http://official-rtab-map-forum.206.s1.nabble.com/Velodyne-with-ROS2-launch-file-tp9313.html
Hi! Trying to use the new Ros2 launch file for Rtabmap and Velodyne VLP-16.
First, the transform launch file from Velodyne doesn't work. Then I tried the "all nodes" launch file from them, and get this out put:
greg@greg-HP-EliteDesk-800-G2-DM-65W:~$ ros2 launch rtabmap_ros vlp16.launch.py
[INFO] [launch]: All log files can be found below /home/greg/.ros/log/2023-01-29-14-49-07-188575-greg-HP-EliteDesk-800-G2-DM-65W-4310
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [icp_odometry-1]: process started with pid [4311]
[INFO] [point_cloud_assembler-2]: process started with pid [4313]
[INFO] [rtabmap-3]: process started with pid [4315]
[INFO] [rtabmapviz-4]: process started with pid [4317]
[rtabmapviz-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[point_cloud_assembler-2] [INFO] [1675025348.969469196] [point_cloud_assembler]: point_cloud_assembler: queue_size=5
[point_cloud_assembler-2] [INFO] [1675025348.969762016] [point_cloud_assembler]: point_cloud_assembler: qos=0
[point_cloud_assembler-2] [INFO] [1675025348.969777707] [point_cloud_assembler]: point_cloud_assembler: qos_odom=0
[point_cloud_assembler-2] [INFO] [1675025348.969785502] [point_cloud_assembler]: point_cloud_assembler: fixed_frame_id=
[point_cloud_assembler-2] [INFO] [1675025348.969803012] [point_cloud_assembler]: point_cloud_assembler: frame_id=
[point_cloud_assembler-2] [INFO] [1675025348.969811068] [point_cloud_assembler]: point_cloud_assembler: max_clouds=10
[point_cloud_assembler-2] [INFO] [1675025348.969820557] [point_cloud_assembler]: point_cloud_assembler: assembling_time=0.000000s
[point_cloud_assembler-2] [INFO] [1675025348.970648697] [point_cloud_assembler]: point_cloud_assembler: skip_clouds=0
[point_cloud_assembler-2] [INFO] [1675025348.970657431] [point_cloud_assembler]: point_cloud_assembler: circular_buffer=false
[point_cloud_assembler-2] [INFO] [1675025348.970664520] [point_cloud_assembler]: point_cloud_assembler: linear_update=0.000000 m
[point_cloud_assembler-2] [INFO] [1675025348.970671894] [point_cloud_assembler]: point_cloud_assembler: angular_update=0.000000 rad
[point_cloud_assembler-2] [INFO] [1675025348.970679314] [point_cloud_assembler]: point_cloud_assembler: wait_for_transform=0.100000
[point_cloud_assembler-2] [INFO] [1675025348.970687280] [point_cloud_assembler]: point_cloud_assembler: range_min=0.000000
[point_cloud_assembler-2] [INFO] [1675025348.970694652] [point_cloud_assembler]: point_cloud_assembler: range_max=0.000000
[point_cloud_assembler-2] [INFO] [1675025348.970701761] [point_cloud_assembler]: point_cloud_assembler: voxel_size=0.000000m
[point_cloud_assembler-2] [INFO] [1675025348.970709109] [point_cloud_assembler]: point_cloud_assembler: noise_radius=0.000000m
[point_cloud_assembler-2] [INFO] [1675025348.970716590] [point_cloud_assembler]: point_cloud_assembler: noise_min_neighbors=5
[point_cloud_assembler-2] [INFO] [1675025348.970723272] [point_cloud_assembler]: point_cloud_assembler: remove_z=false
[icp_odometry-1] [INFO] [1675025348.981694673] [icp_odometry]: Odometry: frame_id = velodyne
[icp_odometry-1] [INFO] [1675025348.981921474] [icp_odometry]: Odometry: odom_frame_id = odom
[icp_odometry-1] [INFO] [1675025348.981934790] [icp_odometry]: Odometry: publish_tf = true
[icp_odometry-1] [INFO] [1675025348.981942224] [icp_odometry]: Odometry: wait_for_transform = 0.200000
[icp_odometry-1] [INFO] [1675025348.981958210] [icp_odometry]: Odometry: log_to_rosout_level = 4
