JoaoVitorBranco
commented
2 years ago It didn't work. But I saw something. All the params that I was changing in the command line weren't changing the params. In all the last terminal outputs, the "enable_gyro" and "enable_accel" were "False". Because of that, I changed the values in the "includes/nodelet.launch.xml" file, and now they appear as "True". I made this change:
'param name="enable_gyro" type="bool" value="true"/ !--$(arg enable_gyro)--' ' param name="enable_accel" type="bool" value="true"/ !--$(arg enable_accel)--'
The output is different:
roslaunch realsense2_camera opensource_tracking.launch ... logging to /home/jooj/.ros/log/db14eae4-1a37-11ed-9604-f93abcdc0d98/roslaunch-ubuntu-17456.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:43919/
SUMMARY CLEAR PARAMETERS
/points_xyzrgb/ /rtabmap/rgbd_odometry/ /rtabmap/rtabmap/ /ukf_se/ PARAMETERS
/ImuFilter/_publish_tf: False /ImuFilter/_world_frame: enu /ImuFilter/use_mag: False /camera/realsense2_camera/accel_fps: -1 /camera/realsense2_camera/accel_frame_id: camera_accel_frame /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... /camera/realsense2_camera/align_depth: True /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... /camera/realsense2_camera/allow_no_texture_points: False /camera/realsense2_camera/base_frame_id: camera_link /camera/realsense2_camera/calib_odom_file: /camera/realsense2_camera/clip_distance: -2.0 /camera/realsense2_camera/color_fps: -1 /camera/realsense2_camera/color_frame_id: camera_color_frame /camera/realsense2_camera/color_height: -1 /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... /camera/realsense2_camera/color_width: -1 /camera/realsense2_camera/confidence_fps: -1 /camera/realsense2_camera/confidence_height: -1 /camera/realsense2_camera/confidence_width: -1 /camera/realsense2_camera/depth_fps: -1 /camera/realsense2_camera/depth_frame_id: camera_depth_frame /camera/realsense2_camera/depth_height: -1 /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... /camera/realsense2_camera/depth_width: -1 /camera/realsense2_camera/device_type: /camera/realsense2_camera/enable_accel: True /camera/realsense2_camera/enable_color: True /camera/realsense2_camera/enable_confidence: True /camera/realsense2_camera/enable_depth: True /camera/realsense2_camera/enable_fisheye1: False /camera/realsense2_camera/enable_fisheye2: False /camera/realsense2_camera/enable_fisheye: False /camera/realsense2_camera/enable_gyro: True /camera/realsense2_camera/enable_infra1: False /camera/realsense2_camera/enable_infra2: False /camera/realsense2_camera/enable_infra: False /camera/realsense2_camera/enable_pointcloud: False /camera/realsense2_camera/enable_pose: False /camera/realsense2_camera/enable_sync: False /camera/realsense2_camera/filters: /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... /camera/realsense2_camera/fisheye_fps: -1 /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame /camera/realsense2_camera/fisheye_height: -1 /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... /camera/realsense2_camera/fisheye_width: -1 /camera/realsense2_camera/gyro_fps: -1 /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... /camera/realsense2_camera/infra_fps: 30 /camera/realsense2_camera/infra_height: 480 /camera/realsense2_camera/infra_rgb: False /camera/realsense2_camera/infra_width: 848 /camera/realsense2_camera/initial_reset: False /camera/realsense2_camera/json_file_path: /camera/realsense2_camera/linear_accel_cov: 1.0 /camera/realsense2_camera/odom_frame_id: camera_odom_frame /camera/realsense2_camera/ordered_pc: False /camera/realsense2_camera/pointcloud_texture_index: 0 /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR /camera/realsense2_camera/pose_frame_id: camera_pose_frame /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... /camera/realsense2_camera/publish_odom_tf: True /camera/realsense2_camera/publish_tf: True /camera/realsense2_camera/reconnect_timeout: 6.0 /camera/realsense2_camera/rosbag_filename: /camera/realsense2_camera/serial_no: /camera/realsense2_camera/stereo_module/exposure/1: 7500 /camera/realsense2_camera/stereo_module/exposure/2: 1 /camera/realsense2_camera/stereo_module/gain/1: 16 /camera/realsense2_camera/stereo_module/gain/2: 16 /camera/realsense2_camera/tf_publish_rate: 0.0 /camera/realsense2_camera/topic_odom_in: odom_in /camera/realsense2_camera/unite_imu_method: linear_interpolation /camera/realsense2_camera/usb_port_id: /camera/realsense2_camera/wait_for_device_timeout: -1.0 /imu0_config: [False, False, Fa... /points_xyzrgb/approx_sync: True /points_xyzrgb/decimation: 4.0 /points_xyzrgb/voxel_size: 0.0 /rosdistro: noetic /rosversion: 1.15.14 /rtabmap/rgbd_odometry/approx_sync: True /rtabmap/rgbd_odometry/config_path: /rtabmap/rgbd_odometry/expected_update_rate: 0.0 /rtabmap/rgbd_odometry/frame_id: camera_link /rtabmap/rgbd_odometry/ground_truth_base_frame_id: /rtabmap/rgbd_odometry/ground_truth_frame_id: /rtabmap/rgbd_odometry/guess_frame_id: /rtabmap/rgbd_odometry/guess_min_rotation: 0.0 /rtabmap/rgbd_odometry/guess_min_translation: 0.0 /rtabmap/rgbd_odometry/keep_color: False /rtabmap/rgbd_odometry/max_update_rate: 0.0 /rtabmap/rgbd_odometry/odom_frame_id: odom /rtabmap/rgbd_odometry/publish_tf: True /rtabmap/rgbd_odometry/queue_size: 10 /rtabmap/rgbd_odometry/subscribe_rgbd: False /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2 /rtabmap/rgbd_odometry/wait_imu_to_init: False /rtabmap/rtabmap/Mem/IncrementalMemory: true /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false /rtabmap/rtabmap/approx_sync: True /rtabmap/rtabmap/config_path: /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db /rtabmap/rtabmap/frame_id: camera_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/landmark_angular_variance: 9999.0 /rtabmap/rtabmap/landmark_linear_variance: 0.0001 /rtabmap/rtabmap/map_frame_id: map /rtabmap/rtabmap/odom_frame_id: /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: True /rtabmap/rtabmap/subscribe_odom_info: True /rtabmap/rtabmap/subscribe_rgb: True /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: False /rtabmap/rtabmap/subscribe_user_data: False /rtabmap/rtabmap/wait_for_transform_duration: 0.2 /ukf_se/acceleration_gains: [0.8, 0.0, 0.0, 0... /ukf_se/acceleration_limits: [1.3, 0.0, 0.0, 0... /ukf_se/alpha: 0.001 /ukf_se/base_link_frame: camera_link /ukf_se/beta: 2 /ukf_se/control_config: [True, False, Fal... /ukf_se/control_timeout: 0.2 /ukf_se/debug: False /ukf_se/debug_out_file: /path/to/debug/fi... /ukf_se/deceleration_gains: [1.0, 0.0, 0.0, 0... /ukf_se/deceleration_limits: [1.3, 0.0, 0.0, 0... /ukf_se/frequency: 100 /ukf_se/imu0: /imu/data /ukf_se/imu0_config: [False, False, Fa... /ukf_se/imu0_differential: True /ukf_se/imu0_linear_acceleration_rejection_threshold: 0.8 /ukf_se/imu0_nodelay: False /ukf_se/imu0_pose_rejection_threshold: 0.8 /ukf_se/imu0_queue_size: 5 /ukf_se/imu0_relative: False /ukf_se/imu0_remove_gravitational_acceleration: True /ukf_se/imu0_twist_rejection_threshold: 0.8 /ukf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... /ukf_se/kappa: 0 /ukf_se/map_frame: map /ukf_se/odom0: rtabmap/odom /ukf_se/odom0_config: [True, True, True... /ukf_se/odom0_differential: False /ukf_se/odom0_nodelay: False /ukf_se/odom0_pose_rejection_threshold: 10000000 /ukf_se/odom0_queue_size: 2 /ukf_se/odom0_relative: True /ukf_se/odom0_twist_rejection_threshold: 10000000 /ukf_se/odom1: example/another_odom /ukf_se/odom1_config: [False, False, Tr... /ukf_se/odom1_differential: False /ukf_se/odom1_nodelay: False /ukf_se/odom1_pose_rejection_threshold: 2 /ukf_se/odom1_queue_size: 2 /ukf_se/odom1_relative: True /ukf_se/odom1_twist_rejection_threshold: 0.2 /ukf_se/odom_frame: odom /ukf_se/permit_corrected_publication: False /ukf_se/pose0: example/pose /ukf_se/pose0_config: [True, True, Fals... /ukf_se/pose0_differential: True /ukf_se/pose0_nodelay: False /ukf_se/pose0_queue_size: 5 /ukf_se/pose0_rejection_threshold: 2 /ukf_se/pose0_relative: False /ukf_se/print_diagnostics: True /ukf_se/process_noise_covariance: [0.05, 0, 0, 0, 0... /ukf_se/publish_acceleration: False /ukf_se/publish_tf: True /ukf_se/sensor_timeout: 0.1 /ukf_se/stamped_control: False /ukf_se/transform_time_offset: 0.0 /ukf_se/transform_timeout: 0.0 /ukf_se/twist0: example/twist /ukf_se/twist0_config: [False, False, Fa... /ukf_se/twist0_nodelay: False /ukf_se/twist0_queue_size: 3 /ukf_se/twist0_rejection_threshold: 2 /ukf_se/two_d_mode: False /ukf_se/use_control: False /ukf_se/world_frame: odom NODES / ImuFilter (imu_filter_madgwick/imu_filter_node) points_xyzrgb (nodelet/nodelet) rviz (rviz/rviz) ukf_se (robot_localization/ukf_localization_node) /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap)
ROS_MASTER_URI=http://localhost:11311/
process[camera/realsense2_camera_manager-1]: started with pid [17473] process[camera/realsense2_camera-2]: started with pid [17474] process[ImuFilter-3]: started with pid [17475] process[rtabmap/rgbd_odometry-4]: started with pid [17476] [ INFO] [1660307368.488010426]: Initializing nodelet with 2 worker threads. process[rtabmap/rtabmap-5]: started with pid [17482] process[rviz-6]: started with pid [17497] process[points_xyzrgb-7]: started with pid [17498] process[ukf_se-8]: started with pid [17499] type is rtabmap_ros/point_cloud_xyzrgb [ INFO] [1660307369.101513478]: RealSense ROS v2.3.2 [ INFO] [1660307369.101786585]: Built with LibRealSense v2.50.0 [ INFO] [1660307369.101958022]: Running with LibRealSense v2.50.0 [ INFO] [1660307369.202464124]: [ INFO] [1660307369.529090773]: Device with serial number 912112072959 was found.
[ INFO] [1660307369.529255322]: Device with physical ID 4-1-6 was found. [ INFO] [1660307369.529371828]: Device with name Intel RealSense D435I was found. [ INFO] [1660307369.529841579]: Device with port number 4-1 was found. [ INFO] [1660307369.529957218]: Device USB type: 3.2
[ INFO] [1660307369.678513446]: Starting node... [ INFO] [1660307369.703492469]: Initializing nodelet with 2 worker threads.
[ INFO] [1660307369.774911075]: JSON file is not provided [ INFO] [1660307369.775010795]: ROS Node Namespace: camera [ INFO] [1660307369.775107945]: Device Name: Intel RealSense D435I [ INFO] [1660307369.775201063]: Device Serial No: 912112072959 [ INFO] [1660307369.775293567]: Device physical port: 4-1-6 [ INFO] [1660307369.775385069]: Device FW version: 05.13.00.50 [ INFO] [1660307369.775476894]: Device Product ID: 0x0B3A [ INFO] [1660307369.775607912]: Enable PointCloud: Off [ INFO] [1660307369.775707331]: Align Depth: On [ INFO] [1660307369.775801830]: Sync Mode: On [ INFO] [1660307369.775929464]: Device Sensors: [ INFO] [1660307369.809712392]: Initializing nodelet with 2 worker threads. [ INFO] [1660307369.849386439]: Stereo Module was found. [ INFO] [1660307369.892837705]: RGB Camera was found. [ INFO] [1660307369.897830237]: Motion Module was found. [ INFO] [1660307369.900351734]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1660307369.900970789]: num_filters: 1 [ INFO] [1660307369.901095014]: Setting Dynamic reconfig parameters. [ INFO] [1660307370.025770395]: Odometry: frame_id = camera_link [ INFO] [1660307370.025963640]: Odometry: odom_frame_id = odom [ INFO] [1660307370.026070862]: Odometry: publish_tf = true [ INFO] [1660307370.026174323]: Odometry: wait_for_transform = true [ INFO] [1660307370.026299968]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1660307370.026437096]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1660307370.026549779]: Odometry: ground_truth_frame_id = [ INFO] [1660307370.026645935]: Odometry: ground_truth_base_frame_id = [ INFO] [1660307370.026740401]: Odometry: config_path = [ INFO] [1660307370.026840241]: Odometry: publish_null_when_lost = true [ INFO] [1660307370.026932742]: Odometry: guess_frame_id = [ INFO] [1660307370.027026910]: Odometry: guess_min_translation = 0.000000 [ INFO] [1660307370.027120983]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1660307370.027214901]: Odometry: guess_min_time = 0.000000 [ INFO] [1660307370.027340337]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1660307370.027452807]: Odometry: max_update_rate = 0.000000 Hz [ INFO] [1660307370.027546546]: Odometry: wait_imu_toinit = false [ INFO] [1660307370.027667468]: Odometry: stereoParams=0 visParams=1 icpParams=0 [ INFO] [1660307370.513233741]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1660307370.513333272]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1660307370.513380203]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1660307370.513455722]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1660307370.513501065]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1660307370.513542551]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1660307370.513585450]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1660307370.513624223]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1660307370.519371032]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1660307370.666126646]: Approximate time sync = true [ INFO] [1660307370.769629012]: rtabmap: frame_id = camera_link [ INFO] [1660307370.769677771]: rtabmap: map_frame_id = map [ INFO] [1660307370.769729649]: rtabmap: use_action_for_goal = false [ INFO] [1660307370.769749636]: rtabmap: tf_delay = 0.050000 [ INFO] [1660307370.769886108]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1660307370.769912229]: rtabmap: odom_sensor_sync = false [ INFO] [1660307370.785634771]: rtabmap: gen_scan = false [ INFO] [1660307370.785689498]: rtabmap: gen_depth = false [ INFO] [1660307371.686654489]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1660307371.687592936]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1660307372.590666313]: Done Setting Dynamic reconfig parameters. [ INFO] [1660307372.592006817]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1660307372.594261982]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1660307372.597318769]: gyro stream is enabled - fps: 200 [ INFO] [1660307372.597536323]: accel stream is enabled - fps: 63
