rtabmap with Zed2i camera
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i am mapping the ros.bag firstly i have recorded using rosbag record -a and now i am mapping it using command
////////////////////////////////////////////////////////////////////////////////// # Stereo mapping simulation roslaunch rtabmap launch rtabmap.launch \ rtabmap_args:=”−−delete_db_on_start −−Vis/CorFlowMaxLevel 5 −−Stereo/MaxDisparity 200” \ stereo_namespace:=/zed_2i/zed_node \ right_image_topic:=/zed_2i/zed_node/right/image_rect_gray \ stereo:=true \ visual_odometry:=false \ frame_id:=base_link \ odom_frame_id:=odom \ imu_topic:=/zed_2i/zed_node/imu/data \ wait_imu_to_init:=true \ use_sim_time:=true /////////////////////////////////////////////////////////////////////////////////////////////////////it didnt worked so i change odom frame here it is roslaunch rtabmap_launch rtabmap.launch \ rtabmap_args:="--delete_db_on_start --Vis/CorFlowMaxLevel 5 --Stereo/MaxDisparity 200" \ stereo_namespace:=/zed2i/zed_node \ right_image_topic:=/zed2i/zed_node/right/image_rect_gray \ stereo:=true \ visual_odometry:=false \ frame_id:=base_link \ odom_frame_id:=base_link \ imu_topic:=/zed2i/zed_node/imu/data \ wait_imu_to_init:=true \ use_sim_time:=true////////////////////////////////////////////////////////////////// i tried approx_sync := true then only there is error i am pasting the whole error and it has all the rosptopic if you see in first time it happend perfectly then this --------------------------------------------------------------------------------------------
(base) $:test1$ roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start --Vis/CorFlowMaxLevel 5
--Stereo/MaxDisparity 200" stereo_namespace:=/zed2i/zed_node right_image_topic:=/zed2i/zed_node/right/image_rect_gray stereo:=true visual_odometry:=false frame_id:=base_link odom_frame_id:=base_link imu_topic:=/zed2i/zed_node/imu/data wait_imu_to_init:=true use_sim_time:=true \ approx_sync:=true
... logging to /home/tihan/.ros/log/a406e280-ecf6-11ee-8d12-b7df7c8f3d11/roslaunch-tihanws3-8963.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/tihan/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://tihanws3:37507/
SUMMARY
========
CLEAR PARAMETERS
* /rtabmap/rtabmap/
* /rtabmap/rtabmap_viz/
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/Rtabmap/DetectionRate: 7.0
* /rtabmap/rtabmap/approx_sync: False
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/gen_depth: False
* /rtabmap/rtabmap/gen_depth_decimation: 1
* /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
* /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
* /rtabmap/rtabmap/gen_depth_fill_iterations: 1
* /rtabmap/rtabmap/gen_scan: False
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/initial_pose:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id: base_link
* /rtabmap/rtabmap/odom_frame_id_init:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmap_viz/approx_sync: False
* /rtabmap/rtabmap_viz/frame_id: base_link
* /rtabmap/rtabmap_viz/odom_frame_id: base_link
* /rtabmap/rtabmap_viz/queue_size: 10
* /rtabmap/rtabmap_viz/subscribe_depth: False
* /rtabmap/rtabmap_viz/subscribe_rgb: False
* /rtabmap/rtabmap_viz/subscribe_rgbd: False
* /rtabmap/rtabmap_viz/subscribe_scan: False
* /rtabmap/rtabmap_viz/subscribe_scan_cloud: False
* /rtabmap/rtabmap_viz/subscribe_scan_descriptor: False
* /rtabmap/rtabmap_viz/subscribe_stereo: True
* /rtabmap/rtabmap_viz/wait_for_transform_duration: 0.2
* /use_sim_time: True
NODES
/rtabmap/
rtabmap (rtabmap_slam/rtabmap)
rtabmap_viz (rtabmap_viz/rtabmap_viz)
auto-starting new master
process[master]: started with pid [8994]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to a406e280-ecf6-11ee-8d12-b7df7c8f3d11
process[rosout-1]: started with pid [9027]
started core service [/rosout]
process[rtabmap/rtabmap-2]: started with pid [9035]
process[rtabmap/rtabmap_viz-3]: started with pid [9036]
[ INFO] [1711625455.926817770]: Starting node...
[ INFO] [1711625455.952129031]: Initializing nodelet with 24 worker threads.
[ INFO] [1711625456.009649587]: Starting node...
[ INFO] [1711625456.030029834]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1711625456.030051024]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1711625456.030058128]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1711625456.030064519]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1711625456.030069837]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1711625456.030075034]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1711625456.030080301]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1711625456.030087274]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1711625456.030237973]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1711625456.042492689]: rtabmap: frame_id = base_link
[ INFO] [1711625456.042506966]: rtabmap: odom_frame_id = base_link
[ INFO] [1711625456.042514220]: rtabmap: map_frame_id = map
[ INFO] [1711625456.042520963]: rtabmap: log_to_rosout_level = 4
[ INFO] [1711625456.042526732]: rtabmap: initial_pose =
[ INFO] [1711625456.042532079]: rtabmap: use_action_for_goal = false
[ INFO] [1711625456.042538491]: rtabmap: tf_delay = 0.050000
[ INFO] [1711625456.042546577]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1711625456.042551885]: rtabmap: odom_sensor_sync = false
[ INFO] [1711625456.042557875]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1711625456.042836577]: rtabmap: stereo_to_depth = false
[ INFO] [1711625456.042847995]: rtabmap: gen_scan = false
[ INFO] [1711625456.042854787]: rtabmap: gen_depth = false
[ INFO] [1711625456.117450445]: rtabmap_viz: Using configuration from "/home/tihan/.ros/rtabmap_gui.ini"
[ INFO] [1711625456.133238114]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1711625456.133413283]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1711625456.171780285]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="7"
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1711625457.071089738]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1711625457.071588878]: rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.