[icp_odometry-1] [INFO] [1675025348.981979671] [icp_odometry]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[icp_odometry-1] [INFO] [1675025348.981987806] [icp_odometry]: Odometry: ground_truth_frame_id =
[icp_odometry-1] [INFO] [1675025348.981994688] [icp_odometry]: Odometry: ground_truth_base_frame_id = velodyne
[icp_odometry-1] [INFO] [1675025348.982001448] [icp_odometry]: Odometry: config_path =
[icp_odometry-1] [INFO] [1675025348.982007989] [icp_odometry]: Odometry: publish_null_when_lost = true
[icp_odometry-1] [INFO] [1675025348.982014519] [icp_odometry]: Odometry: guess_frame_id =
[icp_odometry-1] [INFO] [1675025348.982021142] [icp_odometry]: Odometry: guess_min_translation = 0.000000
[icp_odometry-1] [INFO] [1675025348.982028410] [icp_odometry]: Odometry: guess_min_rotation = 0.000000
[icp_odometry-1] [INFO] [1675025348.982038312] [icp_odometry]: Odometry: guess_min_time = 0.000000
[icp_odometry-1] [INFO] [1675025348.982045752] [icp_odometry]: Odometry: expected_update_rate = 15.000000 Hz
[icp_odometry-1] [INFO] [1675025348.982053937] [icp_odometry]: Odometry: max_update_rate = 0.000000 Hz
[icp_odometry-1] [INFO] [1675025348.982061144] [icp_odometry]: Odometry: min_update_rate = 0.000000 Hz
[icp_odometry-1] [INFO] [1675025348.982068118] [icp_odometry]: Odometry: wait_imu_to_init = false
[icp_odometry-1] [INFO] [1675025348.982087872] [icp_odometry]: Odometry: stereoParams_=0 visParams_=0 icpParams_=1
[point_cloud_assembler-2] [INFO] [1675025348.984895276] [point_cloud_assembler]:
[point_cloud_assembler-2] point_cloud_assembler subscribed to (exact sync):
[point_cloud_assembler-2] cloud,
[point_cloud_assembler-2] odom
[rtabmap-3] [INFO] [1675025349.002016962] [rtabmap]: rtabmap(maps): map_filter_radius = 0.000000
[rtabmap-3] [INFO] [1675025349.002879293] [rtabmap]: rtabmap(maps): map_filter_angle = 30.000000
[rtabmap-3] [INFO] [1675025349.003310221] [rtabmap]: rtabmap(maps): map_cleanup = true
[rtabmap-3] [INFO] [1675025349.003736258] [rtabmap]: rtabmap(maps): map_always_update = false
[rtabmap-3] [INFO] [1675025349.004161315] [rtabmap]: rtabmap(maps): map_empty_ray_tracing = true
[rtabmap-3] [INFO] [1675025349.004535901] [rtabmap]: rtabmap(maps): cloud_output_voxelized = true
[rtabmap-3] [INFO] [1675025349.004910986] [rtabmap]: rtabmap(maps): cloud_subtract_filtering = false
[rtabmap-3] [INFO] [1675025349.005353941] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-3] [INFO] [1675025349.005882451] [rtabmap]: rtabmap(maps): octomap_tree_depth = 16
[icp_odometry-1] [INFO] [1675025349.005972598] [icp_odometry]: Odometry: Update parameter "Icp/CorrespondenceRatio"="0.01" from arguments
[icp_odometry-1] [INFO] [1675025349.006001340] [icp_odometry]: Odometry: Update parameter "Icp/Epsilon"="0.001" from arguments
[icp_odometry-1] [INFO] [1675025349.006010910] [icp_odometry]: Odometry: Update parameter "Icp/Iterations"="10" from arguments
[icp_odometry-1] [INFO] [1675025349.006018299] [icp_odometry]: Odometry: Update parameter "Icp/MaxCorrespondenceDistance"="1" from arguments
[icp_odometry-1] [INFO] [1675025349.006025431] [icp_odometry]: Odometry: Update parameter "Icp/MaxTranslation"="2" from arguments
[icp_odometry-1] [INFO] [1675025349.006045798] [icp_odometry]: Odometry: Update parameter "Icp/OutlierRatio"="0.7" from arguments
[icp_odometry-1] [INFO] [1675025349.006052856] [icp_odometry]: Odometry: Update parameter "Icp/PointToPlane"="true" from arguments