[ INFO] [1660307372.615087467]: Expected frequency for depth = 30.00000 [ INFO] [1660307372.729332639]: RGBDOdometry: approx_sync = true [ INFO] [1660307372.729519977]: RGBDOdometry: queue_size = 10 [ INFO] [1660307372.729622986]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1660307372.729719917]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1660307372.729814938]: RGBDOdometry: keep_color = false [ INFO] [1660307372.800617912]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info [ INFO] [1660307372.830951367]: Expected frequency for color = 30.00000 [ INFO] [1660307373.018171711]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1660307373.166202370]: Start publisher IMU
12/08 05:29:33,941 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1660307373.993057688]: SELECTED BASE:Depth, 0 [ INFO] [1660307374.033871354]: RealSense Node Is Up! [ WARN] [1660307374.050933313]: 12/08 05:29:34,073 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/08 05:29:34,124 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/08 05:29:34,174 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/08 05:29:34,231 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/08 05:29:34,352 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 12/08 05:29:34,415 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1660307374.449456384]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1660307374.451288186]: rtabmap: Deleted database "/home/jooj/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1660307374.451443874]: rtabmap: Using database from "/home/jooj/.ros/rtabmap.db" (0 MB). [ INFO] [1660307374.651670818]: rtabmap: Database version = "0.20.18". [ INFO] [1660307374.653330853]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) 12/08 05:29:34,847 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1660307374.888919628]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1660307374.888971123]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1660307374.889111474]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1660307374.889142456]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1660307374.889362081]: /rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1660307374.889553165]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1660307374.889572093]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1660307374.889981279]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1660307374.890084353]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1660307374.890123582]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1660307374.890750300]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1660307374.891323781]: Setup depth callback [ INFO] [1660307375.010680165]: /rtabmap/rtabmap subscribed to (approx sync): /rtabmap/odom /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info /rtabmap/odom_info 12/08 05:29:35,263 ERROR [139716482008832] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 130 12/08 05:29:35,363 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame camera_link at time 1660307374.346673 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame camera_link at time 1660307374.346673 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp [ WARN] [1660307375.500739572]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame camera_link at time 1660307374.346673 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame camera_link at time 1660307374.346673 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp [ INFO] [1660307375.502651540]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.297403s 12/08 05:29:35,646 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1660307376.038582882]: rtabmap 0.20.18 started... [ INFO] [1660307377.087502900]: Odom: quality=206, std dev=0.131393m|0.052310rad, update time=0.530424s [ WARN] [1660307378.590333053]: Still waiting for data on topic /imu/data_raw... [ INFO] [1660307378.624410319]: Odom: quality=503, std dev=0.062139m|0.041195rad, update time=0.462577s
[ INFO] [1660307381.372797548]: Odom: quality=493, std dev=0.061180m|0.027549rad, update time=0.371703s
[ INFO] [1660307383.145387518]: Odom: quality=506, std dev=0.064819m|0.032761rad, update time=0.421901s [ INFO] [1660307383.648013308]: Odom: quality=498, std dev=0.062087m|0.027549rad, update time=0.496425s
[ INFO] [1660307384.403542190]: Odom: quality=409, std dev=0.085620m|0.043116rad, update time=0.225788s [ INFO] [1660307384.754283841]: Odom: quality=377, std dev=0.084549m|0.043116rad, update time=0.283770s
[ INFO] [1660307385.133940404]: Odom: quality=358, std dev=0.086483m|0.043116rad, update time=0.331636s [ INFO] [1660307385.425638917]: Odom: quality=356, std dev=0.096276m|0.044810rad, update time=0.179386s [ INFO] [1660307385.753893956]: Odom: quality=349, std dev=0.102220m|0.044810rad, update time=0.299346s
[ INFO] [1660307386.361216527]: Odom: quality=358, std dev=0.085664m|0.043116rad, update time=0.266993s [ INFO] [1660307386.657427758]: Odom: quality=283, std dev=0.105347m|0.044810rad, update time=0.293532s [ INFO] [1660307387.031730315]: Odom: quality=400, std dev=0.100611m|0.036256rad, update time=0.360262s [ INFO] [1660307387.274975422]: Odom: quality=313, std dev=0.143090m|0.041195rad, update time=0.224581s [ INFO] [1660307387.751240939]: Odom: quality=279, std dev=0.119239m|0.044810rad, update time=0.466885s
[ INFO] [1660307388.424597547]: Odom: quality=257, std dev=0.131008m|0.043116rad, update time=0.265852s [ WARN] [1660307388.590210523]: Still waiting for data on topic /imu/data_raw... [ INFO] [1660307388.750682912]: Odom: quality=420, std dev=0.061741m|0.048989rad, update time=0.321278s
