libpointmatcher has failed

[Rodolfo]

Using Ubuntu 22.04 and Ros2 Humble, and Velodyne vlp16. Can the reason be discerned by the Ros output? The robot is not moving yet, and this happens.


rod@rod-R7:~$ ros2 launch three_nodes_slam.launch.py
[INFO] [launch]: All log files can be found below /home/rod/.ros/log/2024-02-04-17-45-50-140904-rod-R7-6099
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ekf_node-1]: process started with pid [6111]
[INFO] [component_container-2]: process started with pid [6113]
[INFO] [icp_odometry-3]: process started with pid [6115]
[INFO] [point_cloud_assembler-4]: process started with pid [6117]
[INFO] [rtabmap-5]: process started with pid [6119]
[component_container-2] [INFO] [1707090350.672021558] [velodyne_container]: Load Library: /opt/ros/humble/lib/libvelodyne_driver.so
[component_container-2] [INFO] [1707090350.675195789] [velodyne_container]: Found class: rclcpp_components::NodeFactoryTemplate<velodyne_driver::VelodyneDriver>
[component_container-2] [INFO] [1707090350.675268704] [velodyne_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<velodyne_driver::VelodyneDriver>
[component_container-2] [INFO] [1707090350.686975763] [velodyne_driver_node]: Velodyne VLP-16 rotating at 600.000000 RPM
[component_container-2] [INFO] [1707090350.687048608] [velodyne_driver_node]: publishing 76 packets per scan
[component_container-2] [INFO] [1707090350.687069700] [velodyne_driver_node]: Cut at specific angle feature deactivated.
[component_container-2] [INFO] [1707090350.687089675] [velodyne_driver_node]: expected frequency: 9.921 (Hz)
[component_container-2] [INFO] [1707090350.687187942] [velodyne_driver_node]: Only accepting packets from IP address: 192.168.1.201
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velodyne_driver_node' in container '/velodyne_container'
[component_container-2] [INFO] [1707090350.687217974] [velodyne_driver_node]: Opening UDP socket: port 2368
[component_container-2] [INFO] [1707090350.692936604] [velodyne_container]: Load Library: /opt/ros/humble/lib/libtransform.so
[component_container-2] [INFO] [1707090350.696771188] [velodyne_container]: Found class: rclcpp_components::NodeFactoryTemplate<velodyne_pointcloud::Transform>
[component_container-2] [INFO] [1707090350.696846547] [velodyne_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<velodyne_pointcloud::Transform>
[component_container-2] [INFO] [1707090350.707667525] [velodyne_transform_node]: correction angles: /opt/ros/humble/share/velodyne_pointcloud/params/VLP16db.yaml
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velodyne_transform_node' in container '/velodyne_container'
[component_container-2] [INFO] [1707090350.717040408] [velodyne_container]: Load Library: /opt/ros/humble/lib/libvelodyne_laserscan.so
[component_container-2] [INFO] [1707090350.718258446] [velodyne_container]: Found class: rclcpp_components::NodeFactoryTemplate<velodyne_laserscan::VelodyneLaserScan>
[component_container-2] [INFO] [1707090350.718325913] [velodyne_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<velodyne_laserscan::VelodyneLaserScan>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velodyne_laserscan_node' in container '/velodyne_container'
[component_container-2] [INFO] [1707090350.741821745] [velodyne_laserscan_node]: Latched ring count of 16
[point_cloud_assembler-4] [INFO] [1707090350.897380716] [point_cloud_assembler]: point_cloud_assembler: queue_size=5
[point_cloud_assembler-4] [INFO] [1707090350.897802978] [point_cloud_assembler]: point_cloud_assembler: qos=0
[point_cloud_assembler-4] [INFO] [1707090350.897843905] [point_cloud_assembler]: point_cloud_assembler: qos_odom=0
[point_cloud_assembler-4] [INFO] [1707090350.897863600] [point_cloud_assembler]: point_cloud_assembler: fixed_frame_id=
[point_cloud_assembler-4] [INFO] [1707090350.897880223] [point_cloud_assembler]: point_cloud_assembler: frame_id=
[point_cloud_assembler-4] [INFO] [1707090350.897894540] [point_cloud_assembler]: point_cloud_assembler: max_clouds=10
[point_cloud_assembler-4] [INFO] [1707090350.897913607] [point_cloud_assembler]: point_cloud_assembler: assembling_time=0.000000s
[point_cloud_assembler-4] [INFO] [1707090350.897965080] [point_cloud_assembler]: point_cloud_assembler: skip_clouds=0
[point_cloud_assembler-4] [INFO] [1707090350.897983309] [point_cloud_assembler]: point_cloud_assembler: circular_buffer=false
[point_cloud_assembler-4] [INFO] [1707090350.898000839] [point_cloud_assembler]: point_cloud_assembler: linear_update=0.000000 m
[point_cloud_assembler-4] [INFO] [1707090350.898023677] [point_cloud_assembler]: point_cloud_assembler: angular_update=0.000000 rad
[point_cloud_assembler-4] [INFO] [1707090350.898044839] [point_cloud_assembler]: point_cloud_assembler: wait_for_transform=0.100000
[point_cloud_assembler-4] [INFO] [1707090350.898066001] [point_cloud_assembler]: point_cloud_assembler: range_min=0.000000
[point_cloud_assembler-4] [INFO] [1707090350.898080459] [point_cloud_assembler]: point_cloud_assembler: range_max=0.000000
[point_cloud_assembler-4] [INFO] [1707090350.898101271] [point_cloud_assembler]: point_cloud_assembler: voxel_size=0.000000m
[point_cloud_assembler-4] [INFO] [1707090350.898122364] [point_cloud_assembler]: point_cloud_assembler: noise_radius=0.000000m
[point_cloud_assembler-4] [INFO] [1707090350.898147157] [point_cloud_assembler]: point_cloud_assembler: noise_min_neighbors=5
[point_cloud_assembler-4] [INFO] [1707090350.898168599] [point_cloud_assembler]: point_cloud_assembler: remove_z=false
[point_cloud_assembler-4] [INFO] [1707090350.906638988] [point_cloud_assembler]:
[point_cloud_assembler-4] point_cloud_assembler subscribed to (exact sync):
[point_cloud_assembler-4]    cloud,
[point_cloud_assembler-4]    odom
[icp_odometry-3] [INFO] [1707090350.912082233] [icp_odometry]: Odometry: frame_id               = velodyne
[icp_odometry-3] [INFO] [1707090350.912404692] [icp_odometry]: Odometry: odom_frame_id          = odom
[icp_odometry-3] [INFO] [1707090350.912430464] [icp_odometry]: Odometry: publish_tf             = true
[icp_odometry-3] [INFO] [1707090350.912451486] [icp_odometry]: Odometry: wait_for_transform     = 0.200000
[icp_odometry-3] [INFO] [1707090350.912490038] [icp_odometry]: Odometry: log_to_rosout_level    = 4
[icp_odometry-3] [INFO] [1707090350.912529639] [icp_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[icp_odometry-3] [INFO] [1707090350.912552058] [icp_odometry]: Odometry: ground_truth_frame_id  =
[icp_odometry-3] [INFO] [1707090350.912573429] [icp_odometry]: Odometry: ground_truth_base_frame_id = velodyne
[icp_odometry-3] [INFO] [1707090350.912590820] [icp_odometry]: Odometry: config_path            =
[icp_odometry-3] [INFO] [1707090350.912610026] [icp_odometry]: Odometry: publish_null_when_lost = true
[icp_odometry-3] [INFO] [1707090350.912627976] [icp_odometry]: Odometry: publish_compressed_sensor_data = false
[icp_odometry-3] [INFO] [1707090350.912644738] [icp_odometry]: Odometry: guess_frame_id         =
[icp_odometry-3] [INFO] [1707090350.912663804] [icp_odometry]: Odometry: guess_min_translation  = 0.000000
[icp_odometry-3] [INFO] [1707090350.912688109] [icp_odometry]: Odometry: guess_min_rotation     = 0.000000
[icp_odometry-3] [INFO] [1707090350.912712414] [icp_odometry]: Odometry: guess_min_time         = 0.000000
[icp_odometry-3] [INFO] [1707090350.912741049] [icp_odometry]: Odometry: expected_update_rate   = 20.000000 Hz
[icp_odometry-3] [INFO] [1707090350.912772548] [icp_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[icp_odometry-3] [INFO] [1707090350.912793570] [icp_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[icp_odometry-3] [INFO] [1707090350.912814872] [icp_odometry]: Odometry: wait_imu_to_init       = false
[icp_odometry-3] [INFO] [1707090350.912834567] [icp_odometry]: Odometry: sensor_data_compression_format = .jpg
[icp_odometry-3] [INFO] [1707090350.912854402] [icp_odometry]: Odometry: sensor_data_parallel_compression = true