[icp_odometry-1] [INFO] [1675025349.006059893] [icp_odometry]: Odometry: Update parameter "Icp/PointToPlaneK"="20" from arguments
[icp_odometry-1] [INFO] [1675025349.006067466] [icp_odometry]: Odometry: Update parameter "Icp/PointToPlaneRadius"="0" from arguments
[icp_odometry-1] [INFO] [1675025349.006074600] [icp_odometry]: Odometry: Update parameter "Icp/Strategy"="1" from arguments
[icp_odometry-1] [INFO] [1675025349.006081661] [icp_odometry]: Odometry: Update parameter "Icp/VoxelSize"="0.1" from arguments
[icp_odometry-1] [INFO] [1675025349.006088661] [icp_odometry]: Odometry: Update parameter "Odom/ScanKeyFrameThr"="0.6" from arguments
[icp_odometry-1] [INFO] [1675025349.006095770] [icp_odometry]: Odometry: Update parameter "OdomF2M/BundleAdjustment"="false" from arguments
[icp_odometry-1] [INFO] [1675025349.006102881] [icp_odometry]: Odometry: Update parameter "OdomF2M/ScanMaxSize"="15000" from arguments
[icp_odometry-1] [INFO] [1675025349.006109784] [icp_odometry]: Odometry: Update parameter "OdomF2M/ScanSubtractRadius"="0.1" from arguments
[icp_odometry-1] [WARN] [1675025349.006193015] [icp_odometry]: IcpOdometry: Transferring value 0.1 of "Icp/VoxelSize" to ros parameter "scan_voxel_size" for convenience. "Icp/VoxelSize" is set to 0.
[icp_odometry-1] [WARN] [1675025349.006207276] [icp_odometry]: IcpOdometry: Transferring value 20 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[icp_odometry-1] [INFO] [1675025349.034848442] [icp_odometry]: IcpOdometry: qos = 0
[icp_odometry-1] [INFO] [1675025349.035366595] [icp_odometry]: IcpOdometry: scan_cloud_max_points = 0
[icp_odometry-1] [INFO] [1675025349.035996091] [icp_odometry]: IcpOdometry: scan_cloud_is_2d = false
[icp_odometry-1] [INFO] [1675025349.036371021] [icp_odometry]: IcpOdometry: scan_downsampling_step = 1
[icp_odometry-1] [INFO] [1675025349.036696795] [icp_odometry]: IcpOdometry: scan_range_min = 0.000000 m
[icp_odometry-1] [INFO] [1675025349.037025259] [icp_odometry]: IcpOdometry: scan_range_max = 0.000000 m
[icp_odometry-1] [INFO] [1675025349.037255586] [icp_odometry]: IcpOdometry: scan_voxel_size = 0.100000 m
[icp_odometry-1] [INFO] [1675025349.037507069] [icp_odometry]: IcpOdometry: scan_normal_k = 20
[icp_odometry-1] [INFO] [1675025349.037766652] [icp_odometry]: IcpOdometry: scan_normal_radius = 0.000000 m
[icp_odometry-1] [INFO] [1675025349.038158165] [icp_odometry]: IcpOdometry: scan_normal_ground_up = 0.000000
[icp_odometry-1] [INFO] [1675025349.038570401] [icp_odometry]: IcpOdometry: deskewing = true
[icp_odometry-1] [INFO] [1675025349.038815772] [icp_odometry]: IcpOdometry: deskewing_slerp = false
[rtabmap-3] [INFO] [1675025349.053497114] [rtabmap]: rtabmap: frame_id = velodyne
[rtabmap-3] [INFO] [1675025349.053535537] [rtabmap]: rtabmap: map_frame_id = map
[rtabmap-3] [INFO] [1675025349.053544629] [rtabmap]: rtabmap: log_to_rosout_level = 4
[rtabmap-3] [INFO] [1675025349.053552225] [rtabmap]: rtabmap: initial_pose =
[rtabmap-3] [INFO] [1675025349.053559220] [rtabmap]: rtabmap: use_action_for_goal = false
[rtabmap-3] [INFO] [1675025349.053566805] [rtabmap]: rtabmap: tf_delay = 0.050000
[rtabmap-3] [INFO] [1675025349.053577510] [rtabmap]: rtabmap: tf_tolerance = 0.100000
[rtabmap-3] [INFO] [1675025349.053585670] [rtabmap]: rtabmap: odom_sensor_sync = false
[rtabmap-3] [INFO] [1675025349.053592850] [rtabmap]: rtabmap: gen_scan = false
[rtabmap-3] [INFO] [1675025349.053599497] [rtabmap]: rtabmap: gen_depth = false
[rtabmap-3] [INFO] [1675025349.053606247] [rtabmap]: rtabmap: scan_cloud_max_points = 0