[ INFO] [1711625458.725794172]: RTAB-Map detection rate = 7.000000 Hz
[ INFO] [1711625458.726363157]: rtabmap: Using database from "/home/tihan/.ros/rtabmap.db" (0 MB).
[ INFO] [1711625458.742451149]: rtabmap: Database version = "0.21.1".
[ INFO] [1711625458.742473762]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1711625458.750834204]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1711625458.750848280]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1711625458.750857319]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1711625458.750864683]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1711625458.750869809]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1711625458.750876942]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1711625458.750883564]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1711625458.750891449]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1711625458.750898131]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1711625458.750904852]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1711625458.750911444]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1711625458.750934779]: Setup stereo callback
[ INFO] [1711625458.755891260]:
/rtabmap/rtabmap subscribed to (exact sync):
/zed2i/zed_node/left/image_rect_color \
/zed2i/zed_node/right/image_rect_gray \
/zed2i/zed_node/left/camera_info \
/zed2i/zed_node/right/camera_info
[ INFO] [1711625458.842775602]: rtabmap 0.21.1 started...
[ INFO] [1711625458.972163586]: rtabmap_viz: rtabmap's parameters seem now there! continuing...
[ INFO] [1711625459.064124776]: rtabmap_viz: Parameters read = 360
[ INFO] [1711625459.064137888]: rtabmap_viz: Parameters successfully read.
[ INFO] [1711625461.217896633]: /rtabmap/rtabmap_viz: subscribe_depth = false
[ INFO] [1711625461.217918119]: /rtabmap/rtabmap_viz: subscribe_rgb = false
[ INFO] [1711625461.217926194]: /rtabmap/rtabmap_viz: subscribe_stereo = true
[ INFO] [1711625461.217933888]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1711625461.217940569]: /rtabmap/rtabmap_viz: subscribe_odom_info = false
[ INFO] [1711625461.217946979]: /rtabmap/rtabmap_viz: subscribe_user_data = false
[ INFO] [1711625461.217953921]: /rtabmap/rtabmap_viz: subscribe_scan = false
[ INFO] [1711625461.217960963]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false
[ INFO] [1711625461.217967533]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false
[ INFO] [1711625461.217975568]: /rtabmap/rtabmap_viz: queue_size = 10
[ INFO] [1711625461.217985017]: /rtabmap/rtabmap_viz: approx_sync = false
[ INFO] [1711625461.218011420]: Setup stereo callback
[ INFO] [1711625461.243415415]:
/rtabmap/rtabmap_viz subscribed to (exact sync):
/zed2i/zed_node/left/image_rect_color \
/zed2i/zed_node/right/image_rect_gray \
/zed2i/zed_node/left/camera_info \
/zed2i/zed_node/right/camera_info
[ INFO] [1711625461.243626782]: rtabmap_viz started.
[ WARN] [1711625471.363049960, 1711621567.985659547]: /rtabmap/rtabmap_viz: 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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap_viz subscribed to (exact sync):
/zed2i/zed_node/left/image_rect_color \
/zed2i/zed_node/right/image_rect_gray \
/zed2i/zed_node/left/camera_info \
/zed2i/zed_node/right/camera_info
[ WARN] [1711625471.363237454, 1711621567.985659547]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/zed2i/zed_node/left/image_rect_color \
/zed2i/zed_node/right/image_rect_gray \
/zed2i/zed_node/left/camera_info \
/zed2i/zed_node/right/camera_info
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621568.135943 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621568.135943 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621568.720660 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621568.720660 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621569.314217 according to authority unknown_publisher
Warning: at line TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621569.314217 according to authority unknown_publisher278
in at line /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp278
in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621570.019928 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621570.019928 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625473.525054835, 1711621570.142942905]: rtabmap (1): Rate=0.14s, Limit=0.000s, Conversion=0.0060s, RTAB-Map=0.0575s, Maps update=0.0001s pub=0.0009s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621570.753585 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621570.753585 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625474.307442551, 1711621570.911904549]: rtabmap (2): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0654s, Maps update=0.0001s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621571.651566 according to authority unknown_publisher
at line 278Warning: in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cppTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621571.651566 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625475.056188017, 1711621571.675026819]: rtabmap (3): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0576s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621572.288723 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621572.288723 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625475.814519062, 1711621572.436736995]: rtabmap (4): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0572s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621573.025072 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621573.025072 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625476.569333082, 1711621573.180458846]: rtabmap (5): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0634s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621573.824335 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621573.824335 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625477.309347424, 1711621573.915813853]: rtabmap (6): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0641s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621574.521085 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621574.521085 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625478.043890089, 1711621574.666072590]: rtabmap (7): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0578s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621575.274655 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621575.274655 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625478.803480095, 1711621575.419974613]: rtabmap (8): Rate=0.14s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0558s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621576.039561 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621576.039561 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625479.566586470, 1711621576.180832431]: rtabmap (9): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0568s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ INFO] [1711625480.375259731, 1711621576.990355137]: rtabmap (10): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0540s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621577.590414 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621577.590414 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625481.173111766, 1711621577.795222409]: rtabmap (11): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0571s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621578.537248 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621578.537248 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625481.998052436, 1711621578.618312215]: rtabmap (12): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0614s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621579.242561 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621579.242561 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625482.805907194, 1711621579.420725880]: rtabmap (13): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0648s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621580.039823 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621580.039823 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625483.603919269, 1711621580.221690884]: rtabmap (14): Rate=0.14s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0618s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621580.917834 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621580.917834 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625484.383568399, 1711621580.999758243]: rtabmap (15): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0540s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ INFO] [1711625485.168143292, 1711621581.788099325]: rtabmap (16): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0631s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621582.395127 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621582.395127 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625485.993777235, 1711621582.607854714]: rtabmap (17): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0660s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621583.331897 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621583.331897 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625486.767573308, 1711621583.381460074]: rtabmap (18): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0592s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621584.169283 according to authority unknown_publisherWarning:
TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621584.169283 according to authority unknown_publisher at line
at line 278278 in in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp/tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625487.587866813, 1711621584.208968201]: rtabmap (19): Rate=0.14s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0595s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621584.905367 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621584.905367 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625488.429171714, 1711621585.049130926]: rtabmap (20): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0599s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621585.753222 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621585.753222 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625489.205241026, 1711621585.828002972]: rtabmap (21): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0563s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621586.013836 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621586.013836 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621586.527815 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621586.527815 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625489.974423614, 1711621586.588642499]: rtabmap (22): Rate=0.14s, Limit=0.000s, Conversion=0.0006s, RTAB-Map=0.0574s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621587.230999 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621587.230999 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625490.725045867, 1711621587.341292447]: rtabmap (23): Rate=0.14s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0538s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621587.948828 according to authority unknown_publisher
