM=14) [ INFO] [1671623673.610065704, 1671607346.379167580]: Assembled 1 obstacle and 1 ground clouds (31974 points, 0.002021s) [ INFO] [1671623673.610404656, 1671607346.379167580]: rtabmap (16): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0691s, Maps update=0.0008s pub=0.0024s (local map=15, WM=15) [ INFO] [1671623674.713287329, 1671607347.481013884]: Assembled 1 obstacle and 1 ground clouds (33717 points, 0.002653s) [ INFO] [1671623674.713771989, 1671607347.481013884]: rtabmap (17): Rate=1.00s, Limit=0.000s, Conversion=0.0033s, RTAB-Map=0.1004s, Maps update=0.0009s pub=0.0031s (local map=16, WM=16) [ INFO] [1671623675.652592214, 1671607348.418209453]: Assembled 1 obstacle and 1 ground clouds (34927 points, 0.002428s) [ INFO] [1671623675.653015727, 1671607348.428265738]: rtabmap (18): Rate=1.00s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0668s, Maps update=0.0009s pub=0.0029s (local map=17, WM=17) [ INFO] [1671623676.655211238, 1671607349.423741995]: Assembled 0 obstacle and 0 ground clouds (34927 points, 0.000008s) [ INFO] [1671623676.655255551, 1671607349.423741995]: rtabmap (19): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0701s, Maps update=0.0009s pub=0.0001s (local map=17, WM=17) [ INFO] [1671623677.636570600, 1671607350.409006601]: Assembled 0 obstacle and 0 ground clouds (34927 points, 0.000006s) [ INFO] [1671623677.636639106, 1671607350.409006601]: rtabmap (20): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0565s, Maps update=0.0013s pub=0.0001s (local map=17, WM=17) [ INFO] [1671623678.651587216, 1671607351.420627784]: Assembled 1 obstacle and 1 ground clouds (36098 points, 0.002867s) [ INFO] [1671623678.652028623, 1671607351.420627784]: rtabmap (21): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0693s, Maps update=0.0009s pub=0.0033s (local map=18, WM=18) [ INFO] [1671623679.849697778, 1671607352.620014345]: Assembled 1 obstacle and 1 ground clouds (37352 points, 0.003279s) [ INFO] [1671623679.850186326, 1671607352.620014345]: rtabmap (22): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.2434s, Maps update=0.0073s pub=0.0038s (local map=19, WM=19) [ INFO] [1671623680.819122999, 1671607353.589215361]: Assembled 1 obstacle and 1 ground clouds (39048 points, 0.003108s) [ INFO] [1671623680.819892077, 1671607353.589215361]: rtabmap (23): Rate=1.00s, Limit=0.000s, Conversion=0.0034s, RTAB-Map=0.2250s, Maps update=0.0068s pub=0.0039s (local map=20, WM=20) [ INFO] [1671623681.919375696, 1671607354.693444621]: Assembled 1 obstacle and 1 ground clouds (41046 points, 0.003556s) [ INFO] [1671623681.919815969, 1671607354.693444621]: rtabmap (24): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.3242s, Maps update=0.0092s pub=0.0040s (local map=21, WM=21) [ INFO] [1671623683.361032349, 1671607356.130612456]: Assembled 1 obstacle and 1 ground clouds (43304 points, 0.003976s) [ INFO] [1671623683.361532274, 1671607356.130612456]: rtabmap (25): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.7626s, Maps update=0.0157s pub=0.0045s (local map=22, WM=22) [ INFO] [1671623683.833247549, 1671607356.607528553]: Graph has changed, updating clouds... [ INFO] [1671623683.834174248, 1671607356.607528553]: Graph optimized! Time recreating clouds (22 ground, 22 obstacles) = 0.000893 s (indexing 0.000000s) [ INFO] [1671623683.841444092, 1671607356.607528553]: Assembled 23 obstacle and 23 ground clouds (43652 points, 0.008202s) [ INFO] [1671623683.842003971, 1671607356.607528553]: rtabmap (26): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.2477s, Maps update=0.0061s pub=0.0088s (local map=23, WM=23) [ INFO] [1671623684.838009929, 1671607357.605837486]: Graph has changed, updating clouds... [ INFO] [1671623684.839253900, 1671607357.605837486]: Graph optimized! Time recreating clouds (23 ground, 23 obstacles) = 0.001206 s (indexing 0.000000s) [ INFO] [1671623684.845276748, 1671607357.615923697]: Assembled 24 obstacle and 24 ground clouds (45034 points, 0.007281s) [ INFO] [1671623684.845797436, 1671607357.615923697]: rtabmap (27): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.2388s, Maps update=0.0062s pub=0.0078s (local map=24, WM=24) [ INFO] [1671623685.875412948, 1671607358.648836800]: Graph has changed, updating clouds... [ INFO] [1671623685.876591811, 1671607358.648836800]: Graph optimized! Time recreating clouds (24 ground, 24 obstacles) = 0.001140 s (indexing 0.000000s) [ INFO] [1671623685.882713786, 1671607358.648836800]: Assembled 25 obstacle and 25 ground clouds (45965 points, 0.007315s) [ INFO] [1671623685.883186227, 1671607358.648836800]: rtabmap (28): Rate=1.00s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.2685s, Maps update=0.0074s pub=0.0078s (local map=25, WM=25) [ INFO] [1671623686.644980842, 1671607359.415043217]: Assembled 0 obstacle and 0 ground clouds (45965 points, 0.000013s) [ INFO] [1671623686.645101864, 1671607359.415043217]: rtabmap (29): Rate=1.00s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0536s, Maps update=0.0010s pub=0.0002s (local map=25, WM=25) [ INFO] [1671623687.735607965, 1671607360.504106653]: Assembled 0 obstacle and 0 ground clouds (45965 points, 0.000011s) [ INFO] [1671623687.735739326, 1671607360.504106653]: rtabmap (30): Rate=1.00s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.1212s, Maps update=0.0052s pub=0.0001s (local map=25, WM=25) [ INFO] [1671623688.707099054, 1671607361.475481940]: Assembled 0 obstacle and 0 ground clouds (45965 points, 0.000010s) [ INFO] [1671623688.707172841, 1671607361.475481940]: rtabmap (31): Rate=1.00s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.1182s, Maps update=0.0049s pub=0.0001s (local map=25, WM=25)