[rtabmap-3] [INFO] [1675025349.053613527] [rtabmap]: rtabmap: scan_cloud_is_2d = false
[rtabmap-3] [INFO] [1675025349.135450380] [rtabmap]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2" from arguments
[rtabmap-3] [INFO] [1675025349.135892282] [rtabmap]: Update RTAB-Map parameter "Icp/Epsilon"="0.001" from arguments
[rtabmap-3] [INFO] [1675025349.136160497] [rtabmap]: Update RTAB-Map parameter "Icp/Iterations"="10" from arguments
[rtabmap-3] [INFO] [1675025349.136398342] [rtabmap]: Update RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="1" from arguments
[rtabmap-3] [INFO] [1675025349.136631264] [rtabmap]: Update RTAB-Map parameter "Icp/MaxTranslation"="3" from arguments
[rtabmap-3] [INFO] [1675025349.136868465] [rtabmap]: Update RTAB-Map parameter "Icp/OutlierRatio"="0.7" from arguments
[rtabmap-3] [INFO] [1675025349.137096436] [rtabmap]: Update RTAB-Map parameter "Icp/PointToPlane"="true" from arguments
[rtabmap-3] [INFO] [1675025349.137323762] [rtabmap]: Update RTAB-Map parameter "Icp/PointToPlaneK"="20" from arguments
[rtabmap-3] [INFO] [1675025349.137549905] [rtabmap]: Update RTAB-Map parameter "Icp/PointToPlaneRadius"="0" from arguments
[rtabmap-3] [INFO] [1675025349.137788911] [rtabmap]: Update RTAB-Map parameter "Icp/Strategy"="1" from arguments
[rtabmap-3] [INFO] [1675025349.138012724] [rtabmap]: Update RTAB-Map parameter "Icp/VoxelSize"="0.1" from arguments
[rtabmap-3] [INFO] [1675025349.138238113] [rtabmap]: Update RTAB-Map parameter "Mem/LaserScanNormalK"="20" from arguments
[rtabmap-3] [INFO] [1675025349.138473141] [rtabmap]: Update RTAB-Map parameter "Mem/NotLinkedNodesKept"="false" from arguments
[rtabmap-3] [INFO] [1675025349.138696966] [rtabmap]: Update RTAB-Map parameter "Mem/STMSize"="30" from arguments
[rtabmap-3] [INFO] [1675025349.138919670] [rtabmap]: Update RTAB-Map parameter "RGBD/AngularUpdate"="0.05" from arguments
[rtabmap-3] [INFO] [1675025349.139212284] [rtabmap]: Update RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[rtabmap-3] [INFO] [1675025349.139487553] [rtabmap]: Update RTAB-Map parameter "RGBD/LinearUpdate"="0.05" from arguments
[rtabmap-3] [INFO] [1675025349.139760892] [rtabmap]: Update RTAB-Map parameter "RGBD/ProximityMaxGraphDepth"="0" from arguments
[rtabmap-3] [INFO] [1675025349.140041658] [rtabmap]: Update RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="1" from arguments
[rtabmap-3] [INFO] [1675025349.140312039] [rtabmap]: Update RTAB-Map parameter "Reg/Strategy"="1" from arguments
[rtabmap-3] [WARN] [1675025349.140656961] [rtabmap]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/Sensor" to true. To suppress this warning, add <param name="Grid/Sensor" type="string" value="0"/>
[rtabmap-3] [INFO] [1675025349.140988676] [rtabmap]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[rtabmap-3] [INFO] [1675025349.141394459] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-3] [INFO] [1675025349.142183544] [rtabmap]: rtabmap: Deleted database "/home/greg/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-3] [INFO] [1675025349.142483704] [rtabmap]: rtabmap: Using database from "/home/greg/.ros/rtabmap.db" (0 MB).
[icp_odometry-1] [INFO] [1675025349.154735607] [icp_odometry]: Odom: ratio=0.000000, std dev=99.995000m|99.995000rad, update time=0.009120s
[icp_odometry-1] [ERROR] [1675025349.231974625] [icp_odometry]: icp_odometry is already receiving scans on "/scan", but also just received a cloud on "/velodyne_points". Both subscribers cannot be used at the same time! Disabling cloud subscriber.
