Official RTAB-Map Forum

Re: Localization issues

Posted by Dalalos on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-issues-tp4202p4210.html

HI,

I'm using ROS Kinetic and rtabmap 0.11.13 with realsense R200 hend-hald
I noticed that even in a regualar mapping the loop closure is rejected. This is the output:

[ INFO] [1517165791.534762794]: Odom: quality=103, std dev=0.013446m|0.012183rad, update time=0.046305s
[ INFO] [1517165791.885154014]: rtabmap (460): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1334s, Maps update=0.0063s pub=0.0004s (local map=10, WM=10)
[ INFO] [1517165792.008735531]: Odom: quality=99, std dev=0.006939m|0.008616rad, update time=0.043776s
[ WARN] (2018-01-28 20:56:32.345) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:32.345) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (461) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:32.360) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[461]=0 old[1]=0)
[ INFO] [1517165792.370160382]: rtabmap (461): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1505s, Maps update=0.0062s pub=0.0005s (local map=10, WM=10)
[ INFO] [1517165792.949474399]: Odom: quality=105, std dev=0.003471m|0.006871rad, update time=0.044504s
[ INFO] [1517165792.994883641]: Odom: quality=85, std dev=0.010181m|0.011419rad, update time=0.043464s
[ WARN] (2018-01-28 20:56:33.114) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:33.114) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (462) doesn't have laser scan.
[ INFO] [1517165793.136322119]: rtabmap (462): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1341s, Maps update=0.0065s pub=0.0005s (local map=10, WM=10)
[ INFO] [1517165793.423346978]: Odom: quality=125, std dev=0.005821m|0.007175rad, update time=0.047680s
[ WARN] (2018-01-28 20:56:33.554) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:33.555) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:33.573) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[1]=0)
[ INFO] [1517165793.583701960]: rtabmap (463): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1518s, Maps update=0.0072s pub=0.0005s (local map=11, WM=11)
[ INFO] [1517165793.900300317]: Odom: quality=112, std dev=0.004162m|0.000616rad, update time=0.045256s
[ WARN] (2018-01-28 20:56:34.235) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:34.235) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (464) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:34.253) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[464]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:34.254) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 464: Laser scans empty?!? (new[464]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:34.254) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:34.254) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (464) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:34.275) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[464]=0 old[438]=0)
[ INFO] [1517165794.286614073]: rtabmap (464): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1719s, Maps update=0.0075s pub=0.0006s (local map=11, WM=11)
[ INFO] [1517165794.836945827]: Odom: quality=158, std dev=0.003323m|0.002265rad, update time=0.046180s
[ INFO] [1517165794.903298354]: Odom: quality=182, std dev=0.003451m|0.002291rad, update time=0.064429s
[ WARN] (2018-01-28 20:56:35.034) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:35.034) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:35.054) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:35.054) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 463: Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:35.054) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:35.054) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:35.077) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ INFO] [1517165795.088555333]: rtabmap (465): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1774s, Maps update=0.0075s pub=0.0004s (local map=11, WM=11)
[ INFO] [1517165795.311290161]: Odom: quality=143, std dev=0.003066m|0.001998rad, update time=0.045393s
[ WARN] (2018-01-28 20:56:35.431) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:35.431) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:35.449) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:35.449) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 463: Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:35.449) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:35.449) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:35.468) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ INFO] [1517165795.478935315]: rtabmap (466): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1591s, Maps update=0.0073s pub=0.0004s (local map=11, WM=11)
[ INFO] [1517165795.784852347]: Odom: quality=153, std dev=0.002962m|0.002178rad, update time=0.041636s
[ WARN] (2018-01-28 20:56:36.108) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:36.108) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (467) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:36.125) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[467]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:36.125) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 467: Laser scans empty?!? (new[467]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:36.125) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:36.125) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (467) doesn't have laser scan.
[ INFO] [1517165796.158316613]: rtabmap (467): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1590s, Maps update=0.0079s pub=0.0004s (local map=11, WM=11)
[ INFO] [1517165796.275704819]: Odom: quality=156, std dev=0.002078m|0.001343rad, update time=0.064976s
[ WARN] (2018-01-28 20:56:36.586) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:36.586) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:36.606) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:36.606) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 463: Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:36.606) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:36.606) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:36.628) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ INFO] [1517165796.639201593]: rtabmap (468): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1625s, Maps update=0.0073s pub=0.0004s (local map=11, WM=11)
[ INFO] [1517165796.731677839]: Odom: quality=139, std dev=0.002379m|0.001480rad, update time=0.046040s
[ WARN] (2018-01-28 20:56:37.064) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:37.064) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (469) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:37.081) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[469]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:37.082) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 469: Laser scans empty?!? (new[469]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:37.082) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:37.082) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (469) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:37.100) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[469]=0 old[438]=0)
[ INFO] [1517165797.112224152]: rtabmap (469): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1676s, Maps update=0.0076s pub=0.0006s (local map=11, WM=11)
[ INFO] [1517165797.231026083]: Odom: quality=159, std dev=0.002204m|0.001593rad, update time=0.078528s