at line 278Warning: in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cppTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621587.948828 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625491.512032752, 1711621588.131445376]: rtabmap (24): Rate=0.14s, Limit=0.000s, Conversion=0.0012s, RTAB-Map=0.0595s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621588.998898 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621588.998898 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625492.333726931, 1711621588.951527804]: rtabmap (25): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0558s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621589.557966 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621589.557966 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625493.126238996, 1711621589.742542521]: rtabmap (26): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0624s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621590.374871 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621590.374871 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625493.952672826, 1711621590.574222763]: rtabmap (27): Rate=0.14s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0583s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621590.762818 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621590.762818 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621591.314106 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621591.314106 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625494.748991795, 1711621591.363668093]: rtabmap (28): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0648s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621592.097863 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621592.097863 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625495.535265614, 1711621592.152529949]: rtabmap (29): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0640s, Maps update=0.0000s pub=0.0009s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621592.904588 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621592.904588 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625496.318200462, 1711621592.934949839]: rtabmap (30): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0635s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621593.695233 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621593.695233 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621593.828157 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621593.828157 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625497.155126445, 1711621593.748264255]: rtabmap (31): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0569s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621594.509262 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621594.509262 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625497.953094669, 1711621594.572658715]: rtabmap (32): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0622s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621595.343652 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621595.343652 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625498.785247512, 1711621595.399972025]: rtabmap (33): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0556s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621596.069910 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621596.069910 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625499.654740075, 1711621596.270393411]: rtabmap (34): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0626s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621596.929656 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621596.929656 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625500.471930568, 1711621597.091607130]: rtabmap (35): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0583s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621597.736825 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621597.736825 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625501.325207678, 1711621597.947783920]: rtabmap (36): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0571s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621598.655420 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621598.655420 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625502.123305227, 1711621598.737529034]: rtabmap (37): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0564s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621599.439268 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621599.439268 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621599.583010 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621599.583010 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625502.997327607, 1711621599.613187476]: rtabmap (38): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0557s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621600.330580 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621600.330580 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625503.879605070, 1711621600.497764239]: rtabmap (39): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0626s, Maps update=0.0000s pub=0.0011s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621601.116268 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621601.116268 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625504.680581160, 1711621601.300814064]: rtabmap (40): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0598s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621601.960265 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621601.960265 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625505.557835042, 1711621602.171920392]: rtabmap (41): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0647s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621602.864665 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621602.864665 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625506.422372183, 1711621603.040827640]: rtabmap (42): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0544s, Maps update=0.0000s pub=0.0009s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621603.866931 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621603.866931 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625507.289811312, 1711621603.908718957]: rtabmap (43): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0615s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621604.569563 according to authority unknown_publisher
at line 278Warning: in TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621604.569563 according to authority unknown_publisher/tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625508.123521910, 1711621604.739305364]: rtabmap (44): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0605s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621604.975789 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621604.975789 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625508.952825623, 1711621605.575173774]: rtabmap (45): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0590s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621606.264168 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621606.264168 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625509.793421813, 1711621606.407749537]: rtabmap (46): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0661s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621607.079931 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621607.079931 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625510.613629680, 1711621607.234927940]: rtabmap (47): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0568s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621607.894320 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621607.894320 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625511.445368059, 1711621608.060013169]: rtabmap (48): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0643s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621608.709907 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621608.709907 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621608.835897 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621608.835897 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625512.242877860, 1711621608.856504030]: rtabmap (49): Rate=0.14s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0559s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621609.501268 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621609.501268 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625513.055038286, 1711621609.665228137]: rtabmap (50): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0629s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621610.391869 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621610.391869 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625513.888126396, 1711621610.505147313]: rtabmap (51): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0619s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621611.170384 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent map) at time 1711621611.170384 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
[ INFO] [1711625514.686383977, 1711621611.300278518]: rtabmap (52): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0579s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] [1711625515.295884022, 1711621567.942122266]: Detected jump back in time of 43.9668s. Clearing TF buffer.
[ WARN] [1711625515.295940033, 1711621567.942122266]: Detected jump back in time of 43.9668s. Clearing TF buffer.
[ WARN] (2024-03-28 17:01:57.437) Transform.cpp:551::getTransform() No transform found for stamp 1711621569.692302! Earliest is 1711621609.105663
[ WARN] [1711625517.437429950, 1711621570.074527427]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621569.692302. IMU won't be added to graph.