[ INFO] [1660307389.293119930]: Odom: quality=449, std dev=0.060016m|0.038960rad, update time=0.245094s [ INFO] [1660307389.550930245]: Odom: quality=396, std dev=0.084639m|0.041195rad, update time=0.255731s [ INFO] [1660307390.032927291]: Odom: quality=315, std dev=0.137264m|0.050171rad, update time=0.269936s [ INFO] [1660307390.277899241]: Odom: quality=304, std dev=0.107633m|0.044810rad, update time=0.240232s [ INFO] [1660307390.584317462]: Odom: quality=291, std dev=0.135035m|0.044810rad, update time=0.289558s [ INFO] [1660307390.836220419]: Odom: quality=276, std dev=0.103097m|0.058973rad, update time=0.233445s [ INFO] [1660307391.173258520]: Odom: quality=482, std dev=0.045273m|0.032761rad, update time=0.327808s
[ INFO] [1660307391.801813496]: Odom: quality=440, std dev=0.057764m|0.038960rad, update time=0.202454s [ INFO] [1660307392.157616583]: Odom: quality=456, std dev=0.049793m|0.043116rad, update time=0.351617s
[ INFO] [1660307392.861803267]: Odom: quality=461, std dev=0.044648m|0.036256rad, update time=0.283581s [ INFO] [1660307393.138435222]: Odom: quality=415, std dev=0.073553m|0.041195rad, update time=0.243115s [ INFO] [1660307393.441205179]: Odom: quality=468, std dev=0.043802m|0.032761rad, update time=0.265849s
[ WARN] (2022-08-12 05:29:54.037) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 7/20 (matches=137) between -1 and 31" (guess=xyz=-0.010212,-0.011299,-0.003593 rpy=-0.004829,0.003435,0.000053) [ WARN] (2022-08-12 05:29:54.040) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.010212,-0.011299,-0.003593 rpy=-0.004829,0.003435,0.000053), trying again without a guess. [ WARN] (2022-08-12 05:29:54.542) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307394.553812573]: Odom: quality=148, std dev=0.154119m|0.055939rad, update time=0.789882s [ INFO] [1660307394.897771701]: Odom: quality=174, std dev=0.160141m|0.058258rad, update time=0.322912s [ INFO] [1660307395.216455315]: Odom: quality=314, std dev=0.077247m|0.043116rad, update time=0.314753s
[ WARN] (2022-08-12 05:29:55.799) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 7/20 (matches=134) between -1 and 34" (guess=xyz=0.056730,-0.073238,-0.005382 rpy=-0.008863,0.008240,-0.172505) [ WARN] (2022-08-12 05:29:55.800) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.056730,-0.073238,-0.005382 rpy=-0.008863,0.008240,-0.172505), trying again without a guess. [ WARN] (2022-08-12 05:29:56.105) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307396.115504557]: Odom: quality=233, std dev=0.108479m|0.052310rad, update time=0.513242s [ INFO] [1660307396.430063886]: Odom: quality=352, std dev=0.122516m|0.044810rad, update time=0.227178s [ INFO] [1660307396.737092742]: Odom: quality=382, std dev=0.067251m|0.038960rad, update time=0.294213s
[ WARN] (2022-08-12 05:29:57.443) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=153) between -1 and 37" (guess=xyz=0.047130,-0.081860,-0.011026 rpy=-0.011831,0.006204,-0.157168) [ WARN] (2022-08-12 05:29:57.443) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.047130,-0.081860,-0.011026 rpy=-0.011831,0.006204,-0.157168), trying again without a guess. [ WARN] (2022-08-12 05:29:57.788) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307397.804248108]: Odom: quality=252, std dev=0.082097m|0.050171rad, update time=0.588360s [ INFO] [1660307398.054667498]: Odom: quality=368, std dev=0.074506m|0.047716rad, update time=0.247153s [ WARN] [1660307398.590187928]: Still waiting for data on topic /imu/data_raw...
[ INFO] [1660307398.847796002]: Odom: quality=275, std dev=0.083728m|0.054216rad, update time=0.348763s [ INFO] [1660307399.277598062]: Odom: quality=363, std dev=0.079244m|0.052310rad, update time=0.206139s [ INFO] [1660307399.636187898]: Odom: quality=357, std dev=0.080784m|0.047716rad, update time=0.345098s
[ INFO] [1660307400.326374279]: Odom: quality=228, std dev=0.086291m|0.056744rad, update time=0.291347s [ INFO] [1660307400.645623024]: Odom: quality=415, std dev=0.056537m|0.043116rad, update time=0.300821s [ INFO] [1660307400.984349323]: Odom: quality=260, std dev=0.211918m|0.044810rad, update time=0.250041s [ INFO] [1660307401.385001292]: Odom: quality=367, std dev=0.112401m|0.046331rad, update time=0.326011s
12/08 05:30:01,943 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1660307402.076536613]: Odom: quality=20, std dev=0.255471m|0.066523rad, update time=0.277414s [ INFO] [1660307402.469085486]: Odom: quality=337, std dev=0.062254m|0.047716rad, update time=0.374424s
[ INFO] [1660307403.077439864]: Odom: quality=309, std dev=0.066590m|0.048989rad, update time=0.300074s [ INFO] [1660307403.386568640]: Odom: quality=320, std dev=0.069065m|0.050171rad, update time=0.283692s
[ WARN] (2022-08-12 05:30:04.165) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 16/20 (matches=179) between -1 and 50" (guess=xyz=-0.023454,-0.017952,0.005555 rpy=-0.007189,0.005910,-0.131650) [ WARN] (2022-08-12 05:30:04.165) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.023454,-0.017952,0.005555 rpy=-0.007189,0.005910,-0.131650), trying again without a guess. [ WARN] (2022-08-12 05:30:04.582) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307404.641319495]: Odom: quality=237, std dev=0.068676m|0.051274rad, update time=0.765590s [ INFO] [1660307404.937286502]: Odom: quality=253, std dev=0.083665m|0.047716rad, update time=0.180736s [ INFO] [1660307405.338193316]: Odom: quality=364, std dev=0.114898m|0.043116rad, update time=0.364312s [ INFO] [1660307405.685881219]: Odom: quality=321, std dev=0.163979m|0.047716rad, update time=0.327226s
[ WARN] (2022-08-12 05:30:06.145) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=194) between -1 and 54" (guess=xyz=0.005390,-0.015562,-0.007486 rpy=-0.004279,0.001046,-0.094188) [ WARN] (2022-08-12 05:30:06.145) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.005390,-0.015562,-0.007486 rpy=-0.004279,0.001046,-0.094188), trying again without a guess. [ WARN] (2022-08-12 05:30:06.519) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307406.530130655]: Odom: quality=245, std dev=0.094869m|0.046331rad, update time=0.604641s [ INFO] [1660307406.887076122]: Odom: quality=496, std dev=0.046520m|0.038960rad, update time=0.236193s [ INFO] [1660307407.271984162]: Odom: quality=516, std dev=0.043386m|0.032761rad, update time=0.352932s