[ WARN] (2018-01-28 20:56:37.527) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:37.527) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:37.547) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:37.547) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 463: Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:37.548) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:37.548) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:37.566) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ INFO] [1517165797.573222891]: rtabmap (470): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1593s, Maps update=0.0043s pub=0.0005s (local map=11, WM=11)
[ INFO] [1517165797.673704950]: Odom: quality=146, std dev=0.002905m|0.001866rad, update time=0.044818s
[ WARN] (2018-01-28 20:56:38.013) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:38.013) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (471) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:38.028) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[471]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:38.029) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 471: Laser scans empty?!? (new[471]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:38.029) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:38.029) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (471) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:38.047) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[471]=0 old[438]=0)
[ INFO] [1517165798.059036486]: rtabmap (471): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1675s, Maps update=0.0074s pub=0.0004s (local map=11, WM=11)
[ INFO] [1517165798.177710143]: Odom: quality=159, std dev=0.003524m|0.002434rad, update time=0.081196s
[ WARN] (2018-01-28 20:56:38.472) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:38.473) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (472) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:38.490) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[472]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:38.490) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 472: Laser scans empty?!? (new[472]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:38.490) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:38.490) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (472) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:38.510) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[472]=0 old[438]=0)
[ INFO] [1517165798.521473858]: rtabmap (472): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1606s, Maps update=0.0076s pub=0.0004s (local map=11, WM=11)
[ INFO] [1517165798.631337525]: Odom: quality=160, std dev=0.003890m|0.002782rad, update time=0.055469s
[ WARN] (2018-01-28 20:56:38.958) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:38.958) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:38.979) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:38.979) Rtabmap.cpp:1786::process() Rejected loop closure 1 -> 463: Laser scans empty?!? (new[463]=0 old[1]=0)
[ WARN] (2018-01-28 20:56:38.980) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:38.980) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:39.004) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ INFO] [1517165799.015727915]: rtabmap (473): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1849s, Maps update=0.0077s pub=0.0005s (local map=11, WM=11)
[ INFO] [1517165799.101899071]: Odom: quality=162, std dev=0.003750m|0.002654rad, update time=0.058851s
[ WARN] (2018-01-28 20:56:39.428) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:39.428) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (474) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:39.446) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[474]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:39.447) Rtabmap.cpp:1786::process() Rejected loop closure 438 -> 474: Laser scans empty?!? (new[474]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:39.447) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:39.447) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (474) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:39.464) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[474]=0 old[438]=0)
[ INFO] [1517165799.471225243]: rtabmap (474): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1655s, Maps update=0.0045s pub=0.0003s (local map=11, WM=11)
[ INFO] [1517165799.581931310]: Odom: quality=143, std dev=0.004699m|0.005868rad, update time=0.063289s
[ WARN] (2018-01-28 20:56:39.889) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:39.889) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:39.900) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:39.900) Rtabmap.cpp:1786::process() Rejected loop closure 438 -> 463: Laser scans empty?!? (new[463]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:39.901) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:39.901) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (463) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:39.912) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[463]=0 old[438]=0)
[ INFO] [1517165799.918932812]: rtabmap (475): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1420s, Maps update=0.0042s pub=0.0003s (local map=11, WM=11)
[ INFO] [1517165800.198115796]: Odom: quality=139, std dev=0.004394m|0.002864rad, update time=0.046886s
[ INFO] [1517165800.511499750]: Odom: quality=132, std dev=0.002709m|0.005326rad, update time=0.045958s
[ WARN] (2018-01-28 20:56:40.633) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:40.633) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (476) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:40.653) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[476]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:40.654) Rtabmap.cpp:1786::process() Rejected loop closure 438 -> 476: Laser scans empty?!? (new[476]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:40.654) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:40.654) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (476) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:40.669) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[476]=0 old[438]=0)
[ INFO] [1517165800.679136161]: rtabmap (476): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1598s, Maps update=0.0067s pub=0.0005s (local map=11, WM=11)
[ INFO] [1517165800.979308164]: Odom: quality=138, std dev=0.004766m|0.005903rad, update time=0.042107s
[ WARN] (2018-01-28 20:56:41.099) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:41.099) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (477) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:41.115) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[477]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:41.115) Rtabmap.cpp:1786::process() Rejected loop closure 438 -> 477: Laser scans empty?!? (new[477]=0 old[438]=0)
[ WARN] (2018-01-28 20:56:41.116) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (438) doesn't have laser scan.
[ WARN] (2018-01-28 20:56:41.116) SensorData.cpp:717::uncompressDataConst() Requested laser scan data, but the sensor data (477) doesn't have laser scan.
[ERROR] (2018-01-28 20:56:41.127) RegistrationIcp.cpp:404::computeTransformationImpl() Laser scans empty?!? (new[477]=0 old[438]=0)
[ INFO] [1517165801.136642768]: rtabmap (477): Rate=0.00s, Limit=0.000s, RTAB-Map=0.1496s, Maps update=0.0061s pub=0.0004s (local map=12, WM=12)
[ INFO] [1517165801.466235794]: Odom: quality=120, std dev=0.002724m|0.001805rad, update time=0.056181s