[ INFO] [1711625517.496783966, 1711621570.134918340]: rtabmap (53): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0586s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:01:58.218) Transform.cpp:551::getTransform() No transform found for stamp 1711621570.492405! Earliest is 1711621609.105663
[ WARN] [1711625518.218862709, 1711621570.858888681]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621570.492405. IMU won't be added to graph.
[ INFO] [1711625518.275107296, 1711621570.919226403]: rtabmap (54): Rate=0.14s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.0555s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:01:58.974) Transform.cpp:551::getTransform() No transform found for stamp 1711621571.225766! Earliest is 1711621609.105663
[ WARN] [1711625518.975073877, 1711621571.615250301]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621571.225766. IMU won't be added to graph.
[ INFO] [1711625519.029862906, 1711621571.675593152]: rtabmap (55): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0541s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:01:59.733) Transform.cpp:551::getTransform() No transform found for stamp 1711621572.025890! Earliest is 1711621609.105663
[ WARN] [1711625519.733484567, 1711621572.370598372]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621572.025890. IMU won't be added to graph.
[ INFO] [1711625519.792275315, 1711621572.431745396]: rtabmap (56): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0577s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:00.481) Transform.cpp:551::getTransform() No transform found for stamp 1711621572.759390! Earliest is 1711621609.105663
[ WARN] [1711625520.481784392, 1711621573.125590269]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621572.759390. IMU won't be added to graph.
[ INFO] [1711625520.537661319, 1711621573.175818934]: rtabmap (57): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0551s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:01.221) Transform.cpp:551::getTransform() No transform found for stamp 1711621573.492755! Earliest is 1711621609.105663
[ WARN] [1711625521.221273622, 1711621573.859662364]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621573.492755. IMU won't be added to graph.
[ INFO] [1711625521.280998420, 1711621573.919990335]: rtabmap (58): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0590s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:01.962) Transform.cpp:551::getTransform() No transform found for stamp 1711621574.226225! Earliest is 1711621609.105663
[ WARN] [1711625521.962343202, 1711621574.607141124]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621574.226225. IMU won't be added to graph.
[ INFO] [1711625522.017930174, 1711621574.657430389]: rtabmap (59): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0548s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:02.724) Transform.cpp:551::getTransform() No transform found for stamp 1711621574.959710! Earliest is 1711621609.105663
[ WARN] [1711625522.724284549, 1711621575.362926542]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621574.959710. IMU won't be added to graph.
[ INFO] [1711625522.780644279, 1711621575.423277167]: rtabmap (60): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0557s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:03.485) Transform.cpp:551::getTransform() No transform found for stamp 1711621575.759707! Earliest is 1711621609.105663
[ WARN] [1711625523.485649165, 1711621576.127063886]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621575.759707. IMU won't be added to graph.
[ INFO] [1711625523.545081152, 1711621576.187391358]: rtabmap (61): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0587s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:04.297) Transform.cpp:551::getTransform() No transform found for stamp 1711621576.493194! Earliest is 1711621609.105663
[ WARN] [1711625524.297337586, 1711621576.934355332]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621576.493194. IMU won't be added to graph.
[ INFO] [1711625524.352033435, 1711621576.996051327]: rtabmap (62): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0540s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:05.091) Transform.cpp:551::getTransform() No transform found for stamp 1711621577.293438! Earliest is 1711621609.105663
[ WARN] [1711625525.091975445, 1711621577.730941390]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621577.293438. IMU won't be added to graph.
[ INFO] [1711625525.151863882, 1711621577.791269002]: rtabmap (63): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0592s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:05.912) Transform.cpp:551::getTransform() No transform found for stamp 1711621578.160074! Earliest is 1711621609.105663
[ WARN] [1711625525.912668831, 1711621578.552144971]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621578.160074. IMU won't be added to graph.
[ INFO] [1711625525.970164378, 1711621578.612467712]: rtabmap (64): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0567s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:06.717) Transform.cpp:551::getTransform() No transform found for stamp 1711621578.960194! Earliest is 1711621609.105663
[ WARN] [1711625526.717180594, 1711621579.359638203]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621578.960194. IMU won't be added to graph.
[ INFO] [1711625526.777227560, 1711621579.419917757]: rtabmap (65): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0594s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:07.518) Transform.cpp:551::getTransform() No transform found for stamp 1711621579.760442! Earliest is 1711621609.105663
[ WARN] [1711625527.518482966, 1711621580.157323841]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621579.760442. IMU won't be added to graph.
[ INFO] [1711625527.579658564, 1711621580.217657081]: rtabmap (66): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0604s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:08.305) Transform.cpp:551::getTransform() No transform found for stamp 1711621580.560448! Earliest is 1711621609.105663
[ WARN] [1711625528.305600370, 1711621580.944739533]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621580.560448. IMU won't be added to graph.
[ INFO] [1711625528.365606158, 1711621581.005069898]: rtabmap (67): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0592s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:09.080) Transform.cpp:551::getTransform() No transform found for stamp 1711621581.360433! Earliest is 1711621609.105663
[ WARN] [1711625529.080977850, 1711621581.724324348]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621581.360433. IMU won't be added to graph.
[ INFO] [1711625529.140261883, 1711621581.784647600]: rtabmap (68): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0585s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:09.903) Transform.cpp:551::getTransform() No transform found for stamp 1711621582.093920! Earliest is 1711621609.105663
[ WARN] [1711625529.904011212, 1711621582.542173967]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621582.093920. IMU won't be added to graph.
[ INFO] [1711625529.957723850, 1711621582.602502659]: rtabmap (69): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0530s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:10.683) Transform.cpp:551::getTransform() No transform found for stamp 1711621582.960680! Earliest is 1711621609.105663
[ WARN] [1711625530.684059972, 1711621583.328008078]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621582.960680. IMU won't be added to graph.
