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MIT-SPARK / Kimera-Semantics

Real-Time 3D Semantic Reconstruction from 2D data
BSD 2-Clause "Simplified" License
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Pointcloud queue getting too long error #38

Open miajl opened 4 years ago

miajl commented 4 years ago

I am currently trying to run VIO and Semantics using ROS and the Intel 435i and I am having trouble getting semantics to pair up nicely.

Currently doing the following in separate terminals

roscore
roslaunch realsense2_camera rs_camera.launch unite_imu_method:=linear_interpolation enable_infra1:=true enable_infra2:=true enable_gyro:=true enable_accel:=true
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
roslaunch kimera_semantics_ros kimera_metric_realsense.launch register_depth:=true

I get semantics to start running and it seems like it is working but after about 10-15 seconds I get this error and new points stop being added to the mesh.

[ERROR] [1599771723.658597680]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.

Here is my ros log from a test

[rosmaster.main][INFO] 2020-09-10 17:01:17,460: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2020-09-10 17:01:17,460: Starting ROS Master Node
[xmlrpc][INFO] 2020-09-10 17:01:17,460: XML-RPC server binding to 0.0.0.0:11311
[xmlrpc][INFO] 2020-09-10 17:01:17,461: Started XML-RPC server [http://L4MLAROCCALinux:11311/]
[rosmaster.master][INFO] 2020-09-10 17:01:17,461: Master initialized: port[11311], uri[http://L4MLAROCCALinux:11311/]
[xmlrpc][INFO] 2020-09-10 17:01:17,461: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2020-09-10 17:01:17,479: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,480: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__45933] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,547: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,547: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,551: +SERVICE [/rosout/get_loggers] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:17,551: +SERVICE [/rosout/set_logger_level] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:17,552: +PUB [/rosout_agg] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:17,554: +SUB [/rosout] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:22,380: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__37505] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/enable_color] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/linear_accel_cov] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/fisheye1_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/enable_sync] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/pose_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/pointcloud_texture_index] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_fisheye] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/tf_publish_rate] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/topic_odom_in] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/odom_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/aligned_depth_to_infra1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/initial_reset] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/accel_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/gyro_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/color_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/depth_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_infra1] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/color_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_pose] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_infra2] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/infra_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/color_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/align_depth] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/infra1_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/infra2_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/depth_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye2_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/aligned_depth_to_infra2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/enable_fisheye2] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/enable_depth] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/enable_fisheye1] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/depth_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/pose_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/gyro_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/enable_accel] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/infra_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/rosbag_filename] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/unite_imu_method] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/fisheye_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/accel_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/infra_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/base_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/imu_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/device_type] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/serial_no] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/depth_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/depth_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/allow_no_texture_points] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/accel_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/aligned_depth_to_color_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/filters] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/infra2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/color_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/pointcloud_texture_stream] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/fisheye_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/infra1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/color_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/publish_tf] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/fisheye1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/usb_port_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/calib_odom_file] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/publish_odom_tf] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/enable_gyro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/enable_pointcloud] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/json_file_path] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/fisheye2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/clip_distance] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/enable_infra] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/gyro_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,473: +PUB [/rosout] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,473: +SERVICE [/camera/realsense2_camera/get_loggers] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,473: +SERVICE [/camera/realsense2_camera/set_logger_level] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,474: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:01:22,476: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:22,477: +PARAM [/camera/realsense2_camera] by /camera/realsense2_camera
[rosmaster.master][INFO] 2020-09-10 17:01:22,482: +PUB [/rosout] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,483: +SERVICE [/camera/realsense2_camera_manager/get_loggers] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,483: +SERVICE [/camera/realsense2_camera_manager/set_logger_level] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,486: +SERVICE [/camera/realsense2_camera_manager/load_nodelet] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,486: +SERVICE [/camera/realsense2_camera_manager/unload_nodelet] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,487: +SERVICE [/camera/realsense2_camera_manager/list] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,575: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']
[rosmaster.master][INFO] 2020-09-10 17:01:22,575: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:22,584: +PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,586: +SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,676: +PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,676: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:01:22,678: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:22,679: +SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:23,016: +PUB [/tf_static] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:23,017: +PUB [/tf] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:24,878: +SERVICE [/camera/stereo_module/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:24,878: +PUB [/camera/stereo_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:24,879: +PUB [/camera/stereo_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,199: +SERVICE [/camera/rgb_camera/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,200: +PUB [/camera/rgb_camera/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,201: +PUB [/camera/rgb_camera/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,205: +SERVICE [/camera/motion_module/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,206: +PUB [/camera/motion_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,207: +PUB [/camera/motion_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,211: +PUB [/diagnostics] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,217: +PUB [/camera/depth/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,217: +SERVICE [/camera/depth/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,218: +PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,219: +PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,221: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,222: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,222: +PARAM [/camera/depth/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,223: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,223: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,224: +PARAM [/camera/depth/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,227: +PUB [/camera/depth/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,227: +SERVICE [/camera/depth/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,228: +PUB [/camera/depth/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,229: +PUB [/camera/depth/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,231: +PARAM [/camera/depth/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,231: +PARAM [/camera/depth/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,232: +PARAM [/camera/depth/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,232: +PARAM [/camera/depth/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,233: +PARAM [/camera/depth/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,233: +PARAM [/camera/depth/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,235: +PUB [/camera/depth/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,240: +PUB [/camera/depth/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,241: +SERVICE [/camera/depth/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,242: +PUB [/camera/depth/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,242: +PUB [/camera/depth/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,245: +PARAM [/camera/depth/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,245: +PARAM [/camera/depth/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,246: +PARAM [/camera/depth/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,246: +PARAM [/camera/depth/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,247: +PARAM [/camera/depth/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,247: +PARAM [/camera/depth/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,248: +PARAM [/camera/depth/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,248: +PARAM [/camera/depth/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,249: +PUB [/camera/depth/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,250: +PUB [/camera/infra1/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,251: +SERVICE [/camera/infra1/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,251: +PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,252: +PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,253: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,253: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,254: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,254: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,255: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,255: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,256: +PUB [/camera/infra1/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,257: +SERVICE [/camera/infra1/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,257: +PUB [/camera/infra1/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,258: +PUB [/camera/infra1/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,259: +PARAM [/camera/infra1/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,260: +PARAM [/camera/infra1/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,260: +PARAM [/camera/infra1/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,260: +PARAM [/camera/infra1/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,261: +PARAM [/camera/infra1/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,261: +PARAM [/camera/infra1/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,262: +PUB [/camera/infra1/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,262: +PUB [/camera/infra1/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,263: +SERVICE [/camera/infra1/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,263: +PUB [/camera/infra1/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,264: +PUB [/camera/infra1/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,266: +PARAM [/camera/infra1/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,266: +PARAM [/camera/infra1/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,267: +PARAM [/camera/infra1/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,267: +PARAM [/camera/infra1/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,268: +PARAM [/camera/infra1/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,268: +PARAM [/camera/infra1/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,269: +PARAM [/camera/infra1/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,269: +PARAM [/camera/infra1/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,269: +PUB [/camera/infra1/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,270: +PUB [/camera/infra2/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,271: +SERVICE [/camera/infra2/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,271: +PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,272: +PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,273: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,273: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,274: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,274: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,274: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,275: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,275: +PUB [/camera/infra2/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,276: +SERVICE [/camera/infra2/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,276: +PUB [/camera/infra2/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,276: +PUB [/camera/infra2/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,277: +PARAM [/camera/infra2/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,278: +PARAM [/camera/infra2/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,278: +PARAM [/camera/infra2/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,278: +PARAM [/camera/infra2/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,279: +PARAM [/camera/infra2/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,279: +PARAM [/camera/infra2/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,279: +PUB [/camera/infra2/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,280: +PUB [/camera/infra2/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,280: +SERVICE [/camera/infra2/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,280: +PUB [/camera/infra2/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,281: +PUB [/camera/infra2/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,282: +PARAM [/camera/infra2/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,283: +PARAM [/camera/infra2/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,283: +PARAM [/camera/infra2/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,283: +PARAM [/camera/infra2/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,284: +PARAM [/camera/infra2/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,284: +PARAM [/camera/infra2/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,285: +PARAM [/camera/infra2/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,285: +PARAM [/camera/infra2/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,285: +PUB [/camera/infra2/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,286: +PUB [/camera/color/image_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,286: +SERVICE [/camera/color/image_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,287: +PUB [/camera/color/image_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,287: +PUB [/camera/color/image_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,288: +PARAM [/camera/color/image_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,288: +PARAM [/camera/color/image_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,289: +PARAM [/camera/color/image_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,289: +PARAM [/camera/color/image_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,290: +PARAM [/camera/color/image_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,290: +PARAM [/camera/color/image_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,290: +PUB [/camera/color/image_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,291: +SERVICE [/camera/color/image_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,291: +PUB [/camera/color/image_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,292: +PUB [/camera/color/image_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,293: +PARAM [/camera/color/image_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,293: +PARAM [/camera/color/image_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,293: +PARAM [/camera/color/image_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,294: +PARAM [/camera/color/image_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,294: +PARAM [/camera/color/image_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,294: +PARAM [/camera/color/image_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,295: +PUB [/camera/color/image_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,295: +PUB [/camera/color/image_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,295: +SERVICE [/camera/color/image_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,296: +PUB [/camera/color/image_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,296: +PUB [/camera/color/image_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,298: +PARAM [/camera/color/image_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,298: +PARAM [/camera/color/image_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,298: +PARAM [/camera/color/image_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,299: +PARAM [/camera/color/image_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,299: +PARAM [/camera/color/image_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,299: +PARAM [/camera/color/image_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,300: +PARAM [/camera/color/image_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,300: +PARAM [/camera/color/image_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,300: +PUB [/camera/color/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,301: +PUB [/camera/imu] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,301: +PUB [/camera/extrinsics/depth_to_color] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,301: +PUB [/camera/extrinsics/depth_to_infra1] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,302: +PUB [/camera/extrinsics/depth_to_infra2] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,738: +SERVICE [/camera/stereo_module/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,738: +PUB [/camera/stereo_module/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,739: +PUB [/camera/stereo_module/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,743: +SERVICE [/camera/rgb_camera/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,744: +PUB [/camera/rgb_camera/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,745: +PUB [/camera/rgb_camera/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,746: +PUB [/camera/gyro/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,747: +PUB [/camera/accel/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:33,458: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__34019] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/use_sim_time] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/params_folder_path] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/posegraph_viewer/frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/map_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/online_run] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/use_lcd] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/world_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/position_det_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,545: +PUB [/rosout] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,545: +SERVICE [/kimera_vio_ros/posegraph_viewer/get_loggers] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,546: +SERVICE [/kimera_vio_ros/posegraph_viewer/set_logger_level] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,550: +SUB [/kimera_vio_ros/graph] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,550: +PUB [/rosout] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,550: +PUB [/kimera_vio_ros/odometry_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,551: +SERVICE [/velo_link_broadcaster/get_loggers] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,551: +PUB [/kimera_vio_ros/loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,551: +SERVICE [/velo_link_broadcaster/set_logger_level] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,552: +PUB [/kimera_vio_ros/rejected_loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,553: +PUB [/kimera_vio_ros/graph_nodes] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,553: +PUB [/tf] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,554: +PUB [/kimera_vio_ros/graph_nodes_ids] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,554: +PUB [/kimera_vio_ros/interactive_node/update_full] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,554: +PUB [/kimera_vio_ros/interactive_node/update] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,556: +SUB [/kimera_vio_ros/interactive_node/feedback] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,598: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/']
[rosmaster.master][INFO] 2020-09-10 17:01:33,599: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:33,599: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/']
[rosmaster.master][INFO] 2020-09-10 17:01:33,599: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:33,663: +PUB [/rosout] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,663: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/get_loggers] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,664: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/set_logger_level] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,665: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/restart_kimera_vio] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,681: +PUB [/tf] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,683: +PUB [/kimera_vio_ros/odometry] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,684: +PUB [/kimera_vio_ros/frontend_stats] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,684: +PUB [/kimera_vio_ros/resiliency] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,685: +PUB [/kimera_vio_ros/imu_bias] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,685: +PUB [/kimera_vio_ros/optimized_trajectory] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,685: +PUB [/kimera_vio_ros/pose_graph] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,686: +PUB [/kimera_vio_ros/time_horizon_pointcloud] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,686: +PUB [/kimera_vio_ros/mesh] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,699: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:01:33,699: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:33,726: +SUB [/camera/imu] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,730: +SUB [/camera/infra1/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,732: +SUB [/camera/infra2/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,733: +SUB [/kimera_vio_ros/reinit_flag] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,735: +SUB [/kimera_vio_ros/reinit_pose] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,736: +PUB [/tf_static] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,370: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,371: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/set_parameters] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,371: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,372: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,373: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_max] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,374: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_quantization] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,374: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,374: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_max] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,375: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_quantization] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,375: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,379: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,379: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/set_parameters] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,380: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,380: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,382: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/format] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,382: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/jpeg_quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,383: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,383: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/format] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,384: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/jpeg_quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,384: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,385: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,389: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,390: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/set_parameters] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,390: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,391: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,392: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/optimize_for] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,393: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/target_bitrate] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,393: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,394: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/keyframe_frequency] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,394: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/optimize_for] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,395: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/target_bitrate] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,395: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,396: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/keyframe_frequency] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:48,760: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__45173] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/use_sim_time] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/publish_pointclouds] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/semantic_label_2_color_csv_filepath] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/use_const_weight] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/tsdf_voxels_per_side] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/enable_icp] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/icp_iterations] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/sensor_frame] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/cloudify/queue_size] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/slice_level] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/color_mode] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/min_time_between_msgs_sec] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/semantic_measurement_probability] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/method] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/voxel_carving_enabled] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/tsdf_voxel_size] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/semantic_color_mode] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/max_ray_length_m] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/update_mesh_every_n_sec] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/dynamic_semantic_labels] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/use_freespace_pointcloud] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/verbose] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/mesh_filename] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/use_tf_transforms] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,846: +PUB [/rosout] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:01:48,846: +SERVICE [/transform_scenedepth2rgb/get_loggers] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:01:48,847: +SERVICE [/transform_scenedepth2rgb/set_logger_level] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:01:48,861: +PUB [/rosout] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:48,862: +SERVICE [/cloudify/get_loggers] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:48,863: +SERVICE [/cloudify/set_logger_level] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:48,865: +PARAM [/cloudify] by /cloudify
[rosmaster.master][INFO] 2020-09-10 17:01:48,875: +PUB [/rosout] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,876: +SERVICE [/nodelet_manager/get_loggers] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,876: +SERVICE [/nodelet_manager/set_logger_level] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,878: +SERVICE [/nodelet_manager/load_nodelet] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,879: +SERVICE [/nodelet_manager/unload_nodelet] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,879: +SERVICE [/nodelet_manager/list] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,920: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/']
[rosmaster.master][INFO] 2020-09-10 17:01:48,921: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:48,921: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:01:48,921: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:48,922: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/']
[rosmaster.master][INFO] 2020-09-10 17:01:48,922: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:48,926: +PUB [/rosout] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,926: +SERVICE [/kimera_semantics_node/get_loggers] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,927: +SERVICE [/kimera_semantics_node/set_logger_level] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,936: +PUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,938: +SUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,940: +SUB [/tf_static] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,947: +PUB [/kimera_semantics_node/surface_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,948: +PUB [/kimera_semantics_node/tsdf_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,948: +PUB [/kimera_semantics_node/occupied_nodes] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,948: +PUB [/kimera_semantics_node/tsdf_slice] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,950: +SUB [/semantic_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,950: +PUB [/kimera_semantics_node/mesh] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,951: +PUB [/kimera_semantics_node/tsdf_map_out] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,952: +SUB [/kimera_semantics_node/tsdf_map_in] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,959: +PUB [/semantic_pointcloud] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,959: +PUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,962: +SUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,963: +SERVICE [/kimera_semantics_node/generate_mesh] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,963: +SERVICE [/kimera_semantics_node/clear_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,964: +SERVICE [/kimera_semantics_node/save_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,965: +SERVICE [/kimera_semantics_node/load_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,965: +SERVICE [/kimera_semantics_node/publish_pointclouds] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,966: +SUB [/tf] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,966: +SERVICE [/kimera_semantics_node/publish_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,969: +SUB [/tf_static] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,972: +PUB [/kimera/depth_registered/image_rect_raw/compressedDepth] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,973: +SERVICE [/kimera/depth_registered/image_rect_raw/compressedDepth/set_parameters] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,973: +PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,974: +PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,975: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_max] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,975: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_quantization] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,976: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,976: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_max] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,977: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_quantization] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,977: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,979: +PUB [/kimera/depth_registered/image_rect_raw/compressed] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,979: +SERVICE [/kimera/depth_registered/image_rect_raw/compressed/set_parameters] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,980: +PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,980: +PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,981: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/format] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,982: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/jpeg_quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,982: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,982: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/format] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,983: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/jpeg_quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,983: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,984: +PUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,988: +PUB [/kimera/depth_registered/image_rect_raw/theora] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,988: +SERVICE [/kimera/depth_registered/image_rect_raw/theora/set_parameters] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,989: +PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,989: +PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,991: +PARAM [/kimera/depth_registered/image_rect_raw/theora/optimize_for] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,991: +PARAM [/kimera/depth_registered/image_rect_raw/theora/target_bitrate] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,992: +PARAM [/kimera/depth_registered/image_rect_raw/theora/quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,992: +PARAM [/kimera/depth_registered/image_rect_raw/theora/keyframe_frequency] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,993: +PARAM [/kimera/depth_registered/image_rect_raw/theora/optimize_for] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,993: +PARAM [/kimera/depth_registered/image_rect_raw/theora/target_bitrate] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,993: +PARAM [/kimera/depth_registered/image_rect_raw/theora/quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,994: +PARAM [/kimera/depth_registered/image_rect_raw/theora/keyframe_frequency] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,994: +PUB [/kimera/depth_registered/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,021: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:39329/']
[rosmaster.master][INFO] 2020-09-10 17:01:49,022: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:39329/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:49,022: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:34417/']
[rosmaster.master][INFO] 2020-09-10 17:01:49,023: +PUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:49,023: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:01:49,023: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:34417/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:49,024: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:49,026: +SUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:49,227: +SUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,230: +SUB [/camera/color/image_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,231: +SUB [/camera/color/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,233: +SUB [/camera/depth/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,235: +SUB [/camera/depth/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,747: -PUB [/rosout] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,747: -PUB [/semantic_pointcloud] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,747: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:39329/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,748: -PUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,748: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:39329/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,748: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ []
[rosmaster.master][INFO] 2020-09-10 17:02:05,749: -PUB [/kimera/depth_registered/image_rect_raw/compressedDepth] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,749: -PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,749: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ []: sec=0.00, result=[0, 'Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,750: -PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,750: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,750: -PUB [/kimera/depth_registered/image_rect_raw/compressed] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,751: -PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,751: -PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,751: -PUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,752: -PUB [/kimera/depth_registered/image_rect_raw/theora] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,752: -PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,752: -PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,753: -PUB [/kimera/depth_registered/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,753: -SUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,754: -SUB [/tf] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,754: -SUB [/tf_static] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,754: -SUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,755: -SUB [/camera/color/image_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,755: -SUB [/camera/color/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,756: -SUB [/camera/depth/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,756: -SUB [/camera/depth/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,756: -SERVICE [/nodelet_manager/get_loggers] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,757: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:44955/']: sec=0.01, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.master][INFO] 2020-09-10 17:02:05,757: -SERVICE [/nodelet_manager/set_logger_level] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,757: -SERVICE [/nodelet_manager/load_nodelet] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,758: -SERVICE [/nodelet_manager/unload_nodelet] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,758: -SERVICE [/nodelet_manager/list] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,759: -SERVICE [/kimera/depth_registered/image_rect_raw/compressedDepth/set_parameters] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,759: -SERVICE [/kimera/depth_registered/image_rect_raw/compressed/set_parameters] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,759: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2020-09-10 17:02:05,759: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ ['http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,760: -SERVICE [/kimera/depth_registered/image_rect_raw/theora/set_parameters] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,761: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ ['http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,761: publisherUpdate[/kimera/depth_registered/image_rect_raw] -> http://L4MLAROCCALinux:34417/ []
[rosmaster.master][INFO] 2020-09-10 17:02:05,762: publisherUpdate[/kimera/depth_registered/image_rect_raw] -> http://L4MLAROCCALinux:34417/ []: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,762: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2020-09-10 17:02:05,850: -PUB [/rosout] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,850: -PUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,851: -PUB [/kimera_semantics_node/surface_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,851: -PUB [/kimera_semantics_node/tsdf_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,852: -PUB [/kimera_semantics_node/occupied_nodes] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,852: -PUB [/kimera_semantics_node/tsdf_slice] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,852: -PUB [/kimera_semantics_node/mesh] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,853: -PUB [/kimera_semantics_node/tsdf_map_out] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,853: -SUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,854: -SUB [/tf_static] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,854: -SUB [/semantic_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,855: -SUB [/kimera_semantics_node/tsdf_map_in] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,855: -SERVICE [/kimera_semantics_node/get_loggers] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,856: -SERVICE [/kimera_semantics_node/set_logger_level] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,856: -SERVICE [/kimera_semantics_node/generate_mesh] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,856: -SERVICE [/kimera_semantics_node/clear_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,857: -SERVICE [/kimera_semantics_node/save_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,857: -SERVICE [/kimera_semantics_node/load_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,858: -SERVICE [/kimera_semantics_node/publish_pointclouds] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,858: -SERVICE [/kimera_semantics_node/publish_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,862: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,863: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,863: publisherUpdate[/tf] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,881: publisherUpdate[/tf] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.02, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,881: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-09-10 17:02:05,950: -PUB [/rosout] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:02:05,950: -SERVICE [/transform_scenedepth2rgb/get_loggers] /transform_scenedepth2rgb rosrpc://L4MLAROCCALinux:36659
[rosmaster.master][INFO] 2020-09-10 17:02:05,951: -SERVICE [/transform_scenedepth2rgb/set_logger_level] /transform_scenedepth2rgb rosrpc://L4MLAROCCALinux:36659
[rosmaster.master][INFO] 2020-09-10 17:02:05,961: -PUB [/rosout] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:02:05,961: -PUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:02:05,962: -SUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:02:05,962: -SERVICE [/cloudify/get_loggers] /cloudify rosrpc://L4MLAROCCALinux:36639
[rosmaster.master][INFO] 2020-09-10 17:02:05,963: -SERVICE [/cloudify/set_logger_level] /cloudify rosrpc://L4MLAROCCALinux:36639
[rosmaster.master][INFO] 2020-09-10 17:02:05,981: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,982: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,982: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,983: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,983: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ []
[rosmaster.master][INFO] 2020-09-10 17:02:05,983: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,983: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-09-10 17:02:07,747: -PUB [/rosout] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,747: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:02:07,748: -PUB [/rosout] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: -PUB [/kimera_vio_ros/odometry_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/']
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: -PUB [/tf] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,750: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:07,750: -PUB [/kimera_vio_ros/loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,751: -PUB [/kimera_vio_ros/odometry] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,751: -PUB [/kimera_vio_ros/rejected_loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,752: -PUB [/rosout] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:02:07,752: -PUB [/kimera_vio_ros/frontend_stats] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,752: -PUB [/kimera_vio_ros/graph_nodes] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,753: -PUB [/tf] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:02:07,753: -PUB [/kimera_vio_ros/resiliency] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,754: -PUB [/kimera_vio_ros/graph_nodes_ids] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,754: -SERVICE [/velo_link_broadcaster/get_loggers] /velo_link_broadcaster rosrpc://L4MLAROCCALinux:55377
[rosmaster.master][INFO] 2020-09-10 17:02:07,754: -PUB [/kimera_vio_ros/imu_bias] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,755: -PUB [/kimera_vio_ros/interactive_node/update_full] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,755: -SERVICE [/velo_link_broadcaster/set_logger_level] /velo_link_broadcaster rosrpc://L4MLAROCCALinux:55377
[rosmaster.master][INFO] 2020-09-10 17:02:07,755: -PUB [/kimera_vio_ros/interactive_node/update] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,756: -SUB [/kimera_vio_ros/graph] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,756: -PUB [/kimera_vio_ros/optimized_trajectory] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,757: -SUB [/kimera_vio_ros/interactive_node/feedback] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,757: -PUB [/kimera_vio_ros/pose_graph] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,757: -SERVICE [/kimera_vio_ros/posegraph_viewer/get_loggers] /kimera_vio_ros/posegraph_viewer rosrpc://L4MLAROCCALinux:39165
[rosmaster.master][INFO] 2020-09-10 17:02:07,758: -PUB [/kimera_vio_ros/time_horizon_pointcloud] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,758: -SERVICE [/kimera_vio_ros/posegraph_viewer/set_logger_level] /kimera_vio_ros/posegraph_viewer rosrpc://L4MLAROCCALinux:39165
[rosmaster.master][INFO] 2020-09-10 17:02:07,759: -PUB [/kimera_vio_ros/mesh] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,759: -PUB [/tf_static] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,760: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,760: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,760: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,761: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,761: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,762: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,762: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,763: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,763: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,764: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,764: -SUB [/camera/imu] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,764: -SUB [/camera/infra1/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,765: -SUB [/camera/infra2/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,765: -SUB [/kimera_vio_ros/reinit_flag] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,766: -SUB [/kimera_vio_ros/reinit_pose] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,766: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/get_loggers] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,767: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/set_logger_level] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,767: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/restart_kimera_vio] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,768: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/set_parameters] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,768: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/set_parameters] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,768: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/set_parameters] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,786: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']
[rosmaster.master][INFO] 2020-09-10 17:02:07,786: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,759: -PUB [/rosout] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,760: -PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,760: -PUB [/tf_static] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,761: -PUB [/tf] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,761: -PUB [/camera/stereo_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,761: -PUB [/camera/stereo_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,762: -PUB [/camera/rgb_camera/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,762: -PUB [/camera/rgb_camera/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,762: -PUB [/camera/motion_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,763: -PUB [/camera/motion_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,763: -PUB [/diagnostics] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,763: -PUB [/camera/depth/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,764: -PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,764: -PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,764: -PUB [/camera/depth/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,765: -PUB [/camera/depth/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,765: -PUB [/camera/depth/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,765: -PUB [/camera/depth/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,766: -PUB [/camera/depth/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,766: -PUB [/camera/depth/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,767: -PUB [/camera/depth/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,767: -PUB [/camera/depth/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,767: -PUB [/camera/infra1/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,768: -PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,768: -PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,768: -PUB [/camera/infra1/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,769: -PUB [/camera/infra1/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,769: -PUB [/camera/infra1/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,769: -PUB [/camera/infra1/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,770: -PUB [/camera/infra1/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,770: -PUB [/camera/infra1/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,770: -PUB [/camera/infra1/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,771: -PUB [/camera/infra1/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,771: -PUB [/camera/infra2/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,771: -PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,772: -PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,772: -PUB [/camera/infra2/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,772: -PUB [/camera/infra2/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,773: -PUB [/camera/infra2/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,773: -PUB [/camera/infra2/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,773: -PUB [/camera/infra2/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,774: -PUB [/camera/infra2/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,774: -PUB [/camera/infra2/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,774: -PUB [/camera/infra2/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,775: -PUB [/camera/color/image_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,775: -PUB [/camera/color/image_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,775: -PUB [/camera/color/image_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,776: -PUB [/camera/color/image_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,776: -PUB [/camera/color/image_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,776: -PUB [/camera/color/image_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,778: -PUB [/camera/color/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,778: -PUB [/camera/imu] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,778: -PUB [/camera/extrinsics/depth_to_color] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,779: -PUB [/camera/extrinsics/depth_to_infra1] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,779: -PUB [/camera/extrinsics/depth_to_infra2] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,779: -PUB [/camera/stereo_module/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,780: -PUB [/camera/stereo_module/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,780: -PUB [/camera/rgb_camera/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,780: -PUB [/camera/rgb_camera/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,781: -PUB [/camera/gyro/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,781: -PUB [/camera/accel/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,781: -SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,782: -SERVICE [/camera/realsense2_camera_manager/get_loggers] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,782: -SERVICE [/camera/realsense2_camera_manager/set_logger_level] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,783: -SERVICE [/camera/realsense2_camera_manager/load_nodelet] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,783: -SERVICE [/camera/realsense2_camera_manager/unload_nodelet] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,783: -SERVICE [/camera/realsense2_camera_manager/list] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,784: -SERVICE [/camera/stereo_module/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,784: -SERVICE [/camera/rgb_camera/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,784: -SERVICE [/camera/motion_module/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,785: -SERVICE [/camera/depth/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,785: -SERVICE [/camera/depth/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,785: -SERVICE [/camera/depth/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,786: -SERVICE [/camera/infra1/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,786: -SERVICE [/camera/infra1/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,786: -SERVICE [/camera/infra1/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,787: -SERVICE [/camera/infra2/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,787: -SERVICE [/camera/infra2/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,787: -SERVICE [/camera/infra2/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,788: -SERVICE [/camera/color/image_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,788: -SERVICE [/camera/color/image_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,788: -SERVICE [/camera/color/image_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,789: -SERVICE [/camera/stereo_module/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,789: -SERVICE [/camera/rgb_camera/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,790: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:02:09,790: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,790: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:02:09,791: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:09,791: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2020-09-10 17:02:09,791: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:02:09,792: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,892: -PUB [/rosout] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:02:09,892: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ []
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ []: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: -PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ []
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: -SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:02:09,894: -SERVICE [/camera/realsense2_camera/get_loggers] /camera/realsense2_camera rosrpc://L4MLAROCCALinux:56621
[rosmaster.master][INFO] 2020-09-10 17:02:09,894: -SERVICE [/camera/realsense2_camera/set_logger_level] /camera/realsense2_camera rosrpc://L4MLAROCCALinux:56621
[rosmaster.master][INFO] 2020-09-10 17:02:09,902: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ []: sec=0.01, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:09,902: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-09-10 17:02:12,699: -PUB [/rosout_agg] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:02:12,699: -SUB [/rosout] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:02:12,700: -SERVICE [/rosout/get_loggers] /rosout rosrpc://L4MLAROCCALinux:45957
[rosmaster.master][INFO] 2020-09-10 17:02:12,700: -SERVICE [/rosout/set_logger_level] /rosout rosrpc://L4MLAROCCALinux:45957
[rosmaster.main][INFO] 2020-09-10 17:02:12,780: keyboard interrupt, will exit
[rosmaster.main][INFO] 2020-09-10 17:02:12,780: stopping master...
[rospy.core][INFO] 2020-09-10 17:02:12,780: signal_shutdown [atexit]
hyclover commented 4 years ago

Dear miajl，I want to run kimera-semantics with Realsense D435i now, could you please tell me how to make it work? Is other components like kimera-VIO or kimera-RPGO used when running kimera-semantics?

Abirami-Segar commented 2 years ago

Hi Miajil,

i have the exact same issue as you have mentioned. Did you figure the solution out? pls share any useful information/solution. thank you

BADAL244 commented 1 year ago

[ERROR] [1599771723.658597680]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.

I also getting the same error.

Xuefei98 commented 1 year ago

I am also running into the same error. [ERROR] [1689876513.606770073, 60.195000000]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long. Using docker and ubuntu18.04. If I run kimera-semantic on my host machine, the mesh display is normal and does not return any error.