Open lida2003 opened 1 week ago
I didn't move the copter, but it's moving in rviz.
Any advice or tips from the below log? Or anythig I can do?
BTW: "rosbag" paly seems OK. So it's something to do with IMU and image.
[ INFO] [1726983540.540133283]: init begins config_file: src/VINS-Fusion/config/uav_bridge/mono_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /tmp/uav_imu result path ~/output//vio.csv [ WARN] [1726983540.566529395]: fix extrinsic param camera number 1 [ INFO] [1726983540.567883451]: Synchronized sensors, fix time offset: 0 [ INFO] [1726983540.567930717]: ROW: 480 COL: 752 exitrinsic cam 0 0.0148655 -0.999881 0.0041403 0.999557 0.0149672 0.0257155 -0.0257744 0.00375619 0.999661 -0.0216401 -0.064677 0.00981073 set g 0 0 9.81007 [ INFO] [1726983540.568088641]: reading paramerter of camera src/VINS-Fusion/config/uav_bridge/cam_mei.yaml MULTIPLE_THREAD is 1 [ WARN] [1726983540.568666802]: waiting for image and imu... init first imu pose averge acc 0.179667 0.041032 -9.804453 init R0 0.999832 -7.66776e-05 0.0183216 0 -0.999991 -0.00418505 0.0183218 0.00418435 -0.999823 [ INFO] [1726983542.128994211]: IMU excitation not enouth! [ INFO] [1726983542.129378447]: Not enough features or parallax; Move device around [ INFO] [1726983542.334584574]: IMU excitation not enouth! [ INFO] [1726983542.335009387]: Not enough features or parallax; Move device around [ INFO] [1726983542.533971713]: IMU excitation not enouth! [ INFO] [1726983542.534413518]: Not enough features or parallax; Move device around [ INFO] [1726983542.607440296]: IMU excitation not enouth! [ INFO] [1726983542.607855060]: Not enough features or parallax; Move device around [ INFO] [1726983542.841606996]: IMU excitation not enouth! [ INFO] [1726983542.842039104]: Not enough features or parallax; Move device around [ INFO] [1726983543.180436964]: IMU excitation not enouth! [ INFO] [1726983543.180869649]: Not enough features or parallax; Move device around [ INFO] [1726983543.645770691]: IMU excitation not enouth! [ INFO] [1726983543.646244625]: Not enough features or parallax; Move device around [ INFO] [1726983543.866967213]: IMU excitation not enouth! [ INFO] [1726983543.867425435]: Not enough features or parallax; Move device around [ INFO] [1726983544.196105374]: IMU excitation not enouth! [ INFO] [1726983544.196635885]: Not enough features or parallax; Move device around [ INFO] [1726983544.404986138]: IMU excitation not enouth! [ INFO] [1726983544.405433991]: Not enough features or parallax; Move device around [ INFO] [1726983544.607445111]: IMU excitation not enouth! [ INFO] [1726983544.607919333]: Not enough features or parallax; Move device around [ INFO] [1726983544.801734274]: IMU excitation not enouth! [ INFO] [1726983544.802215313]: Not enough features or parallax; Move device around [ INFO] [1726983545.022859370]: IMU excitation not enouth! [ INFO] [1726983545.023283959]: Not enough features or parallax; Move device around [ INFO] [1726983545.135488987]: IMU excitation not enouth! [ INFO] [1726983545.135955209]: Not enough features or parallax; Move device around [ INFO] [1726983545.563582310]: IMU excitation not enouth! [ INFO] [1726983545.564066517]: Not enough features or parallax; Move device around [ INFO] [1726983545.692855494]: IMU excitation not enouth! [ INFO] [1726983545.693308851]: Not enough features or parallax; Move device around [ INFO] [1726983546.037059733]: IMU excitation not enouth! [ INFO] [1726983546.037520931]: Not enough features or parallax; Move device around [ INFO] [1726983546.264544025]: IMU excitation