[ INFO] [1711625530.741351935, 1711621583.378304804]: rtabmap (70): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0566s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:11.504) Transform.cpp:551::getTransform() No transform found for stamp 1711621583.760803! Earliest is 1711621609.105663
[ WARN] [1711625531.504734613, 1711621584.150660492]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621583.760803. IMU won't be added to graph.
[ INFO] [1711625531.564260461, 1711621584.200889214]: rtabmap (71): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0588s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:12.345) Transform.cpp:551::getTransform() No transform found for stamp 1711621584.560854! Earliest is 1711621609.105663
[ WARN] [1711625532.345734400, 1711621584.990145978]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621584.560854. IMU won't be added to graph.
[ INFO] [1711625532.405163572, 1711621585.050478675]: rtabmap (72): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0587s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:13.124) Transform.cpp:551::getTransform() No transform found for stamp 1711621585.361031! Earliest is 1711621609.105663
[ WARN] [1711625533.124980381, 1711621585.766610463]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621585.361031. IMU won't be added to graph.
[ INFO] [1711625533.188283696, 1711621585.826940677]: rtabmap (73): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0623s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:13.893) Transform.cpp:551::getTransform() No transform found for stamp 1711621586.160942! Earliest is 1711621609.105663
[ WARN] [1711625533.893544104, 1711621586.531240487]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621586.160942. IMU won't be added to graph.
[ INFO] [1711625533.948745882, 1711621586.591747416]: rtabmap (74): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0544s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:14.647) Transform.cpp:551::getTransform() No transform found for stamp 1711621586.894229! Earliest is 1711621609.105663
[ WARN] [1711625534.647431949, 1711621587.289811038]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621586.894229. IMU won't be added to graph.
[ INFO] [1711625534.705373460, 1711621587.350152644]: rtabmap (75): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0572s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:15.428) Transform.cpp:551::getTransform() No transform found for stamp 1711621587.694273! Earliest is 1711621609.105663
[ WARN] [1711625535.428322805, 1711621588.065107679]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621587.694273. IMU won't be added to graph.
[ INFO] [1711625535.491428322, 1711621588.135490883]: rtabmap (76): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0624s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:16.227) Transform.cpp:551::getTransform() No transform found for stamp 1711621588.494313! Earliest is 1711621609.105663
[ WARN] [1711625536.227937537, 1711621588.866279253]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621588.494313. IMU won't be added to graph.
[ INFO] [1711625536.293353940, 1711621588.936736107]: rtabmap (77): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0643s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:17.039) Transform.cpp:551::getTransform() No transform found for stamp 1711621589.294493! Earliest is 1711621609.105663
[ WARN] [1711625537.040010412, 1711621589.683491503]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621589.294493. IMU won't be added to graph.
[ INFO] [1711625537.101258889, 1711621589.743819364]: rtabmap (78): Rate=0.14s, Limit=0.000s, Conversion=0.0013s, RTAB-Map=0.0605s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:17.870) Transform.cpp:551::getTransform() No transform found for stamp 1711621590.094401! Earliest is 1711621609.105663
[ WARN] [1711625537.870840348, 1711621590.510467088]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621590.094401. IMU won't be added to graph.
[ INFO] [1711625537.930501940, 1711621590.570828208]: rtabmap (79): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0589s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:18.660) Transform.cpp:551::getTransform() No transform found for stamp 1711621590.894444! Earliest is 1711621609.105663
[ WARN] [1711625538.660585021, 1711621591.304655854]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621590.894444. IMU won't be added to graph.
[ INFO] [1711625538.724338647, 1711621591.364981697]: rtabmap (80): Rate=0.14s, Limit=0.000s, Conversion=0.0012s, RTAB-Map=0.0630s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:19.446) Transform.cpp:551::getTransform() No transform found for stamp 1711621591.694363! Earliest is 1711621609.105663
[ WARN] [1711625539.446942743, 1711621592.089034001]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621591.694363. IMU won't be added to graph.
[ INFO] [1711625539.509885916, 1711621592.149361228]: rtabmap (81): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0619s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:20.230) Transform.cpp:551::getTransform() No transform found for stamp 1711621592.494406! Earliest is 1711621609.105663
[ WARN] [1711625540.230653797, 1711621592.876585517]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621592.494406. IMU won't be added to graph.
[ INFO] [1711625540.296049954, 1711621592.936911196]: rtabmap (82): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0646s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:21.040) Transform.cpp:551::getTransform() No transform found for stamp 1711621593.294451! Earliest is 1711621609.105663
[ WARN] [1711625541.040378991, 1711621593.680945468]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621593.294451. IMU won't be added to graph.
[ INFO] [1711625541.099105763, 1711621593.741269907]: rtabmap (83): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0579s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:21.866) Transform.cpp:551::getTransform() No transform found for stamp 1711621594.094495! Earliest is 1711621609.105663
[ WARN] [1711625541.867046712, 1711621594.508918337]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621594.094495. IMU won't be added to graph.
[ INFO] [1711625541.929348587, 1711621594.569247898]: rtabmap (84): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0615s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:22.705) Transform.cpp:551::getTransform() No transform found for stamp 1711621594.961169! Earliest is 1711621609.105663
[ WARN] [1711625542.705700193, 1711621595.343880101]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621594.961169. IMU won't be added to graph.
[ INFO] [1711625542.765462081, 1711621595.404317048]: rtabmap (85): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0590s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:23.568) Transform.cpp:551::getTransform() No transform found for stamp 1711621595.827842! Earliest is 1711621609.105663
[ WARN] [1711625543.568444994, 1711621596.210490741]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621595.827842. IMU won't be added to graph.