[ INFO] [1660307407.814413217]: Odom: quality=435, std dev=0.066491m|0.038960rad, update time=0.315105s [ INFO] [1660307408.130543147]: Odom: quality=23, std dev=0.152982m|0.053288rad, update time=0.309468s [ INFO] [1660307408.481403539]: Odom: quality=366, std dev=0.038512m|0.038960rad, update time=0.325634s [ WARN] [1660307408.590182705]: Still waiting for data on topic /imu/data_raw... [ INFO] [1660307408.819576685]: Odom: quality=291, std dev=0.075978m|0.043116rad, update time=0.264410s [ INFO] [1660307409.211779343]: Odom: quality=242, std dev=0.105164m|0.046331rad, update time=0.375513s
[ WARN] (2022-08-12 05:30:09.898) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=153) between -1 and 62" (guess=xyz=0.184561,-0.031462,-0.010866 rpy=-0.007210,0.006425,-0.098481) [ WARN] (2022-08-12 05:30:09.899) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.184561,-0.031462,-0.010866 rpy=-0.007210,0.006425,-0.098481), trying again without a guess. [ WARN] (2022-08-12 05:30:10.326) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307410.329880073]: Odom: quality=291, std dev=0.078068m|0.044810rad, update time=0.745845s [ INFO] [1660307410.595490215]: Odom: quality=267, std dev=0.111686m|0.050171rad, update time=0.176592s [ INFO] [1660307410.932339927]: Odom: quality=477, std dev=0.059439m|0.041195rad, update time=0.316875s [ INFO] [1660307411.476818444]: Odom: quality=401, std dev=0.081626m|0.038960rad, update time=0.334520s [ INFO] [1660307411.837603990]: Odom: quality=425, std dev=0.082000m|0.038960rad, update time=0.355479s
[ INFO] [1660307412.384813456]: Odom: quality=356, std dev=0.100942m|0.038960rad, update time=0.213819s [ INFO] [1660307412.723725797]: Odom: quality=362, std dev=0.106240m|0.038960rad, update time=0.324368s 12/08 05:30:13,061 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1660307413.612450847]: Odom: quality=294, std dev=0.115156m|0.053288rad, update time=0.447263s [ INFO] [1660307414.020122784]: Odom: quality=281, std dev=0.109749m|0.041195rad, update time=0.245132s [ INFO] [1660307414.316822336]: Odom: quality=468, std dev=0.056091m|0.032761rad, update time=0.250051s
[ INFO] [1660307415.137739561]: Odom: quality=424, std dev=0.064481m|0.043116rad, update time=0.297349s [ INFO] [1660307415.603709696]: Odom: quality=415, std dev=0.058600m|0.048989rad, update time=0.456951s [ INFO] [1660307416.036157290]: Odom: quality=398, std dev=0.062374m|0.038960rad, update time=0.321876s
[ INFO] [1660307416.402254731]: Odom: quality=369, std dev=0.069899m|0.038960rad, update time=0.359879s [ INFO] [1660307416.880928971]: Odom: quality=275, std dev=0.078520m|0.038960rad, update time=0.210740s [ INFO] [1660307417.264019797]: Odom: quality=532, std dev=0.034940m|0.032761rad, update time=0.379259s
[ INFO] [1660307417.973617145]: Odom: quality=435, std dev=0.062960m|0.041195rad, update time=0.330105s [ INFO] [1660307418.201592891]: Odom: quality=421, std dev=0.056989m|0.047716rad, update time=0.217912s [ INFO] [1660307418.571602651]: Odom: quality=407, std dev=0.053480m|0.051274rad, update time=0.317083s [ WARN] [1660307418.590383823]: Still waiting for data on topic /imu/data_raw... [ INFO] [1660307419.046995867]: Odom: quality=324, std dev=0.056430m|0.057516rad, update time=0.253447s
[ INFO] [1660307419.350466080]: Odom: quality=331, std dev=0.060390m|0.051274rad, update time=0.300994s [ INFO] [1660307419.695114472]: Odom: quality=286, std dev=0.139090m|0.053288rad, update time=0.214225s [ INFO] [1660307419.963408160]: Odom: quality=452, std dev=0.056943m|0.041195rad, update time=0.262253s [ INFO] [1660307420.574977844]: Odom: quality=20, std dev=0.202425m|0.062797rad, update time=0.288600s
[ INFO] [1660307420.893187355]: Odom: quality=407, std dev=0.018956m|0.032761rad, update time=0.314851s [ INFO] [1660307421.340894852]: Odom: quality=345, std dev=0.021050m|0.036256rad, update time=0.226405s [ INFO] [1660307421.562411471]: Odom: quality=345, std dev=0.027626m|0.036256rad, update time=0.218319s [ INFO] [1660307422.013737202]: Odom: quality=297, std dev=0.026737m|0.036256rad, update time=0.441208s
[ INFO] [1660307422.565093349]: Odom: quality=183, std dev=0.065899m|0.054216rad, update time=0.329214s [ INFO] [1660307423.005016665]: Odom: quality=207, std dev=0.038742m|0.046331rad, update time=0.401069s
[ INFO] [1660307423.544368576]: Odom: quality=27, std dev=0.068176m|0.063929rad, update time=0.277172s [ INFO] [1660307423.790625081]: Odom: quality=304, std dev=0.067376m|0.043116rad, update time=0.244156s [ INFO] [1660307424.436211091]: Odom: quality=21, std dev=0.042718m|0.051274rad, update time=0.282465s
[ INFO] [1660307424.704550190]: Odom: quality=300, std dev=0.027582m|0.032761rad, update time=0.264613s [ INFO] [1660307425.159164064]: Odom: quality=352, std dev=0.052344m|0.048989rad, update time=0.197508s [ INFO] [1660307425.437456102]: Odom: quality=368, std dev=0.034788m|0.046331rad, update time=0.271669s [ INFO] [1660307425.820417851]: Odom: quality=358, std dev=0.045989m|0.046331rad, update time=0.356805s
[ INFO] [1660307426.165244270]: Odom: quality=300, std dev=0.039674m|0.046331rad, update time=0.184635s [ INFO] [1660307426.470900599]: Odom: quality=287, std dev=0.039491m|0.051274rad, update time=0.266806s [ INFO] [1660307426.790288981]: Odom: quality=268, std dev=0.044756m|0.051274rad, update time=0.193128s [ INFO] [1660307427.100971501]: Odom: quality=486, std dev=0.042206m|0.038960rad, update time=0.248727s
[ WARN] (2022-08-12 05:30:27.817) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 19/20 (matches=161) between -1 and 103" (guess=xyz=0.046963,0.007463,0.014305 rpy=0.010121,0.003440,0.050671) [ WARN] (2022-08-12 05:30:27.818) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.046963,0.007463,0.014305 rpy=0.010121,0.003440,0.050671), trying again without a guess. [ WARN] (2022-08-12 05:30:28.099) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307428.102007437]: Odom: quality=290, std dev=0.048039m|0.046331rad, update time=0.580193s [ INFO] [1660307428.485288330]: Odom: quality=213, std dev=0.134013m|0.051274rad, update time=0.201894s [ WARN] [1660307428.590143393]: Still waiting for data on topic /imu/data_raw... [ INFO] [1660307428.750213910]: Odom: quality=355, std dev=0.107682m|0.043116rad, update time=0.262526s [ INFO] [1660307429.033487834]: Odom: quality=302, std dev=0.114667m|0.054216rad, update time=0.235447s [ INFO] [1660307429.672185806]: Odom: quality=235, std dev=0.084521m|0.057516rad, update time=0.274938s
[ INFO] [1660307430.029781493]: Odom: quality=533, std dev=0.028926m|0.032761rad, update time=0.355237s [ INFO] [1660307430.602721112]: Odom: quality=550, std dev=0.034318m|0.038960rad, update time=0.305943s
[ INFO] [1660307430.896082719]: Odom: quality=529, std dev=0.036014m|0.036256rad, update time=0.277602s [ INFO] [1660307431.697872324]: Odom: quality=463, std dev=0.039438m|0.046331rad, update time=0.300084s [ INFO] [1660307431.995504231]: Odom: quality=445, std dev=0.045458m|0.052310rad, update time=0.288698s