[icp_odometry-1] [INFO] [1675025349.303675085] [icp_odometry]: Odom: ratio=0.440252, std dev=0.004687m|0.001482rad, update time=0.064533s
[icp_odometry-1] [ERROR] [1675025349.332843053] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmapviz-4] [INFO] [1675025349.371130441] [rtabmapviz]: rtabmapviz: Using configuration from "/home/greg/.ros/rtabmapGUI.ini"
[icp_odometry-1] [ERROR] [1675025349.429874859] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmap-3] [INFO] [1675025349.491506854] [rtabmap]: rtabmap: Database version = "0.20.23".
[rtabmap-3] [INFO] [1675025349.491626770] [rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[icp_odometry-1] [ERROR] [1675025349.536251848] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmap-3] [INFO] [1675025349.545841080] [rtabmap]: Setup callbacks
[rtabmap-3] [INFO] [1675025349.546549180] [rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-3] [INFO] [1675025349.546613080] [rtabmap]: rtabmap: subscribe_rgb = false
[rtabmap-3] [INFO] [1675025349.546646359] [rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-3] [INFO] [1675025349.546676565] [rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-3] [INFO] [1675025349.546708246] [rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-3] [INFO] [1675025349.546736135] [rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-3] [INFO] [1675025349.546763482] [rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-3] [INFO] [1675025349.546791007] [rtabmap]: rtabmap: subscribe_scan_cloud = true
[rtabmap-3] [INFO] [1675025349.546993961] [rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-3] [INFO] [1675025349.547063694] [rtabmap]: rtabmap: queue_size = 10
[rtabmap-3] [INFO] [1675025349.547093784] [rtabmap]: rtabmap: qos_image = 0
[rtabmap-3] [INFO] [1675025349.547123041] [rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-3] [INFO] [1675025349.547151973] [rtabmap]: rtabmap: qos_scan = 0
[rtabmap-3] [INFO] [1675025349.547180011] [rtabmap]: rtabmap: qos_odom = 0
[rtabmap-3] [INFO] [1675025349.547207960] [rtabmap]: rtabmap: qos_user_data = 0
[rtabmap-3] [INFO] [1675025349.547235456] [rtabmap]: rtabmap: approx_sync = false
[rtabmap-3] [INFO] [1675025349.548164406] [rtabmap]: Setup scan callback
[rtabmap-3] [INFO] [1675025349.558798497] [rtabmap]:
[rtabmap-3] rtabmap subscribed to (exact sync):
[rtabmap-3] /odom \
[rtabmap-3] /assembled_cloud
[rtabmap-3] [WARN] [1675025349.559828325] [rtabmap]: There is no image subscription, bag-of-words loop closure detection will be disabled...
[rtabmap-3] [WARN] [1675025349.559889677] [rtabmap]: Setting Kp/MaxFeatures=-1 (bag-of-words disabled)
[icp_odometry-1] [ERROR] [1675025349.638166697] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025349.722702444] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025349.829234819] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025349.927168157] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.022773559] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.122972784] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.223167887] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.322603902] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmapviz-4] libpng warning: iCCP: known incorrect sRGB profile
[rtabmapviz-4] libpng warning: iCCP: known incorrect sRGB profile
[rtabmapviz-4] libpng warning: iCCP: known incorrect sRGB profile
[icp_odometry-1] [ERROR] [1675025350.422530929] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.533988800] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmapviz-4] [WARN] [1675025350.540147644] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rtabmapviz-4] [INFO] [1675025350.544907738] [rtabmapviz]: Reading parameters from the ROS server...
[rtabmapviz-4] [INFO] [1675025350.589734121] [rtabmapviz]: Parameters read = 359
[rtabmapviz-4] [INFO] [1675025350.589799760] [rtabmapviz]: Parameters successfully read.
[icp_odometry-1] [ERROR] [1675025350.626807930] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.731222391] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.827483424] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025350.933580837] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.405s) [ 8D6182C0]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
[rtabmapviz-4] 2023-01-29 14:49:10.974 ( 2.406s) [ 8D6182C0]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
[rtabmapviz-4] [INFO] [1675025351.006548048] [rtabmapviz]: rtabmapviz: subscribe_depth = false
[rtabmapviz-4] [INFO] [1675025351.006574512] [rtabmapviz]: rtabmapviz: subscribe_rgb = false
[rtabmapviz-4] [INFO] [1675025351.006580593] [rtabmapviz]: rtabmapviz: subscribe_stereo = false
[rtabmapviz-4] [INFO] [1675025351.006585152] [rtabmapviz]: rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmapviz-4] [INFO] [1675025351.006590709] [rtabmapviz]: rtabmapviz: subscribe_odom_info = true
[rtabmapviz-4] [INFO] [1675025351.006595234] [rtabmapviz]: rtabmapviz: subscribe_user_data = false
[rtabmapviz-4] [INFO] [1675025351.006599624] [rtabmapviz]: rtabmapviz: subscribe_scan = false
[rtabmapviz-4] [INFO] [1675025351.006665878] [rtabmapviz]: rtabmapviz: subscribe_scan_cloud = true
[rtabmapviz-4] [INFO] [1675025351.006671604] [rtabmapviz]: rtabmapviz: subscribe_scan_descriptor = false
[rtabmapviz-4] [INFO] [1675025351.006676215] [rtabmapviz]: rtabmapviz: queue_size = 10
[rtabmapviz-4] [INFO] [1675025351.006680940] [rtabmapviz]: rtabmapviz: qos_image = 0
[rtabmapviz-4] [INFO] [1675025351.006685463] [rtabmapviz]: rtabmapviz: qos_camera_info = 0
[rtabmapviz-4] [INFO] [1675025351.006689768] [rtabmapviz]: rtabmapviz: qos_scan = 0
[rtabmapviz-4] [INFO] [1675025351.006694128] [rtabmapviz]: rtabmapviz: qos_odom = 0
[rtabmapviz-4] [INFO] [1675025351.006698447] [rtabmapviz]: rtabmapviz: qos_user_data = 0
[rtabmapviz-4] [INFO] [1675025351.006702758] [rtabmapviz]: rtabmapviz: approx_sync = false
[rtabmapviz-4] [INFO] [1675025351.006713810] [rtabmapviz]: Setup scan callback
[rtabmapviz-4] [INFO] [1675025351.009353572] [rtabmapviz]:
[rtabmapviz-4] rtabmapviz subscribed to (exact sync):
[rtabmapviz-4] /odom_filtered_input_scan \
[rtabmapviz-4] /odom_info
[rtabmapviz-4] [INFO] [1675025351.009443497] [rtabmapviz]: rtabmapviz started.
[icp_odometry-1] [ERROR] [1675025351.023083367] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.135019610] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.225133292] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.330229379] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.429055616] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.529409411] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.628818870] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.729681714] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.830139611] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025351.929642632] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.030173167] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.130049387] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.229771248] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.328898242] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.332) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.429) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.536) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.637) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.722) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.829) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:09.927) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.022) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.122) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.223) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.322) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.422) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.533) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.626) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.731) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.827) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:10.933) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.023) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.135) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.225) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.330) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.429) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.529) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.628) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.729) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.830) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:11.929) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.030) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.130) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.229) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.328) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] [1675025352.429623882] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.529461759] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.629549212] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.730262352] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.830212292] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025352.929349819] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.029026883] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.129196750] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.230558164] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.329651448] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.430109156] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.529460564] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.628970416] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.730348535] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.830681037] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025353.929849774] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.029956264] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.130628791] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.230507861] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.330364717] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.430663978] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.530600012] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmap-3] [WARN] [1675025354.559063208] [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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-3] rtabmap subscribed to (exact sync):
[rtabmap-3] /odom \
[rtabmap-3] /assembled_cloud
[icp_odometry-1] [ERROR] [1675025354.630065633] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.730758322] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.829611125] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025354.930967862] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.029373564] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.129346615] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.230229201] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.329965381] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.430700059] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.530614128] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.429) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.529) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.629) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.730) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.830) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:12.929) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.028) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.129) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.230) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.329) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.430) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.529) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.628) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.730) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.830) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:13.929) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.029) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.130) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.230) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.330) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.430) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.530) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.630) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.730) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.829) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:14.930) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:15.029) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:15.129) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:15.230) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:15.329) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:15.430) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] (2023-01-29 14:49:15.530) MsgConversion.cpp:2789::deskew_impl() First and last stamps in the scan are the same!
[icp_odometry-1] [ERROR] [1675025355.629632307] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.728948671] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.829628616] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[icp_odometry-1] [ERROR] [1675025355.929847697] [icp_odometry]: Failed to deskew input cloud, aborting odometry update!
[rtabmapviz-4] [WARN] [1675025356.009542371] [rtabmapviz]: rtabmapviz: 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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmapviz-4] rtabmapviz subscribed to (exact sync):
[rtabmapviz-4] /odom_filtered_input_scan \
[rtabmapviz-4] /odom_info