[icp_odometry-3] [INFO] [1707090350.912879196] [icp_odometry]: Odometry: stereoParams_=0 visParams_=0 icpParams_=1
[icp_odometry-3] [INFO] [1707090350.933075851] [icp_odometry]: Odometry: Update parameter "Icp/CorrespondenceRatio"="0.01" from arguments
[icp_odometry-3] [INFO] [1707090350.933274900] [icp_odometry]: Odometry: Update parameter "Icp/Epsilon"="0.001" from arguments
[icp_odometry-3] [INFO] [1707090350.933302487] [icp_odometry]: Odometry: Update parameter "Icp/Iterations"="10" from arguments
[icp_odometry-3] [INFO] [1707090350.933322112] [icp_odometry]: Odometry: Update parameter "Icp/MaxCorrespondenceDistance"="1" from arguments
[icp_odometry-3] [INFO] [1707090350.933341738] [icp_odometry]: Odometry: Update parameter "Icp/MaxTranslation"="4" from arguments
[icp_odometry-3] [INFO] [1707090350.933362062] [icp_odometry]: Odometry: Update parameter "Icp/OutlierRatio"="0.7" from arguments
[icp_odometry-3] [INFO] [1707090350.933413186] [icp_odometry]: Odometry: Update parameter "Icp/PointToPlane"="true" from arguments
[icp_odometry-3] [INFO] [1707090350.933434976] [icp_odometry]: Odometry: Update parameter "Icp/PointToPlaneK"="20" from arguments
[icp_odometry-3] [INFO] [1707090350.933568304] [icp_odometry]: Odometry: Update parameter "Icp/PointToPlaneRadius"="0" from arguments
[icp_odometry-3] [INFO] [1707090350.933594565] [icp_odometry]: Odometry: Update parameter "Icp/Strategy"="1" from arguments
[icp_odometry-3] [INFO] [1707090350.933616355] [icp_odometry]: Odometry: Update parameter "Icp/VoxelSize"="0.2" from arguments
[icp_odometry-3] [INFO] [1707090350.933640171] [icp_odometry]: Odometry: Update parameter "Odom/ScanKeyFrameThr"="0.6" from arguments
[icp_odometry-3] [INFO] [1707090350.933659936] [icp_odometry]: Odometry: Update parameter "OdomF2M/BundleAdjustment"="false" from arguments
[icp_odometry-3] [INFO] [1707090350.933679701] [icp_odometry]: Odometry: Update parameter "OdomF2M/ScanMaxSize"="10000" from arguments
[icp_odometry-3] [INFO] [1707090350.933696882] [icp_odometry]: Odometry: Update parameter "OdomF2M/ScanSubtractRadius"="0.2" from arguments
[icp_odometry-3] [WARN] [1707090350.933939792] [icp_odometry]: IcpOdometry: Transferring value 0.2 of "Icp/VoxelSize" to ros parameter "scan_voxel_size" for convenience. "Icp/VoxelSize" is set to 0.
[icp_odometry-3] [WARN] [1707090350.934100846] [icp_odometry]: IcpOdometry: Transferring value 20 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[icp_odometry-3] [INFO] [1707090350.950366187] [icp_odometry]: IcpOdometry: qos                    = 0
[icp_odometry-3] [INFO] [1707090350.950479051] [icp_odometry]: IcpOdometry: scan_cloud_max_points  = -1
[icp_odometry-3] [INFO] [1707090350.950509153] [icp_odometry]: IcpOdometry: scan_cloud_is_2d       = false
[icp_odometry-3] [INFO] [1707090350.950533458] [icp_odometry]: IcpOdometry: scan_downsampling_step = 1
[icp_odometry-3] [INFO] [1707090350.950555039] [icp_odometry]: IcpOdometry: scan_range_min         = 0.000000 m
[icp_odometry-3] [INFO] [1707090350.950582906] [icp_odometry]: IcpOdometry: scan_range_max         = 0.000000 m
[icp_odometry-3] [INFO] [1707090350.950606512] [icp_odometry]: IcpOdometry: scan_voxel_size        = 0.200000 m
[icp_odometry-3] [INFO] [1707090350.950632354] [icp_odometry]: IcpOdometry: scan_normal_k          = 20
[icp_odometry-3] [INFO] [1707090350.950652398] [icp_odometry]: IcpOdometry: scan_normal_radius     = 0.000000 m
[icp_odometry-3] [INFO] [1707090350.950675656] [icp_odometry]: IcpOdometry: scan_normal_ground_up  = 0.000000
[icp_odometry-3] [INFO] [1707090350.950697656] [icp_odometry]: IcpOdometry: deskewing              = false
[icp_odometry-3] [INFO] [1707090350.950716303] [icp_odometry]: IcpOdometry: deskewing_slerp        = false
[icp_odometry-3] [INFO] [1707090350.954569185] [icp_odometry]:
[icp_odometry-3] icp_odometry subscribed to /scan and /velodyne_points (make sure only one of this topic is published, otherwise remap one to a dummy topic name).
[rtabmap-5] [INFO] [1707090350.984832599] [rtabmap]: rtabmap(maps): latch                      = true
[rtabmap-5] [INFO] [1707090350.985220011] [rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-5] [INFO] [1707090350.985264709] [rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-5] [INFO] [1707090350.985282519] [rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-5] [INFO] [1707090350.985296697] [rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-5] [INFO] [1707090350.985314925] [rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-5] [INFO] [1707090350.985334900] [rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-5] [INFO] [1707090350.985351103] [rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-5] [INFO] [1707090350.985370729] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-5] [INFO] [1707090350.985531085] [rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[icp_odometry-3] [INFO] [1707090350.995310027] [icp_odometry]: Odom: ratio=0.000000, std dev=99.995000m|99.995000rad, update time=0.001045s
[rtabmap-5] [INFO] [1707090351.020247953] [rtabmap]: rtabmap: frame_id      = velodyne
[rtabmap-5] [INFO] [1707090351.020314303] [rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-5] [INFO] [1707090351.020337630] [rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-5] [INFO] [1707090351.020357744] [rtabmap]: rtabmap: initial_pose  =
[rtabmap-5] [INFO] [1707090351.020381211] [rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-5] [INFO] [1707090351.020402513] [rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-5] [INFO] [1707090351.020431148] [rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-5] [INFO] [1707090351.020452659] [rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-5] [INFO] [1707090351.020470748] [rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[rtabmap-5] [INFO] [1707090351.020493656] [rtabmap]: rtabmap: gen_scan  = false
[rtabmap-5] [INFO] [1707090351.020509929] [rtabmap]: rtabmap: gen_depth  = false
[rtabmap-5] [INFO] [1707090351.020529834] [rtabmap]: rtabmap: scan_cloud_max_points = 0
[rtabmap-5] [INFO] [1707090351.020563568] [rtabmap]: rtabmap: scan_cloud_is_2d = false
[icp_odometry-3] [ERROR] [1707090351.044057381] [icp_odometry]: icp_odometry is already receiving scans on "/scan", but also just received a cloud on "/velodyne_points". Both subscribers cannot be used at the same time! Disabling cloud subscriber.
[icp_odometry-3] [INFO] [1707090351.049031502] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.002464s
[rtabmap-5] [INFO] [1707090351.056909497] [rtabmap]: Setting RTAB-Map parameter "Grid/RangeMin"="0.2"
[rtabmap-5] [INFO] [1707090351.091331289] [rtabmap]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2" from arguments
[rtabmap-5] [INFO] [1707090351.091422852] [rtabmap]: Update RTAB-Map parameter "Icp/Epsilon"="0.001" from arguments
[rtabmap-5] [INFO] [1707090351.091451487] [rtabmap]: Update RTAB-Map parameter "Icp/Iterations"="10" from arguments
[rtabmap-5] [INFO] [1707090351.091479563] [rtabmap]: Update RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="1" from arguments
[rtabmap-5] [INFO] [1707090351.091506662] [rtabmap]: Update RTAB-Map parameter "Icp/MaxTranslation"="4" from arguments
[rtabmap-5] [INFO] [1707090351.091531386] [rtabmap]: Update RTAB-Map parameter "Icp/OutlierRatio"="0.7" from arguments
[rtabmap-5] [INFO] [1707090351.091555411] [rtabmap]: Update RTAB-Map parameter "Icp/PointToPlane"="true" from arguments
[rtabmap-5] [INFO] [1707090351.091580973] [rtabmap]: Update RTAB-Map parameter "Icp/PointToPlaneK"="20" from arguments
[rtabmap-5] [INFO] [1707090351.091604510] [rtabmap]: Update RTAB-Map parameter "Icp/PointToPlaneRadius"="0" from arguments
[rtabmap-5] [INFO] [1707090351.091628885] [rtabmap]: Update RTAB-Map parameter "Icp/Strategy"="1" from arguments
[rtabmap-5] [INFO] [1707090351.091653748] [rtabmap]: Update RTAB-Map parameter "Icp/VoxelSize"="0.2" from arguments
[rtabmap-5] [INFO] [1707090351.091677634] [rtabmap]: Update RTAB-Map parameter "Mem/LaserScanNormalK"="20" from arguments
[rtabmap-5] [INFO] [1707090351.091702288] [rtabmap]: Update RTAB-Map parameter "Mem/NotLinkedNodesKept"="false" from arguments
[rtabmap-5] [INFO] [1707090351.091724777] [rtabmap]: Update RTAB-Map parameter "Mem/STMSize"="30" from arguments
[rtabmap-5] [INFO] [1707090351.091750968] [rtabmap]: Update RTAB-Map parameter "RGBD/AngularUpdate"="0.05" from arguments
[rtabmap-5] [INFO] [1707090351.091772549] [rtabmap]: Update RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[rtabmap-5] [INFO] [1707090351.091798181] [rtabmap]: Update RTAB-Map parameter "RGBD/LinearUpdate"="0.05" from arguments
[rtabmap-5] [INFO] [1707090351.091822416] [rtabmap]: Update RTAB-Map parameter "RGBD/ProximityMaxGraphDepth"="0" from arguments
[rtabmap-5] [INFO] [1707090351.091847489] [rtabmap]: Update RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="1" from arguments
[rtabmap-5] [INFO] [1707090351.091872772] [rtabmap]: Update RTAB-Map parameter "Reg/Strategy"="1" from arguments
[rtabmap-5] [WARN] [1707090351.092053871] [rtabmap]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/Sensor" to true. To suppress this warning, add
[rtabmap-5] [INFO] [1707090351.092109814] [rtabmap]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[rtabmap-5] [INFO] [1707090351.092370533] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-5] [INFO] [1707090351.092695366] [rtabmap]: rtabmap: Deleted database "/home/rod/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-5] [INFO] [1707090351.092755430] [rtabmap]: rtabmap: Using database from "/home/rod/.ros/rtabmap.db" (0 MB).
[icp_odometry-3] [INFO] [1707090351.105868893] [icp_odometry]: Odom: ratio=0.338129, std dev=0.004272m|0.001351rad, update time=0.011556s
[icp_odometry-3] [INFO] [1707090351.143293037] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000462s
[icp_odometry-3] [INFO] [1707090351.193495824] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000261s
[icp_odometry-3] [INFO] [1707090351.243709925] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000219s
[rtabmap-5] [INFO] [1707090351.275395323] [rtabmap]: rtabmap: Database version = "0.21.3".
[rtabmap-5] [INFO] [1707090351.275451615] [rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[icp_odometry-3] [INFO] [1707090351.295439309] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000271s
[rtabmap-5] [INFO] [1707090351.310438775] [rtabmap]: Setup callbacks
[rtabmap-5] [INFO] [1707090351.310697259] [rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-5] [INFO] [1707090351.310736720] [rtabmap]: rtabmap: subscribe_rgb = false
[rtabmap-5] [INFO] [1707090351.310756834] [rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-5] [INFO] [1707090351.310778276] [rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-5] [INFO] [1707090351.310805374] [rtabmap]: rtabmap: subscribe_sensor_data = false
[rtabmap-5] [INFO] [1707090351.310825000] [rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-5] [INFO] [1707090351.310843647] [rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-5] [INFO] [1707090351.310863622] [rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-5] [INFO] [1707090351.310884644] [rtabmap]: rtabmap: subscribe_scan_cloud = true
[rtabmap-5] [INFO] [1707090351.310905178] [rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-5] [INFO] [1707090351.310923616] [rtabmap]: rtabmap: queue_size      = 10
[rtabmap-5] [INFO] [1707090351.310943381] [rtabmap]: rtabmap: qos_image       = 0
[rtabmap-5] [INFO] [1707090351.310958397] [rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-5] [INFO] [1707090351.310973204] [rtabmap]: rtabmap: qos_scan        = 0
[rtabmap-5] [INFO] [1707090351.310988918] [rtabmap]: rtabmap: qos_odom        = 0
[rtabmap-5] [INFO] [1707090351.311005121] [rtabmap]: rtabmap: qos_user_data   = 0
[rtabmap-5] [INFO] [1707090351.311023210] [rtabmap]: rtabmap: approx_sync     = false
[rtabmap-5] [INFO] [1707090351.311055198] [rtabmap]: Setup scan callback
[rtabmap-5] [INFO] [1707090351.313120554] [rtabmap]:
[rtabmap-5] rtabmap subscribed to (exact sync):
[rtabmap-5]    /odom \
[rtabmap-5]    /assembled_cloud
[rtabmap-5] [WARN] [1707090351.316524705] [rtabmap]: There is no image subscription, bag-of-words loop closure detection will be disabled...
[rtabmap-5] [WARN] [1707090351.316610121] [rtabmap]: Setting Kp/MaxFeatures=-1 (bag-of-words disabled)
[icp_odometry-3] [INFO] [1707090351.345484184] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000280s
[icp_odometry-3] [INFO] [1707090351.396387272] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000218s
[point_cloud_assembler-4] [ERROR] [1707090351.416218522] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090351.445958411] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000214s
[icp_odometry-3] [INFO] [1707090351.496483517] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000344s
[point_cloud_assembler-4] [ERROR] [1707090351.517838780] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090351.546884584] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000338s
[icp_odometry-3] [INFO] [1707090351.597762739] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000379s
[point_cloud_assembler-4] [ERROR] [1707090351.619537401] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090351.647836947] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000334s
[icp_odometry-3] [INFO] [1707090351.698598676] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000335s
[point_cloud_assembler-4] [ERROR] [1707090351.721182733] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.048) OdometryF2M.cpp:562::computeTransform() Registration failed: "libpointmatcher has failed: ErrorMnimizer: no point to minimize"
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.143) OdometryF2M.cpp:566::computeTransform() Registration failed: "libpointmatcher has failed: ErrorMnimizer: no point to minimize" (guess=xyz=-0.000000,-0.000000,0.000000 rpy=0.000000,-0.000000,0.000000)
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.193) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.193) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.243) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.243) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.295) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.295) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.345) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.345) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.396) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.396) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.445) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.445) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.496) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.496) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.546) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.546) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.597) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.597) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.647) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.647) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.698) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.698) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.748) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [INFO] [1707090351.748861177] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000360s
[icp_odometry-3] [INFO] [1707090351.799389565] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000337s
[point_cloud_assembler-4] [ERROR] [1707090351.822984719] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090351.849724771] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000386s
[icp_odometry-3] [INFO] [1707090351.900096086] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000345s
[point_cloud_assembler-4] [ERROR] [1707090351.924509853] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090351.950681185] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000362s
[icp_odometry-3] [INFO] [1707090352.001220259] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000366s
[point_cloud_assembler-4] [ERROR] [1707090352.025933234] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090352.051386950] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000357s
[icp_odometry-3] [INFO] [1707090352.102218884] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000375s
[point_cloud_assembler-4] [ERROR] [1707090352.127355868] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090352.152193721] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000361s
[icp_odometry-3] [INFO] [1707090352.202446737] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000203s
[point_cloud_assembler-4] [ERROR] [1707090352.228787792] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090352.253240957] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000336s
[icp_odometry-3] [INFO] [1707090352.303534900] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000343s
[point_cloud_assembler-4] [ERROR] [1707090352.330694917] [point_cloud_assembler]: Cloud not transform all clouds! Resetting...
[icp_odometry-3] [INFO] [1707090352.354183709] [icp_odometry]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.000352s
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.748) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.799) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.799) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.849) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.849) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.899) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.899) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:51.950) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:51.950) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:52.000) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:52.000) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:52.051) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:52.051) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[icp_odometry-3] [ERROR] (2024-02-04 17:45:52.101) RegistrationIcp.cpp:977::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[icp_odometry-3] [ WARN] (2024-02-04 17:45:52.101) OdometryF2M.cpp:562::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."

[matlabbe]

Do the point clouds of the lidar look good in RVIZ? What the environment look like? If you can share a rosbag of the /velodyne_points topic, that could be useful to debug.