[ INFO] [1660307432.615124312]: Odom: quality=370, std dev=0.070735m|0.047716rad, update time=0.244955s [ INFO] [1660307432.892705825]: Odom: quality=328, std dev=0.067245m|0.058973rad, update time=0.259733s
[ INFO] [1660307433.582280763]: Odom: quality=263, std dev=0.069510m|0.060975rad, update time=0.364263s [ INFO] [1660307434.156452677]: Odom: quality=402, std dev=0.054343m|0.041195rad, update time=0.243299s [ INFO] [1660307434.486250794]: Odom: quality=404, std dev=0.053388m|0.052310rad, update time=0.302001s
[ INFO] [1660307435.278455172]: Odom: quality=350, std dev=0.059181m|0.048989rad, update time=0.350228s [ INFO] [1660307435.552891653]: Odom: quality=336, std dev=0.054423m|0.050171rad, update time=0.262454s
[ INFO] [1660307436.268043543]: Odom: quality=307, std dev=0.052993m|0.050171rad, update time=0.267247s [ INFO] [1660307436.619003278]: Odom: quality=267, std dev=0.074837m|0.054216rad, update time=0.328856s
[ WARN] (2022-08-12 05:30:37.236) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 12/20 (matches=182) between -1 and 122" (guess=xyz=0.009379,0.031829,0.000932 rpy=0.009240,-0.001445,0.053624) [ WARN] (2022-08-12 05:30:37.237) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.009379,0.031829,0.000932 rpy=0.009240,-0.001445,0.053624), trying again without a guess. 12/08 05:30:37,285 WARNING [139717072897792] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ WARN] (2022-08-12 05:30:37.536) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307437.544687481]: Odom: quality=271, std dev=0.054486m|0.051274rad, update time=0.524565s [ WARN] (2022-08-12 05:30:37.966) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 17/20 (matches=156) between -1 and 123" (guess=xyz=0.039617,-0.040769,-0.001452 rpy=0.008995,-0.004920,0.126029) [ WARN] (2022-08-12 05:30:37.972) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.039617,-0.040769,-0.001452 rpy=0.008995,-0.004920,0.126029), trying again without a guess. [ WARN] (2022-08-12 05:30:38.335) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307438.346807899]: Odom: quality=202, std dev=0.140912m|0.051274rad, update time=0.640492s [ WARN] [1660307438.590208595]: Still waiting for data on topic /imu/data_raw... [ WARN] (2022-08-12 05:30:38.650) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 12/20 (matches=167) between -1 and 124" (guess=xyz=0.014155,-0.015339,-0.003846 rpy=0.000681,-0.001819,0.037883) [ WARN] (2022-08-12 05:30:38.652) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.014155,-0.015339,-0.003846 rpy=0.000681,-0.001819,0.037883), trying again without a guess. [ WARN] (2022-08-12 05:30:38.957) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307438.966468168]: Odom: quality=268, std dev=0.125871m|0.048989rad, update time=0.601189s [ WARN] (2022-08-12 05:30:39.188) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=92) between -1 and 125" (guess=xyz=0.076599,-0.108103,-0.005516 rpy=0.010863,-0.008633,0.211400) [ WARN] (2022-08-12 05:30:39.188) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.076599,-0.108103,-0.005516 rpy=0.010863,-0.008633,0.211400), trying again without a guess. [ WARN] (2022-08-12 05:30:39.455) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307439.466049178]: Odom: quality=237, std dev=0.123561m|0.051274rad, update time=0.486352s [ INFO] [1660307439.903141005]: Odom: quality=480, std dev=0.038614m|0.032761rad, update time=0.307058s [ INFO] [1660307440.213268300]: Odom: quality=472, std dev=0.032821m|0.044810rad, update time=0.306633s
[ INFO] [1660307440.580709026]: Odom: quality=482, std dev=0.034736m|0.036256rad, update time=0.353405s [ INFO] [1660307441.015195803]: Odom: quality=442, std dev=0.050145m|0.043116rad, update time=0.179846s [ INFO] [1660307441.428191852]: Odom: quality=459, std dev=0.040958m|0.041195rad, update time=0.398513s [ INFO] [1660307441.699300470]: Odom: quality=419, std dev=0.047290m|0.041195rad, update time=0.223185s [ INFO] [1660307442.064231647]: Odom: quality=450, std dev=0.051142m|0.046331rad, update time=0.356569s
[ INFO] [1660307442.623896197]: Odom: quality=340, std dev=0.061424m|0.048989rad, update time=0.214965s [ INFO] [1660307442.878550035]: Odom: quality=326, std dev=0.057750m|0.051274rad, update time=0.247627s [ INFO] [1660307443.357762335]: Odom: quality=227, std dev=0.089614m|0.053288rad, update time=0.239428s [ INFO] [1660307443.736178969]: Odom: quality=415, std dev=0.048753m|0.046331rad, update time=0.357786s
[ WARN] (2022-08-12 05:30:44.172) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=163) between -1 and 137" (guess=xyz=0.035905,0.002294,-0.007320 rpy=0.002228,-0.004358,0.085982) [ WARN] (2022-08-12 05:30:44.173) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.035905,0.002294,-0.007320 rpy=0.002228,-0.004358,0.085982), trying again without a guess. [ WARN] (2022-08-12 05:30:44.442) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307444.446524010]: Odom: quality=294, std dev=0.121093m|0.044810rad, update time=0.513414s [ INFO] [1660307444.668372338]: Odom: quality=324, std dev=0.075453m|0.060330rad, update time=0.217380s [ INFO] [1660307445.433787301]: Odom: quality=249, std dev=0.074004m|0.052310rad, update time=0.258987s
[ INFO] [1660307445.892137261]: Odom: quality=381, std dev=0.052254m|0.041195rad, update time=0.425410s [ INFO] [1660307446.203731186]: Odom: quality=317, std dev=0.062321m|0.046331rad, update time=0.250970s [ INFO] [1660307446.524374356]: Odom: quality=297, std dev=0.056612m|0.051274rad, update time=0.313081s
[ WARN] (2022-08-12 05:30:47.133) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=121) between -1 and 143" (guess=xyz=-0.011675,0.003562,0.008664 rpy=0.003924,-0.000745,0.109884) [ WARN] (2022-08-12 05:30:47.133) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.011675,0.003562,0.008664 rpy=0.003924,-0.000745,0.109884), trying again without a guess. [ WARN] (2022-08-12 05:30:47.551) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307447.558741245]: Odom: quality=232, std dev=0.073650m|0.047716rad, update time=0.688782s [ INFO] [1660307447.811579805]: Odom: quality=456, std dev=0.032339m|0.032761rad, update time=0.234768s [ INFO] [1660307448.099553400]: Odom: quality=465, std dev=0.031837m|0.036256rad, update time=0.281940s [ INFO] [1660307448.451633007]: Odom: quality=444, std dev=0.033756m|0.041195rad, update time=0.326613s [ WARN] [1660307448.590425348]: Still waiting for data on topic /imu/data_raw...