not enouth! [ INFO] [1726983546.264992647]: Not enough features or parallax; Move device around [ INFO] [1726983546.562098687]: IMU excitation not enouth! [ INFO] [1726983546.562538220]: Not enough features or parallax; Move device around [ INFO] [1726983546.804460605]: IMU excitation not enouth! [ INFO] [1726983546.804921547]: Not enough features or parallax; Move device around [ INFO] [1726983547.146533996]: IMU excitation not enouth! [ INFO] [1726983547.147083484]: Not enough features or parallax; Move device around [ INFO] [1726983547.366524882]: IMU excitation not enouth! [ INFO] [1726983547.366948798]: Not enough features or parallax; Move device around [ INFO] [1726983547.488495448]: IMU excitation not enouth! [ INFO] [1726983547.488916036]: Not enough features or parallax; Move device around [ INFO] [1726983547.535338375]: IMU excitation not enouth! [ INFO] [1726983547.535693746]: Not enough features or parallax; Move device around [ INFO] [1726983547.860097812]: IMU excitation not enouth! [ INFO] [1726983547.860513696]: Not enough features or parallax; Move device around [ INFO] [1726983548.056142290]: IMU excitation not enouth! [ INFO] [1726983548.056540510]: Not enough features or parallax; Move device around [ INFO] [1726983548.416989326]: IMU excitation not enouth! [ INFO] [1726983548.417406011]: Not enough features or parallax; Move device around [ INFO] [1726983548.476024807]: IMU excitation not enouth! [ INFO] [1726983548.476420499]: Not enough features or parallax; Move device around [ INFO] [1726983548.602096903]: IMU excitation not enouth! [ INFO] [1726983548.602560757]: Not enough features or parallax; Move device around [ INFO] [1726983548.787045564]: IMU excitation not enouth! [ INFO] [1726983548.787490505]: Not enough features or parallax; Move device around [ INFO] [1726983548.965952125]: IMU excitation not enouth! [ INFO] [1726983548.968035579]: Not enough features or parallax; Move device around [ INFO] [1726983549.078221411]: IMU excitation not enouth! [ INFO] [1726983549.078695025]: Not enough features or parallax; Move device around [ INFO] [1726983549.156914564]: IMU excitation not enouth! [ INFO] [1726983549.157380209]: Not enough features or parallax; Move device around [ INFO] [1726983549.228468720]: IMU excitation not enouth! [ INFO] [1726983549.229265256]: Not enough features or parallax; Move device around [ INFO] [1726983549.303930161]: IMU excitation not enouth! [ INFO] [1726983549.304529283]: Not enough features or parallax; Move device around [ INFO] [1726983549.385311810]: IMU excitation not enouth! [ INFO] [1726983549.385880531]: Not enough features or parallax; Move device around [ INFO] [1726983549.471734056]: IMU excitation not enouth! [ INFO] [1726983549.472226583]: Not enough features or parallax; Move device around empty = 0, t = 1726983547.009215, back.first = 1726983549.542087 [ INFO] [1726983549.549172196]: IMU excitation not enouth! [ INFO] [1726983549.549669075]: Not enough features or parallax; Move device around [ INFO] [1726983549.622565287]: IMU excitation not enouth! [ INFO] [1726983549.623064886]: Not enough features or parallax; Move device around [ INFO] [1726983549.699687738]: IMU excitation not enouth! [ INFO] [1726983549.700224266]: Not enough features or parallax; Move device around [ INFO] [1726983549.778302552]: IMU excitation not enouth! [ INFO] [1726983549.778788551]: Not enough features or parallax; Move device around [ INFO] [1726983549.863439832]: IMU excitation not enouth! [ INFO] [1726983549.864081099]: Not enough features or parallax; Move device around [ INFO] [1726983549.940006586]: IMU excitation not enouth! [ INFO] [1726983549.940479816]: Not enough features or parallax; Move device around [ INFO] [1726983550.013284730]: IMU excitation not enouth! [ INFO] [1726983550.014099666]: Not enough features or parallax; Move device around [ INFO] [1726983550.085610014]: IMU excitation not enouth! [ INFO] [1726983550.086102156]: Not enough features or parallax; Move device around [ INFO] [1726983550.157167659]: IMU excitation not enouth! [ INFO] [1726983550.157666778]: Not enough features or parallax; Move device around [ INFO] [1726983550.196012076]: IMU excitation not enouth! [ INFO] [1726983550.196525435]: Not enough features or parallax; Move device around [ INFO] [1726983550.306065296]: IMU excitation not enouth! [ INFO] [1726983550.306600640]: Not enough features or parallax; Move device around [ INFO] [1726983550.385078522]: IMU excitation not enouth! [ INFO] [1726983550.385593546]: Not enough features or parallax; Move device around [ INFO] [1726983550.532867935]: IMU excitation not enouth! [ INFO] [1726983550.533385806]: Not enough features or parallax; Move device around [ INFO] [1726983550.570201203]: IMU excitation not enouth! [ INFO] [1726983550.570700450]: Not enough features or parallax; Move device around [ INFO] [1726983550.750108018]: IMU excitation not enouth! [ INFO] [1726983550.750701699]: Not enough features or parallax; Move device around [ INFO] [1726983550.822146093]: IMU excitation not enouth! [ INFO] [1726983551.174627311]: IMU excitation not enouth! WARNING: Logging before InitGoogleLogging() is written to STDERR W0922 13:39:11.420347 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.442894 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.585673 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.589828 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.591284 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.595417 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.599567 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.600981 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.607900 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.612131 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W0922 13:39:11.613514 32442 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. [ INFO] [1726983552.082224693]: Not enough features or parallax; Move device around [ INFO] [1726983552.196247566]: Not enough features or parallax; Move device around [ WARN] [1726983552.461115398]: gyroscope bias initial calibration -0.194065 -0.0953764 0.0668994 [ INFO] [1726983552.492872277]: Initialization finish! time: 1726983550.091374, t: 0.003138 0.000960 -0.003776 q: 0.038608 0.998249 0.032117 -0.031245 time: 1726983550.153760, t: 0.005884 -0.000847 -0.007907 q: 0.040371 0.997840 0.041209 0.031436 time: 1726983550.211980, t: 0.002765 -0.010210 -0.009018 q: 0.009769 0.998728 0.025595 0.042325 time: 1726983550.281215, t: 0.007064 -0.016743 -0.010075 q: -0.015332 0.998735 0.027896 0.038926 time: 1726983550.350048, t: 0.009085 -0.029445 -0.010354 q: -0.032372 0.998449 0.028546 0.035160 time: 1726983550.437751, t: 0.003974 -0.022403 -0.017955 q: -0.039833 0.998286 0.022420 0.036542 time: 1726983550.470880, t: -0.011947 -0.050376 -0.028283 q: -0.044567 0.997260 0.030773 0.050394 time: 1726983550.540724, t: -0.045982 -0.049337 -0.024396 q: -0.033223 0.995839 0.036295 0.076701 time: 1726983550.598648, t: 0.057786 -0.082637 -0.024778 q: -0.035635 0.997816 0.030657 0.046407 time: 1726983550.655829, t: 0.058386 -0.097382 -0.024035 q: -0.023485 0.997194 0.032343 0.063292 time: 1726983550.738261, t: 0.004271 -0.163602 -0.026345 q: -0.020376 0.995453 0.036339 0.085654 time: 1726983550.781359, t: -0.025091 -0.179336 -0.030612 q: -0.008038 0.995004 0.038337 0.091831 time: 1726983550.884058, t: -0.115309 -0.211605 -0.034973 q: 0.018316 0.993300 0.043951 0.105301 time: 1726983550.922369, t: -0.122165 -0.218257 -0.057132 q: 0.039147 0.993106 0.048265 0.099390 time: 1726983550.971848, t: 0.046730 -0.318967 -0.039082 q: 0.021873 0.996546 0.045743 0.065759 time: 1726983551.027648, t: 0.089257 -0.374804 -0.040750 q: 0.003397 0.996676 0.048339 0.065496 time: 1726983551.096248, t: -0.157513 -0.395268 -0.040851 q: -0.020165 0.991399 0.053604 0.117681 time: 1726983551.174532, t: 0.009538 -0.502321 -0.040607 q: -0.059458 0.993418 0.052104 0.082890 time: 1726983551.234383, t: 0.053244 -0.587648 -0.059360 q: -0.076216 0.992806 0.057966 0.071889 time: 1726983551.304096, t: 0.218322 -0.672360 -0.047588 q: -0.106846 0.991797 0.056203 0.042001 time: 1726983551.342361, t: 0.282432 -0.670650 -0.068040 q: -0.093426 0.993434 0.055593 0.035624 time: 1726983551.407774, t: -0.067767 -0.792969 -0.090680 q: -0.108639 0.989921 0.059263 0.068867 time: 1726983551.474947, t: -0.224620 -0.872058 -0.078764 q: -0.114386 0.986919 0.066583 0.092055 time: 1726983551.548757, t: -0.434255 -0.805089 -0.083808 q: -0.091566 0.986746 0.067340 0.115813 time: 1726983551.598718, t: 0.552185 -1.061838 -0.059852 q: -0.105585 0.992323 0.062398 0.015884 time: 1726983551.658628, t: 0.270926 -1.207904 -0.081548 q: -0.076055 0.993128 0.068168 0.057147 time: 1726983551.719955, t: -0.014653 -1.325624 -0.116720 q: -0.035802 0.994346 0.066559 0.074592 time: 1726983551.809037, t: -0.001315 -1.556298 -0.138464 q: -0.013368 0.995393 0.067846 0.066414 time: 1726983551.854614, t: 0.173927 -1.690077 -0.152281 q: -0.003550 0.996184 0.070886 0.050802 time: 1726983551.908329, t: 0.351694 -1.756024 -0.158568 q: 0.007204 0.996239 0.073917 0.044630 time: 1726983551.977308, t: 0.166422 -2.032875 -0.178590 q: -0.034082 0.994192 0.074534 0.069756 time: 1726983552.053664, t: 0.189763 -2.267594 -0.205710 q: -0.070424 0.991660 0.079031 0.073517 time: 1726983552.141711, t: 0.675118 -2.363645 -0.233485 q: -0.077665 0.993150 0.079002 0.037145 time: 1726983552.166316, t: 0.786400 -2.597807 -0.264876 q: -0.117254 0.990159 0.073981 0.019038 time: 1726983552.272142, t: 0.368901 -3.052671 -0.328734 q: -0.169067 0.979472 0.089832 0.063091 time: 1726983552.314754, t: -0.165765 -3.099181 -0.332362 q: -0.170107 0.975026 0.098076 0.103776 time: 1726983552.437721, t: 0.605149 -3.549682 -0.409454 q: -0.186905 0.978202 0.083773 0.034202 time: 1726983552.550724, t: 0.729916 -4.011617 -0.494382 q: -0.200847 0.976572 0.075680 0.015497 time: 1726983552.579615, t: 0.469159 -4.055727 -0.493540 q: -0.178284 0.979813 0.084831 0.031395 time: 1726983552.738459, t: 0.334501 -5.084019 -0.636763 q: -0.207963 0.974044 0.083326 0.032338 time: 1726983552.902680, t: 1.079063 -5.768999 -0.735110 q: -0.189021 0.979312 0.071835 -0.007726 time: 1726983552.985512, t: 0.418525 -6.016718 -0.740843 q: -0.177269 0.981198 0.072900 0.022637 time: 1726983553.001101, t: 0.099106 -6.198030 -0.759073 q: -0.185220 0.978665 0.077609 0.043416 time: 1726983553.020896, t: -0.285158 -6.371751 -0.784612 q: -0.190377 0.975982 0.082197 0.066784 time: 1726983553.034663, t: 0.034723 -6.695674 -0.852927 q: -0.198635 0.975565 0.076818 0.054010 time: 1726983553.044168, t: -0.011858 -6.863289 -0.888268 q: -0.205429 0.973988 0.076488 0.057412 time: 1726983553.077142, t: 1.161656 -6.975378 -0.919274 q: -0.192541 0.979381 0.061133 0.001622 time: 1726983553.121544, t: 0.895086 -7.418613 -0.991651 q: -0.197264 0.978064 0.064668 0.017175 time: 1726983553.168342, t: 0.747517 -7.755509 -1.047320 q: -0.189200 0.979401 0.065163 0.027040 time: 1726983553.246003, t: -0.233388 -8.312364 -1.146701 q: -0.184811 0.976629 0.074832 0.080256 time: 1726983553.268708, t: -0.925789 -8.311706 -1.132882 q: -0.172134 0.973984 0.079918 0.123846 empty = 0, t = 1726983553.308732, back.first = 1726983553.424814 time: 1726983553.308732, t: -1.040962 -8.704643 -1.194159 q: -0.187829 0.970159 0.082591 0.129191 time: 1726983553.357269, t: -0.802607 -9.108027 -1.263962 q: -0.203576 0.970400 0.079684 0.102621 time: 1726983553.443156, t: -0.324697 -9.590658 -1.339988 q: -0.216258 0.971682 0.072305 0.061962 time: 1726983553.503464, t: -0.419665 -9.814728 -1.361469 q: -0.210839 0.972464 0.074249 0.065933 time: 1726983553.604945, t: -0.049333 -10.942800 -1.564353 q: -0.245462 0.966131 0.071176 0.035682 time: 1726983553.665628, t: 1.114462 -12.140083 -1.839452 q: -0.304852 0.950010 0.060563 -0.029628 [ WARN] [1726983553.744020369]: numerical unstable in preintegration time: 1726983553.676437, t: 1.149132 -12.261840 -1.864343 q: -0.305699 0.949670 0.060936 -0.031007 [ WARN] [1726983553.910958157]: numerical unstable in preintegration [ WARN] [1726983553.912983018]: numerical unstable in preintegration time: 1726983553.869009, t: 1.759031 -14.392897 -2.312274 q: -0.287252 0.955043 0.061888 -0.039353 [ WARN] [1726983553.952138580]: numerical unstable in preintegration [ WARN] [1726983553.953512509]: numerical unstable in preintegration [ WARN] [1726983553.954695648]: numerical unstable in preintegration time: 1726983553.905349, t: 1.882042 -14.820023 -2.404269 q: -0.282510 0.956487 0.061491 -0.039240 [ WARN] [1726983553.985995585]: numerical unstable in preintegration time: 1726983553.941395, t: 2.006522 -15.251367 -2.498016 q: -0.276455 0.958326 0.061135 -0.038024 [ WARN] [1726983554.092744899]: numerical unstable in preintegration time: 1726983554.037143, t: 2.348998 -16.433635 -2.759739 q: -0.255596 0.964101 0.062264 -0.036090 [ WARN] [1726983554.127738322]: numerical unstable in preintegration time: 1726983554.051277, t: 2.401023 -16.612596 -2.799929 q: -0.252325 0.964947 0.062539 -0.036040 [ WARN] [1726983554.166394189]: numerical unstable in preintegration time: 1726983554.064850, t: 2.451343 -16.785527 -2.838910 q: -0.249193 0.965727 0.062849 -0.036400 [ WARN] [1726983554.211572394]: numerical unstable in preintegration time: 1726983554.113450, t: 2.634373 -17.414111 -2.982147 q: -0.241739 0.967521 0.063504 -0.037840 [ WARN] [1726983554.246488023]: numerical unstable in preintegration time: 1726983554.173354, t: 2.866030 -18.209747 -3.167419 q: -0.240400 0.967854 0.064051 -0.036942 [ WARN] [1726983554.353099188]: numerical unstable in preintegration [ WARN] [1726983554.355729474]: numerical unstable in preintegration time: 1726983554.305057, t: 3.398896 -20.041719 -3.611994 q: -0.262905 0.962493 0.062015 -0.025351 time: 1726983554.399218, t: 3.798421 -21.422397 -3.961869 q: -0.291989 0.954386 0.060968 -0.013123 time: 1726983554.442084, t: 3.985333 -22.070808 -4.130229 q: -0.307048 0.949723 0.060667 -0.008239 time: 1726983554.492409, t: 4.208824 -22.847788 -4.335240 q: -0.325082 0.943722 0.060559 -0.006578 time: 1726983554.518371, t: 4.325883 -23.255256 -4.444031 q: -0.333473 0.940773 0.060761 -0.007120 time: 1726983554.551557, t: 4.477330 -23.782718 -4.586048 q: -0.340353 0.938235 0.061537 -0.009388 time: 1726983554.611881, t: 4.758034 -24.760259 -4.853024 q: -0.345857 0.936218 0.061177 -0.011647 time: 1726983554.695265, t: 5.156929 -26.150677 -5.241396 q: -0.356659 0.932566 0.055070 -0.009041 time: 1726983554.739561, t: 5.373846 -26.908108 -5.456650 q: -0.364111 0.929934 0.050984 -0.006798 time: 1726983554.847842, t: 5.919230 -28.818189 -6.007288 q: -0.378658 0.924679 0.039228 0.006975 time: 1726983554.875991, t: 6.064536 -29.329478 -6.155227 q: -0.380224 0.924088 0.036843 0.011540 time: 1726983554.934595, t: 6.371529 -30.414173 -6.470431 q: -0.381602 0.923501 0.035792 0.015659 time: 1726983554.999989, t: 6.720139 -31.654454 -6.835503 q: -0.382989 0.922821 0.036864 0.019031 time: 1726983555.097211, t: 7.250358 -33.556035 -7.404316 q: -0.384157 0.922198 0.037552 0.023772 time: 1726983555.128421, t: 7.424014 -34.181363 -7.593745 q: -0.385065 0.921770 0.038151 0.024699 time: 1726983555.196271, t: 7.808145 -35.566133 -8.017395 q: -0.389009 0.920082 0.038952 0.024599 time: 1726983555.236773, t: 8.041517 -36.409359 -8.278112 q: -0.391365 0.919040 0.039782 0.024828 time: 1726983555.304275, t: 8.437139 -37.842305 -8.725707 q: -0.395556 0.917197 0.040906 0.024737 time: 1726983555.371554, t: 8.839886 -39.304937 -9.188330 q: -0.399773 0.915322 0.041957 0.024627 time: 1726983555.453613, t: 9.342474 -41.135744 -9.775260 q: -0.404862 0.913037 0.043040 0.024448 time: 1726983555.641926, t: 10.543938 -45.534286 -11.219808 q: -0.416632 0.907597 0.045921 0.024008 time: 1726983555.674981, t: 10.761777 -46.334893 -11.487655 q: -0.418672 0.906637 0.046374 0.023934 time: 1726983555.703795, t: 10.953395 -47.039801 -11.724725 q: -0.420450 0.905794 0.046790 0.023866 time: 1726983555.737560, t: 11.179980 -47.874160 -12.006807 q: -0.422513 0.904812 0.047237 0.023798 time: 1726983555.754195, t: 11.292425 -48.288537 -12.147486 q: -0.423532 0.904325 0.047464 0.023765 time: 1726983555.810516, t: 11.677149 -49.707822 -12.632247 q: -0.426992 0.902658 0.048238 0.023658 time: 1726983555.864462, t: 12.051493 -51.090955 -13.108938 q: -0.430323 0.901037 0.048986 0.023543 time: 1726983555.932836, t: 12.534219 -52.877499 -13.730775 q: -0.434518 0.898975 0.049901 0.023400 time: 1726983556.007673, t: 13.073240 -54.876030 -14.434386 q: -0.439087 0.896700 0.050902 0.023257 time: 1726983556.051606, t: 13.394912 -56.070399 -14.858828 q: -0.441766 0.895351 0.051502 0.023182 time: 1726983556.118511, t: 13.892274 -57.919464 -15.521637 q: -0.445838 0.893282 0.052398 0.023041 time: 1726983556.184526, t: 14.391950 -59.779802 -16.195357 q: -0.449849 0.891220 0.053273 0.022889 time: 1726983556.316913, t: 15.420989 -63.618565 -17.606770 q: -0.457843 0.887041 0.055002 0.022630 [ WARN] [1726983556.402851497]: numerical unstable in preintegration time: 1726983556.323264, t: 15.545076 -64.082111 -17.779095 q: -0.458785 0.886543 0.055207 0.022594 [ WARN] [1726983556.441711275]: numerical unstable in preintegration time: 1726983556.366927, t: 15.893840 -65.385673 -18.265838 q: -0.461402 0.885149 0.055782 0.022512 [ WARN] [1726983556.494120286]: numerical unstable in preintegration time: 1726983556.433281, t: 16.431508 -67.397146 -19.023019 q: -0.465378 0.883012 0.056666 0.022407 [ WARN] [1726983556.536047739]: numerical unstable in preintegration time: 1726983556.493692, t: 16.929087 -69.260511 -19.730948 q: -0.468992 0.881049 0.057465 0.022283 ^Cterminate called without an active exception Aborted (core dumped)
I didn't move the copter, but it's moving in rviz.
Any advice or tips from the below log? Or anythig I can do?
BTW: "rosbag" paly seems OK. So it's something to do with IMU and image.