[ INFO] [1711625543.625610862, 1711621596.270802888]: rtabmap (86): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0564s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:24.389) Transform.cpp:551::getTransform() No transform found for stamp 1711621596.627885! Earliest is 1711621609.105663
[ WARN] [1711625544.389443749, 1711621597.028914942]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621596.627885. IMU won't be added to graph.
[ INFO] [1711625544.450047667, 1711621597.089241155]: rtabmap (87): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0598s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:25.244) Transform.cpp:551::getTransform() No transform found for stamp 1711621597.427930! Earliest is 1711621609.105663
[ WARN] [1711625545.244144603, 1711621597.890076561]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621597.427930. IMU won't be added to graph.
[ INFO] [1711625545.308911276, 1711621597.950411707]: rtabmap (88): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0640s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:26.042) Transform.cpp:551::getTransform() No transform found for stamp 1711621598.294607! Earliest is 1711621609.105663
[ WARN] [1711625546.043036634, 1711621598.678026146]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621598.294607. IMU won't be added to graph.
[ INFO] [1711625546.104000554, 1711621598.748378726]: rtabmap (89): Rate=0.14s, Limit=0.000s, Conversion=0.0012s, RTAB-Map=0.0602s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:26.917) Transform.cpp:551::getTransform() No transform found for stamp 1711621599.161421! Earliest is 1711621609.105663
[ WARN] [1711625546.917799844, 1711621599.556353069]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621599.161421. IMU won't be added to graph.
[ INFO] [1711625546.980092676, 1711621599.616676299]: rtabmap (90): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0613s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:27.792) Transform.cpp:551::getTransform() No transform found for stamp 1711621600.028207! Earliest is 1711621609.105663
[ WARN] [1711625547.792576085, 1711621600.434739907]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621600.028207. IMU won't be added to graph.
[ INFO] [1711625547.853180378, 1711621600.495065294]: rtabmap (91): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0598s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:28.596) Transform.cpp:551::getTransform() No transform found for stamp 1711621600.828126! Earliest is 1711621609.105663
[ WARN] [1711625548.596775675, 1711621601.239702656]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621600.828126. IMU won't be added to graph.
[ INFO] [1711625548.657714613, 1711621601.300026577]: rtabmap (92): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0599s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:29.469) Transform.cpp:551::getTransform() No transform found for stamp 1711621601.694927! Earliest is 1711621609.105663
[ WARN] [1711625549.469220846, 1711621602.114746748]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621601.694927. IMU won't be added to graph.
[ INFO] [1711625549.531369094, 1711621602.175076102]: rtabmap (93): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0614s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:30.343) Transform.cpp:551::getTransform() No transform found for stamp 1711621602.628105! Earliest is 1711621609.105663
[ WARN] [1711625550.343776416, 1711621602.981862219]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621602.628105. IMU won't be added to graph.
[ INFO] [1711625550.411161409, 1711621603.052243944]: rtabmap (94): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0666s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:31.204) Transform.cpp:551::getTransform() No transform found for stamp 1711621603.494781! Earliest is 1711621609.105663
[ WARN] [1711625551.204236651, 1711621603.847258768]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621603.494781. IMU won't be added to graph.
[ INFO] [1711625551.266957176, 1711621603.907586096]: rtabmap (95): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0619s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:32.039) Transform.cpp:551::getTransform() No transform found for stamp 1711621604.294830! Earliest is 1711621609.105663
[ WARN] [1711625552.039254073, 1711621604.682175313]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621604.294830. IMU won't be added to graph.
[ INFO] [1711625552.102482321, 1711621604.742471152]: rtabmap (96): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0621s, Maps update=0.0000s pub=0.0011s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:32.869) Transform.cpp:551::getTransform() No transform found for stamp 1711621605.161640! Earliest is 1711621609.105663
[ WARN] [1711625552.869989286, 1711621605.510752048]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621605.161640. IMU won't be added to graph.
[ INFO] [1711625552.926787023, 1711621605.571082407]: rtabmap (97): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0560s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:33.703) Transform.cpp:551::getTransform() No transform found for stamp 1711621605.961562! Earliest is 1711621609.105663
[ WARN] [1711625553.703517623, 1711621606.345845493]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621605.961562. IMU won't be added to graph.
[ INFO] [1711625553.770967727, 1711621606.416199825]: rtabmap (98): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0667s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:34.532) Transform.cpp:551::getTransform() No transform found for stamp 1711621606.828364! Earliest is 1711621609.105663
[ WARN] [1711625554.533031855, 1711621607.170196111]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621606.828364. IMU won't be added to graph.
[ INFO] [1711625554.590096053, 1711621607.230525838]: rtabmap (99): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0563s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:35.357) Transform.cpp:551::getTransform() No transform found for stamp 1711621607.628284! Earliest is 1711621609.105663
[ WARN] [1711625555.357353169, 1711621607.997884099]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621607.628284. IMU won't be added to graph.
[ INFO] [1711625555.411775352, 1711621608.058212330]: rtabmap (100): Rate=0.14s, Limit=0.000s, Conversion=0.0012s, RTAB-Map=0.0536s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:36.163) Transform.cpp:551::getTransform() No transform found for stamp 1711621608.428334! Earliest is 1711621609.105663
[ WARN] [1711625556.163830863, 1711621608.803188996]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621608.428334. IMU won't be added to graph.
[ INFO] [1711625556.230246185, 1711621608.873608941]: rtabmap (101): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0656s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ INFO] [1711625557.029784457, 1711621609.668132943]: rtabmap (102): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0604s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ INFO] [1711625557.871650893, 1711621610.515557156]: rtabmap (103): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0687s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ INFO] [1711625558.665443402, 1711621611.302078689]: rtabmap (104): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0595s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
[ WARN] [1711625559.269536282, 1711621567.938717544]: Detected jump back in time of 43.9669s. Clearing TF buffer.
[ WARN] [1711625559.269565530, 1711621567.938717544]: Detected jump back in time of 43.9669s. Clearing TF buffer.
[ WARN] (2024-03-28 17:02:41.414) Transform.cpp:551::getTransform() No transform found for stamp 1711621569.692302! Earliest is 1711621609.105663
[ WARN] [1711625561.414354901, 1711621570.079673860]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621569.692302. IMU won't be added to graph.
[ INFO] [1711625561.460501907, 1711621570.129937179]: rtabmap (105): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0453s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:42.195) Transform.cpp:551::getTransform() No transform found for stamp 1711621570.492405! Earliest is 1711621609.105663
[ WARN] [1711625562.195858257, 1711621570.863761619]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621570.492405. IMU won't be added to graph.
[ INFO] [1711625562.246522227, 1711621570.914024181]: rtabmap (106): Rate=0.14s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.0500s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:42.951) Transform.cpp:551::getTransform() No transform found for stamp 1711621571.225766! Earliest is 1711621609.105663
[ WARN] [1711625562.951929341, 1711621571.614273692]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621571.225766. IMU won't be added to graph.
[ INFO] [1711625563.012813269, 1711621571.674607415]: rtabmap (107): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0601s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:43.710) Transform.cpp:551::getTransform() No transform found for stamp 1711621572.025890! Earliest is 1711621609.105663
[ WARN] [1711625563.710434862, 1711621572.378991612]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621572.025890. IMU won't be added to graph.
[ INFO] [1711625563.760090082, 1711621572.429256493]: rtabmap (108): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0489s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:44.458) Transform.cpp:551::getTransform() No transform found for stamp 1711621572.759390! Earliest is 1711621609.105663
[ WARN] [1711625564.458868304, 1711621573.122952414]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621572.759390. IMU won't be added to graph.
[ INFO] [1711625564.509254217, 1711621573.173188057]: rtabmap (109): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0495s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:45.198) Transform.cpp:551::getTransform() No transform found for stamp 1711621573.492755! Earliest is 1711621609.105663
[ WARN] [1711625565.198148528, 1711621573.861010831]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621573.492755. IMU won't be added to graph.
[ INFO] [1711625565.254292893, 1711621573.921290964]: rtabmap (110): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0554s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:45.938) Transform.cpp:551::getTransform() No transform found for stamp 1711621574.226225! Earliest is 1711621609.105663
[ WARN] [1711625565.939069340, 1711621574.602234899]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621574.226225. IMU won't be added to graph.
[ INFO] [1711625565.995466948, 1711621574.662552920]: rtabmap (111): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0556s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:46.700) Transform.cpp:551::getTransform() No transform found for stamp 1711621574.959710! Earliest is 1711621609.105663
[ WARN] [1711625566.700931547, 1711621575.366760785]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621574.959710. IMU won't be added to graph.
[ INFO] [1711625566.761594013, 1711621575.427035286]: rtabmap (112): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0599s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:47.462) Transform.cpp:551::getTransform() No transform found for stamp 1711621575.759707! Earliest is 1711621609.105663
[ WARN] [1711625567.462667595, 1711621576.131469313]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621575.759707. IMU won't be added to graph.
[ INFO] [1711625567.515777011, 1711621576.181737930]: rtabmap (113): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0524s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:48.274) Transform.cpp:551::getTransform() No transform found for stamp 1711621576.493194! Earliest is 1711621609.105663
[ WARN] [1711625568.274396079, 1711621576.940395882]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621576.493194. IMU won't be added to graph.
[ INFO] [1711625568.336036359, 1711621577.000765978]: rtabmap (114): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0609s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:49.069) Transform.cpp:551::getTransform() No transform found for stamp 1711621577.293438! Earliest is 1711621609.105663
[ WARN] [1711625569.069089941, 1711621577.728603995]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621577.293438. IMU won't be added to graph.
[ INFO] [1711625569.120800841, 1711621577.789409144]: rtabmap (115): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0510s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:49.889) Transform.cpp:551::getTransform() No transform found for stamp 1711621578.160074! Earliest is 1711621609.105663
[ WARN] [1711625569.889929951, 1711621578.554123335]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621578.160074. IMU won't be added to graph.
[ INFO] [1711625569.950298095, 1711621578.614443869]: rtabmap (116): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0595s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:50.694) Transform.cpp:551::getTransform() No transform found for stamp 1711621578.960194! Earliest is 1711621609.105663
[ WARN] [1711625570.694145348, 1711621579.361690456]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621578.960194. IMU won't be added to graph.
[ INFO] [1711625570.753060766, 1711621579.422012147]: rtabmap (117): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0578s, Maps update=0.0000s pub=0.0010s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:51.495) Transform.cpp:551::getTransform() No transform found for stamp 1711621579.760442! Earliest is 1711621609.105663
[ WARN] [1711625571.495343312, 1711621580.156481599]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621579.760442. IMU won't be added to graph.
[ INFO] [1711625571.563436368, 1711621580.226855795]: rtabmap (118): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0674s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:52.282) Transform.cpp:551::getTransform() No transform found for stamp 1711621580.560448! Earliest is 1711621609.105663
[ WARN] [1711625572.282625868, 1711621580.944835488]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621580.560448. IMU won't be added to graph.
[ INFO] [1711625572.342979980, 1711621581.005144968]: rtabmap (119): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0596s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:53.057) Transform.cpp:551::getTransform() No transform found for stamp 1711621581.360433! Earliest is 1711621609.105663
[ WARN] [1711625573.057924434, 1711621581.719995239]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621581.360433. IMU won't be added to graph.
[ INFO] [1711625573.128337948, 1711621581.790371182]: rtabmap (120): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0697s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:53.880) Transform.cpp:551::getTransform() No transform found for stamp 1711621582.093920! Earliest is 1711621609.105663
[ WARN] [1711625573.880859966, 1711621582.548344026]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621582.093920. IMU won't be added to graph.
[ INFO] [1711625573.944721544, 1711621582.608709519]: rtabmap (121): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0631s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:54.660) Transform.cpp:551::getTransform() No transform found for stamp 1711621582.960680! Earliest is 1711621609.105663
[ WARN] [1711625574.661059745, 1711621583.324670796]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621582.960680. IMU won't be added to graph.
[ INFO] [1711625574.722201509, 1711621583.384988582]: rtabmap (122): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0604s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:55.481) Transform.cpp:551::getTransform() No transform found for stamp 1711621583.760803! Earliest is 1711621609.105663
[ WARN] [1711625575.481524431, 1711621584.148953763]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621583.760803. IMU won't be added to graph.
[ INFO] [1711625575.551575741, 1711621584.219322910]: rtabmap (123): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0690s, Maps update=0.0000s pub=0.0008s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:56.322) Transform.cpp:551::getTransform() No transform found for stamp 1711621584.560854! Earliest is 1711621609.105663
[ WARN] [1711625576.322383047, 1711621584.985730713]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621584.560854. IMU won't be added to graph.
[ INFO] [1711625576.389373921, 1711621585.056714507]: rtabmap (124): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0663s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:57.101) Transform.cpp:551::getTransform() No transform found for stamp 1711621585.361031! Earliest is 1711621609.105663
[ WARN] [1711625577.101707834, 1711621585.761907377]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621585.361031. IMU won't be added to graph.
[ INFO] [1711625577.162939461, 1711621585.823942220]: rtabmap (125): Rate=0.14s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=0.0605s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:57.870) Transform.cpp:551::getTransform() No transform found for stamp 1711621586.160942! Earliest is 1711621609.105663
[ WARN] [1711625577.870392657, 1711621586.539001617]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621586.160942. IMU won't be added to graph.
[ INFO] [1711625577.934938220, 1711621586.599319730]: rtabmap (126): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0638s, Maps update=0.0000s pub=0.0006s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:58.624) Transform.cpp:551::getTransform() No transform found for stamp 1711621586.894229! Earliest is 1711621609.105663
[ WARN] [1711625578.624554687, 1711621587.292966467]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621586.894229. IMU won't be added to graph.
[ INFO] [1711625578.686641766, 1711621587.353315986]: rtabmap (127): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0613s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:02:59.405) Transform.cpp:551::getTransform() No transform found for stamp 1711621587.694273! Earliest is 1711621609.105663
[ WARN] [1711625579.405156176, 1711621588.068358288]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621587.694273. IMU won't be added to graph.
[ INFO] [1711625579.466408180, 1711621588.128627928]: rtabmap (128): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0604s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:03:00.204) Transform.cpp:551::getTransform() No transform found for stamp 1711621588.494313! Earliest is 1711621609.105663
[ WARN] [1711625580.204750256, 1711621588.864593751]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621588.494313. IMU won't be added to graph.
[ INFO] [1711625580.276127504, 1711621588.945017867]: rtabmap (129): Rate=0.14s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0706s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:03:01.016) Transform.cpp:551::getTransform() No transform found for stamp 1711621589.294493! Earliest is 1711621609.105663
[ WARN] [1711625581.016714327, 1711621589.684079851]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621589.294493. IMU won't be added to graph.
[ INFO] [1711625581.078628345, 1711621589.744423433]: rtabmap (130): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0611s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:03:01.847) Transform.cpp:551::getTransform() No transform found for stamp 1711621590.094401! Earliest is 1711621609.105663
[ WARN] [1711625581.847563228, 1711621590.509744229]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621590.094401. IMU won't be added to graph.
[ INFO] [1711625581.911163478, 1711621590.580108405]: rtabmap (131): Rate=0.14s, Limit=0.000s, Conversion=0.0009s, RTAB-Map=0.0628s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
[ WARN] (2024-03-28 17:03:02.637) Transform.cpp:551::getTransform() No transform found for stamp 1711621590.894444! Earliest is 1711621609.105663
[ WARN] [1711625582.637469427, 1711621591.300960844]: We are receiving imu data (buffer=1000), but cannot interpolate imu transform at time 1711621590.894444. IMU won't be added to graph.
[ INFO] [1711625582.697417372, 1711621591.361286064]: rtabmap (132): Rate=0.14s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0592s, Maps update=0.0000s pub=0.0007s (local map=1, WM=1)
^C[rtabmap/rtabmap_viz-3] killing on exit
[ INFO] [1711625582.887647752, 1711621591.549801260]: rtabmapviz: ctrl-c catched! Exiting Qt app...
[rtabmap/rtabmap-2] killing on exit
rtabmap: Saving database/long-term memory... (located at /home/tihan/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/tihan/.ros/rtabmap.db, 64 MB)
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
(base) $:test1$
|
Administrator
|
I suggest to record with only zed launch started to avoid recording TF that would be published and regenerated by rtabmap when replaying the bag (to avoid publishing two times the the same tf). odom_frame_id would need to be the odom frame id used by zed odometry. I don't know if zed is also publishing a map frame, but if so, make sure it doesn't. With zed camera, keep approx_sync=false or don't specify it when stereo:=true. Make also sure that you replay the bag with "--clock". cheers, Mathieu |
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