[ INFO] [1660307449.164472689]: Odom: quality=445, std dev=0.032500m|0.043116rad, update time=0.230196s [ INFO] [1660307449.595962457]: Odom: quality=433, std dev=0.046224m|0.043116rad, update time=0.419378s
[ INFO] [1660307450.282363273]: Odom: quality=430, std dev=0.039968m|0.038960rad, update time=0.269605s [ INFO] [1660307450.628707301]: Odom: quality=403, std dev=0.040000m|0.048989rad, update time=0.324262s
[ INFO] [1660307451.238224734]: Odom: quality=411, std dev=0.036834m|0.043116rad, update time=0.255300s [ INFO] [1660307451.547943697]: Odom: quality=405, std dev=0.048853m|0.043116rad, update time=0.274046s [ INFO] [1660307451.878749590]: Odom: quality=185, std dev=0.031130m|0.046331rad, update time=0.224035s [ INFO] [1660307452.182468968]: Odom: quality=391, std dev=0.045958m|0.038960rad, update time=0.286461s
[ INFO] [1660307452.971130847]: Odom: quality=74, std dev=0.091718m|0.058258rad, update time=0.446187s [ INFO] [1660307453.577201992]: Odom: quality=226, std dev=0.053333m|0.055939rad, update time=0.233305s [ INFO] [1660307453.881217556]: Odom: quality=311, std dev=0.031322m|0.052310rad, update time=0.279773s [ INFO] [1660307454.188343264]: Odom: quality=344, std dev=0.029296m|0.046331rad, update time=0.300023s
[ WARN] (2022-08-12 05:30:54.719) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=114) between -1 and 159" (guess=xyz=-0.028815,-0.011027,-0.011736 rpy=0.013264,-0.008347,0.127892) [ WARN] (2022-08-12 05:30:54.720) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.028815,-0.011027,-0.011736 rpy=0.013264,-0.008347,0.127892), trying again without a guess. [ WARN] (2022-08-12 05:30:55.030) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307455.036570322]: Odom: quality=268, std dev=0.031239m|0.046331rad, update time=0.496612s [ WARN] (2022-08-12 05:30:55.516) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=162) between -1 and 160" (guess=xyz=-0.012460,0.000324,0.001631 rpy=0.001466,-0.000893,0.043442) [ WARN] (2022-08-12 05:30:55.518) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.012460,0.000324,0.001631 rpy=0.001466,-0.000893,0.043442), trying again without a guess. [ WARN] (2022-08-12 05:30:55.773) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307455.795284985]: Odom: quality=206, std dev=0.058940m|0.048989rad, update time=0.510484s [ INFO] [1660307456.152997835]: Odom: quality=356, std dev=0.039797m|0.043116rad, update time=0.297599s
[ INFO] [1660307456.682695906]: Odom: quality=167, std dev=0.182711m|0.050171rad, update time=0.310490s [ INFO] [1660307456.928352505]: Odom: quality=159, std dev=0.186401m|0.048989rad, update time=0.239636s [ INFO] [1660307457.255374644]: Odom: quality=335, std dev=0.046325m|0.044810rad, update time=0.315765s [ WARN] (2022-08-12 05:30:57.469) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 7/20 (matches=135) between -1 and 165" (guess=xyz=-0.044660,0.001463,0.001773 rpy=0.007115,-0.005045,0.116424) [ WARN] (2022-08-12 05:30:57.469) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.044660,0.001463,0.001773 rpy=0.007115,-0.005045,0.116424), trying again without a guess. [ WARN] (2022-08-12 05:30:57.768) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307457.782953434]: Odom: quality=254, std dev=0.072187m|0.046331rad, update time=0.499741s [ WARN] (2022-08-12 05:30:58.045) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 10/20 (matches=178) between -1 and 166" (guess=xyz=-0.014834,-0.002246,0.000834 rpy=0.001958,-0.001860,0.046331) [ WARN] (2022-08-12 05:30:58.046) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.014834,-0.002246,0.000834 rpy=0.001958,-0.001860,0.046331), trying again without a guess. [ WARN] (2022-08-12 05:30:58.325) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307458.330316119]: Odom: quality=470, std dev=0.040286m|0.032761rad, update time=0.496624s [ WARN] [1660307458.590223342]: Still waiting for data on topic /imu/data_raw... [ INFO] [1660307458.693870759]: Odom: quality=481, std dev=0.048919m|0.032761rad, update time=0.329483s [ INFO] [1660307459.047634393]: Odom: quality=499, std dev=0.046056m|0.032761rad, update time=0.272446s
[ INFO] [1660307459.583731027]: Odom: quality=497, std dev=0.044146m|0.041195rad, update time=0.228179s [ INFO] [1660307459.850902028]: Odom: quality=502, std dev=0.041146m|0.036256rad, update time=0.256438s
[ WARN] (2022-08-12 05:31:00.522) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=183) between -1 and 171" (guess=xyz=-0.001586,-0.000044,0.001700 rpy=-0.000716,0.000652,0.000488) [ WARN] (2022-08-12 05:31:00.527) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.001586,-0.000044,0.001700 rpy=-0.000716,0.000652,0.000488), trying again without a guess. [ WARN] (2022-08-12 05:31:00.818) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307460.823221892]: Odom: quality=343, std dev=0.039897m|0.046331rad, update time=0.504488s [ WARN] (2022-08-12 05:31:01.304) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=144) between -1 and 172" (guess=xyz=0.012860,-0.004405,-0.001316 rpy=-0.002213,-0.000100,-0.046061) [ WARN] (2022-08-12 05:31:01.304) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.012860,-0.004405,-0.001316 rpy=-0.002213,-0.000100,-0.046061), trying again without a guess. [ WARN] (2022-08-12 05:31:01.639) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307461.669384730]: Odom: quality=171, std dev=0.059998m|0.060330rad, update time=0.572696s [ INFO] [1660307462.063358990]: Odom: quality=122, std dev=0.329597m|0.051274rad, update time=0.255292s [ INFO] [1660307462.368582270]: Odom: quality=180, std dev=0.137568m|0.055097rad, update time=0.297121s [ INFO] [1660307462.610084676]: Odom: quality=303, std dev=0.045249m|0.046331rad, update time=0.227448s [ WARN] (2022-08-12 05:31:03.253) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 10/20 (matches=160) between -1 and 176" (guess=xyz=0.009346,0.004912,0.001955 rpy=-0.000939,0.002322,-0.051141) [ WARN] (2022-08-12 05:31:03.259) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.009346,0.004912,0.001955 rpy=-0.000939,0.002322,-0.051141), trying again without a guess.
[ WARN] (2022-08-12 05:31:03.652) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307463.669517239]: Odom: quality=300, std dev=0.040490m|0.048989rad, update time=0.715574s [ INFO] [1660307464.070238226]: Odom: quality=227, std dev=0.094430m|0.046331rad, update time=0.184251s [ WARN] (2022-08-12 05:31:04.268) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=150) between -1 and 178" (guess=xyz=0.010422,0.001554,-0.001260 rpy=-0.000868,0.000307,-0.016727) [ WARN] (2022-08-12 05:31:04.269) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.010422,0.001554,-0.001260 rpy=-0.000868,0.000307,-0.016727), trying again without a guess. [ WARN] (2022-08-12 05:31:04.522) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307464.557489569]: Odom: quality=235, std dev=0.071307m|0.044810rad, update time=0.485059s [ INFO] [1660307465.003981549]: Odom: quality=239, std dev=0.060463m|0.048989rad, update time=0.202646s [ INFO] [1660307465.370365314]: Odom: quality=343, std dev=0.041739m|0.048989rad, update time=0.321032s
[ INFO] [1660307466.086682848]: Odom: quality=266, std dev=0.074914m|0.048989rad, update time=0.226791s [ INFO] [1660307466.379597973]: Odom: quality=328, std dev=0.047834m|0.048989rad, update time=0.272973s [ WARN] (2022-08-12 05:31:06.826) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=167) between -1 and 183" (guess=xyz=0.037772,-0.012809,0.003989 rpy=-0.008985,0.004533,-0.110085) [ WARN] (2022-08-12 05:31:06.832) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.037772,-0.012809,0.003989 rpy=-0.008985,0.004533,-0.110085), trying again without a guess. [ WARN] (2022-08-12 05:31:07.164) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307467.186604564]: Odom: quality=225, std dev=0.132559m|0.048989rad, update time=0.645730s [ INFO] [1660307467.522349838]: Odom: quality=302, std dev=0.082077m|0.043116rad, update time=0.321534s
[ WARN] [1660307468.590214768]: Still waiting for data on topic /imu/data_raw... [ WARN] (2022-08-12 05:31:09.016) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=115) between -1 and 185" (guess=xyz=0.133079,-0.020328,0.013509 rpy=0.000161,0.013663,-0.227103) [ WARN] (2022-08-12 05:31:09.020) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.133079,-0.020328,0.013509 rpy=0.000161,0.013663,-0.227103), trying again without a guess. [ WARN] (2022-08-12 05:31:09.514) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307469.519460652]: Odom: quality=260, std dev=0.089180m|0.048989rad, update time=0.769655s [ INFO] [1660307470.109229947]: Odom: quality=261, std dev=0.082372m|0.046331rad, update time=0.292007s [ INFO] [1660307470.632749897]: Odom: quality=447, std dev=0.052550m|0.036256rad, update time=0.509373s
[ WARN] (2022-08-12 05:31:11.786) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 9/20 (matches=198) between -1 and 188" (guess=xyz=0.138757,-0.051020,-0.005419 rpy=0.010966,0.011094,-0.023387) [ WARN] (2022-08-12 05:31:11.787) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.138757,-0.051020,-0.005419 rpy=0.010966,0.011094,-0.023387), trying again without a guess. [ WARN] (2022-08-12 05:31:12.368) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307472.375191614]: Odom: quality=345, std dev=0.061430m|0.043116rad, update time=1.100120s [ WARN] (2022-08-12 05:31:13.228) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 8/20 (matches=188) between -1 and 189" (guess=xyz=0.071598,-0.044551,-0.006193 rpy=0.003751,0.000467,0.043017) [ WARN] (2022-08-12 05:31:13.229) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.071598,-0.044551,-0.006193 rpy=0.003751,0.000467,0.043017), trying again without a guess. [ WARN] (2022-08-12 05:31:13.744) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307473.785401080]: Odom: quality=246, std dev=0.071775m|0.048989rad, update time=0.889865s [ INFO] [1660307474.267391965]: Odom: quality=345, std dev=0.069594m|0.046331rad, update time=0.331490s [ INFO] [1660307474.715824182]: Odom: quality=304, std dev=0.043052m|0.053288rad, update time=0.385542s
[ WARN] (2022-08-12 05:31:18.091) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=108) between -1 and 192" (guess=xyz=0.868187,-0.500552,-0.066900 rpy=0.004260,0.016811,-0.107905) [ WARN] (2022-08-12 05:31:18.092) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.868187,-0.500552,-0.066900 rpy=0.004260,0.016811,-0.107905), trying again without a guess. [ WARN] (2022-08-12 05:31:18.482) OdometryF2M.cpp:519::computeTransform() Trial with no guess still fail. [ WARN] (2022-08-12 05:31:18.482) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=152) between -1 and 192" (guess=xyz=0.868187,-0.500552,-0.066900 rpy=0.004260,0.016811,-0.107905) [ INFO] [1660307478.489625772]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.697987s [ WARN] [1660307478.590184892]: Still waiting for data on topic /imu/data_raw... [ WARN] (2022-08-12 05:31:19.386) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 10/20 (matches=141) between -1 and 193" [ INFO] [1660307479.387560361]: Odom: quality=10, std dev=0.000000m|0.000000rad, update time=0.385501s [ERROR] (2022-08-12 05:31:19.391) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 3053 is ignored!
[ WARN] (2022-08-12 05:31:20.098) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 15/20 (matches=136) between -1 and 194" [ INFO] [1660307480.100865353]: Odom: quality=15, std dev=0.000000m|0.000000rad, update time=0.340739s [ WARN] (2022-08-12 05:31:20.554) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=125) between -1 and 195" [ INFO] [1660307480.555860752]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.409648s [ WARN] (2022-08-12 05:31:21.193) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 16/20 (matches=137) between -1 and 196" [ INFO] [1660307481.194536368]: Odom: quality=16, std dev=0.000000m|0.000000rad, update time=0.428181s [ WARN] (2022-08-12 05:31:21.656) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 19/20 (matches=126) between -1 and 197" [ INFO] [1660307481.662038395]: Odom: quality=19, std dev=0.000000m|0.000000rad, update time=0.463789s [ WARN] (2022-08-12 05:31:22.115) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=145) between -1 and 198" [ INFO] [1660307482.118648146]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.448170s [ERROR] (2022-08-12 05:31:22.121) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 3134 is ignored!
[ INFO] [1660307482.736840429]: Odom: quality=69, std dev=0.099413m|0.055939rad, update time=0.614914s [ INFO] [1660307483.168307855]: Odom: quality=325, std dev=0.022557m|0.032761rad, update time=0.421968s [ INFO] [1660307483.511671270]: Odom: quality=330, std dev=0.023452m|0.032761rad, update time=0.220963s [ INFO] [1660307483.873888075]: Odom: quality=325, std dev=0.021415m|0.050171rad, update time=0.340619s
[ WARN] (2022-08-12 05:31:24.652) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=155) between -1 and 203" (guess=xyz=-0.053079,0.009716,0.010459 rpy=0.036400,-0.034479,0.034707) [ WARN] (2022-08-12 05:31:24.653) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.053079,0.009716,0.010459 rpy=0.036400,-0.034479,0.034707), trying again without a guess. [ WARN] (2022-08-12 05:31:25.147) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307485.152653245]: Odom: quality=180, std dev=0.054195m|0.055097rad, update time=0.850395s [ WARN] (2022-08-12 05:31:25.471) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=137) between -1 and 204" (guess=xyz=-0.061052,0.021009,0.002921 rpy=0.006123,-0.004127,0.127395) [ WARN] (2022-08-12 05:31:25.472) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.061052,0.021009,0.002921 rpy=0.006123,-0.004127,0.127395), trying again without a guess. [ WARN] (2022-08-12 05:31:25.973) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded! [ INFO] [1660307485.994782988]: Odom: quality=248, std dev=0.039508m|0.043116rad, update time=0.822405s [ WARN] (2022-08-12 05:31:26.572) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 11/20 (matches=188) between -1 and 205" (guess=xyz=-0.016283,0.017912,-0.005712 rpy=0.000174,-0.004470,0.050659) [ WARN] (2022-08-12 05:31:26.589) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=-0.016283,0.017912,-0.005712 rpy=0.000174,-0.004470,0.050659), trying again without a guess.
MartyG-RealSense
Coming from issue pixelated 2d map with D435 #2439, these're the last messages: