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berndpfrommer / tagslam_root

root repository for complete tagslam setup
Apache License 2.0
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Something wrong when executing quick test #9

Closed qianlong2059 closed 2 years ago

qianlong2059 commented 2 years ago

Thank you very much for your code. I am a beginner of ROS and SLAM. This is my final year project to realize the function of obstacle avoidance with tagslam in turtlebot3.

I download tagslam in Raspberry Pi and completely followed the instructions in README, but when I executed the quick test, something wrong happened. It ran correctly at the beginning but after a while, something went wrong.

and this is the error:

Indeterminant linear system detected while working near variable 1 (Symbol: 1).

Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. [tagslam-2] process has died [pid 3241, exit code 255, cmd /home/turtlebot3/tagslam_root/devel/lib/tagslam/tagslam_node name:=tagslam log:=/home/turtlebot3/.ros/log/acac2748-4cca-11ec-a093-b827eb751c4a/tagslam-2.log]. log file: /home/turtlebot3/.ros/log/acac2748-4cca-11ec-a093-b827eb751c4a/tagslam-2*.log

and I want ask you if this is the problem from gtsam or something else.

berndpfrommer commented 2 years ago

Are you running this in online mode or from the bag? What do you get if you run this:

rosparam set use_sim_time true
rviz -d `rospack find tagslam`/example/tagslam_example.rviz &
roslaunch tagslam tagslam.launch bag:=`rospack find tagslam`/example/example.bag
qianlong2059 commented 2 years ago

yeah, I tried to run it, but it showed like this when I entered the second command

turtlebot3@turtlebot3-desktop:~$ rosparam set use_sim_time true turtlebot3@turtlebot3-desktop:~$ rviz -d rospack find tagslam/example/tagslam_example.rviz & [1] 2203 turtlebot3@turtlebot3-desktop:~$ qt.qpa.screen: QXcbConnection: Could not connect to display Could not connect to any X display.

qianlong2059 commented 2 years ago

and if completely entered these three commands, it still has something wrong

and this is the error. I show you all the information, although it is too long, I think it may be helpful

turtlebot3@turtlebot3-desktop:~$ rosparam set use_sim_time true turtlebot3@turtlebot3-desktop:~$ rviz -d rospack find tagslam/example/tagslam_example.rviz & [1] 2211 turtlebot3@turtlebot3-desktop:~$ roslaunch tagslam tagslam.launch bag:=rospack find tagslam/example/example.bag qt.qpa.screen: QXcbConnection: Could not connect to display Could not connect to any X display. ... logging to /home/turtlebot3/.ros/log/03228ace-4ffd-11ec-a6ab-b827eb751c4a/roslaunch-turtlebot3-desktop-2214.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://turtlebot3-desktop:43703/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / tagslam (tagslam/tagslam_node)

ROS_MASTER_URI=http://localhost:11311

process[tagslam-1]: started with pid [2233] [ INFO] [1638071094.889608174]: optimizer mode: fast [ INFO] [1638071094.903481808]: added body grasp_lab with 1 tags [ INFO] [1638071094.903813482]: added body rig with 0 tags [ INFO] [1638071094.925738749]: found 1 cameras [ INFO] [1638071094.934279716]: camera cam0 has known pose! [ INFO] [1638071094.935263122]: no distance measurements found! [ INFO] [1638071094.935646256]: no coordinate measurements found! [ INFO] [1638071094.936083192]: no plane measurements found! [ INFO] [1638071096.906456023]: reading from bag: /home/turtlebot3/tagslam_root/src/tagslam/example/example.bag [ INFO] [1638071096.925892963]: number of tag topics: 1 [ INFO] [1638071096.926180156]: number of image topics: 0 [ INFO] [1638071096.926369534]: number of odom topics: 0 [ INFO] [1638071096.974010927]: frame 0 [1558997717.191335649] cam: cam0 sees tags: [ INFO] [1638071096.975199856]: frame 1 [1558997717.689639795] cam: cam0 sees tags: [ INFO] [1638071097.007452193, 1558997717.689639795]: frame 2 [1558997718.187753357] cam: cam0 sees tags: [ INFO] [1638071097.008586380, 1558997718.187753357]: frame 3 [1558997718.685203212] cam: cam0 sees tags: [ INFO] [1638071097.056575278, 1558997718.685203212]: new tag 3 attached to grasp_lab [ INFO] [1638071097.058205672, 1558997718.685203212]: frame 4 [1558997719.179919103] cam: cam0 sees tags: 3 [ INFO] [1638071097.060766657, 1558997718.685203212]: [1558997719.179919103] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.061326198, 1558997718.685203212]: graph after update: opt fac: 4 unopt fac: 1 opt vals: 4 unopt vals: 2 [ INFO] [1638071097.063429101, 1558997719.179919103]: frame 5 [1558997719.676376045] cam: cam0 sees tags: 3 0 [ INFO] [1638071097.113059175, 1558997719.179919103]: drop tag with low viewing angle: 0.211877 [ INFO] [1638071097.118238384, 1558997719.179919103]: drop tag at view angle 21.4096 with risk of flip: 0.862372 [ INFO] [1638071097.122652319, 1558997719.179919103]: drop tag with low viewing angle: 0.211877 [ INFO] [1638071097.125129031, 1558997719.179919103]: drop tag at view angle 21.4096 with risk of flip: 0.862372 [ INFO] [1638071097.127871581, 1558997719.179919103]: drop tag at view angle 21.4096 with risk of flip: 0.862372 [ INFO] [1638071097.129460203, 1558997719.179919103]: drop tag with low viewing angle: 0.211877 [ WARN] [1638071097.129774063, 1558997719.179919103]: could not initialize subgraph! [ INFO] [1638071097.129937712, 1558997719.179919103]: optimizer: delta graph is 0! [ INFO] [1638071097.130069642, 1558997719.179919103]: [1558997719.676376045] subgraph err: 0, subgraph sum: 0 [ WARN] [1638071097.131796079, 1558997719.179919103]: could not initialize subgraph! [ INFO] [1638071097.132017438, 1558997719.179919103]: optimizer: delta graph is 0! [ INFO] [1638071097.132134263, 1558997719.179919103]: [1558997719.179919103] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.132278588, 1558997719.179919103]: graph after update: opt fac: 4 unopt fac: 4 opt vals: 4 unopt vals: 4 [ INFO] [1638071097.133450589, 1558997719.676376045]: frame 6 [1558997720.173563699] cam: cam0 sees tags: 0 3 [ INFO] [1638071097.135393593, 1558997719.676376045]: drop tag with low viewing angle: 0.166998 [ INFO] [1638071097.137700823, 1558997719.676376045]: drop tag at view angle 20.0056 with risk of flip: 0.79364 [ INFO] [1638071097.139723151, 1558997719.676376045]: drop tag with low viewing angle: 0.166998 [ INFO] [1638071097.142032621, 1558997719.676376045]: drop tag at view angle 20.0056 with risk of flip: 0.79364 [ INFO] [1638071097.144893819, 1558997719.676376045]: drop tag at view angle 20.0056 with risk of flip: 0.79364 [ INFO] [1638071097.146561037, 1558997719.676376045]: drop tag with low viewing angle: 0.166998 [ WARN] [1638071097.146849896, 1558997719.676376045]: could not initialize subgraph! [ INFO] [1638071097.146998597, 1558997719.676376045]: optimizer: delta graph is 0! [ INFO] [1638071097.147117922, 1558997719.676376045]: [1558997720.173563699] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.147255893, 1558997719.676376045]: graph after update: opt fac: 4 unopt fac: 7 opt vals: 4 unopt vals: 6 [ INFO] [1638071097.161457767, 1558997720.173563699]: frame 7 [1558997720.669179765] cam: cam0 sees tags: 3 0 [ INFO] [1638071097.164042971, 1558997720.173563699]: drop tag with low viewing angle: 0.196087 [ INFO] [1638071097.168445291, 1558997720.173563699]: drop tag at view angle 14.6885 with risk of flip: 0.690712 [ INFO] [1638071097.173747158, 1558997720.173563699]: drop tag with low viewing angle: 0.196087 [ INFO] [1638071097.178864231, 1558997720.173563699]: drop tag at view angle 14.6885 with risk of flip: 0.690712 [ INFO] [1638071097.184956530, 1558997720.173563699]: drop tag at view angle 14.6885 with risk of flip: 0.690712 [ INFO] [1638071097.189317964, 1558997720.173563699]: drop tag with low viewing angle: 0.196087 [ WARN] [1638071097.189814535, 1558997720.173563699]: could not initialize subgraph! [ INFO] [1638071097.190063029, 1558997720.173563699]: optimizer: delta graph is 0! [ INFO] [1638071097.190307357, 1558997720.173563699]: [1558997720.669179765] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.190603821, 1558997720.173563699]: graph after update: opt fac: 4 unopt fac: 10 opt vals: 4 unopt vals: 8 [ INFO] [1638071097.192513074, 1558997720.669179765]: frame 8 [1558997721.165103570] cam: cam0 sees tags: 3 0 [ INFO] [1638071097.197896714, 1558997720.669179765]: drop tag with low viewing angle: 0.772675 [ INFO] [1638071097.203836979, 1558997720.669179765]: drop tag at view angle 12.3458 with risk of flip: 0.614281 [ INFO] [1638071097.209284579, 1558997720.669179765]: drop tag with low viewing angle: 0.772675 [ INFO] [1638071097.215337033, 1558997720.669179765]: drop tag at view angle 12.3458 with risk of flip: 0.614281 [ INFO] [1638071097.222089760, 1558997720.669179765]: drop tag at view angle 12.3458 with risk of flip: 0.614281 [ INFO] [1638071097.226636875, 1558997720.669179765]: drop tag with low viewing angle: 0.772675 [ WARN] [1638071097.227154853, 1558997720.669179765]: could not initialize subgraph! [ INFO] [1638071097.227398139, 1558997720.669179765]: optimizer: delta graph is 0! [ INFO] [1638071097.227655331, 1558997720.669179765]: [1558997721.165103570] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.227952263, 1558997720.669179765]: graph after update: opt fac: 4 unopt fac: 13 opt vals: 4 unopt vals: 10 [ INFO] [1638071097.257557231, 1558997721.165103570]: frame 9 [1558997721.661386323] cam: cam0 sees tags: 0 3 [ INFO] [1638071097.263245460, 1558997721.165103570]: drop tag with low viewing angle: 5.7251 [ INFO] [1638071097.270482103, 1558997721.165103570]: drop tag at view angle 17.5288 with risk of flip: 0.852311 [ INFO] [1638071097.276105018, 1558997721.165103570]: drop tag with low viewing angle: 5.7251 [ INFO] [1638071097.283154782, 1558997721.165103570]: drop tag at view angle 17.5288 with risk of flip: 0.852311 [ INFO] [1638071097.290909455, 1558997721.165103570]: drop tag at view angle 17.5288 with risk of flip: 0.852311 [ INFO] [1638071097.295556884, 1558997721.165103570]: drop tag with low viewing angle: 5.7251 [ WARN] [1638071097.296164499, 1558997721.165103570]: could not initialize subgraph! [ INFO] [1638071097.296398826, 1558997721.165103570]: optimizer: delta graph is 0! [ INFO] [1638071097.296648987, 1558997721.165103570]: [1558997721.661386323] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.297061599, 1558997721.165103570]: graph after update: opt fac: 4 unopt fac: 16 opt vals: 4 unopt vals: 12 [ INFO] [1638071097.299183357, 1558997721.661386323]: frame 10 [1558997722.157580633] cam: cam0 sees tags: 3 0 [ INFO] [1638071097.307241629, 1558997721.661386323]: drop tag with low viewing angle: 10.394 [ INFO] [1638071097.311165346, 1558997721.661386323]: drop tag with low viewing angle: 8.27843 [ INFO] [1638071097.319336902, 1558997721.661386323]: drop tag with low viewing angle: 10.394 [ INFO] [1638071097.323264994, 1558997721.661386323]: drop tag with low viewing angle: 8.27843 [ INFO] [1638071097.327923569, 1558997721.661386323]: drop tag with low viewing angle: 8.27843 [ INFO] [1638071097.335335423, 1558997721.661386323]: drop tag with low viewing angle: 10.394 [ WARN] [1638071097.335875589, 1558997721.661386323]: could not initialize subgraph! [ INFO] [1638071097.336158928, 1558997721.661386323]: optimizer: delta graph is 0! [ INFO] [1638071097.336397943, 1558997721.661386323]: [1558997722.157580633] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.336678417, 1558997721.661386323]: graph after update: opt fac: 4 unopt fac: 19 opt vals: 4 unopt vals: 14 [ INFO] [1638071097.359233152, 1558997722.157580633]: frame 11 [1558997722.653845081] cam: cam0 sees tags: 3 0 [ WARN] [1638071097.374811405, 1558997722.157580633]: original rot: 1.71045 is off from min: -1.75341 view angle: 8.00179, qr: 0.288518 [ INFO] [1638071097.375156047, 1558997722.157580633]: drop tag with low viewing angle: 8.00179 [ INFO] [1638071097.378996377, 1558997722.157580633]: [1558997722.653845081] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.379538887, 1558997722.157580633]: graph after update: opt fac: 6 unopt fac: 20 opt vals: 6 unopt vals: 14 [ INFO] [1638071097.382981346, 1558997722.653845081]: frame 12 [1558997723.150345650] cam: cam0 sees tags: 3 0 [ INFO] [1638071097.392652564, 1558997722.653845081]: drop tag at view angle 19.2167 with risk of flip: 0.637759 [ INFO] [1638071097.398655434, 1558997722.653845081]: drop tag with low viewing angle: 8.73979 [ INFO] [1638071097.408392539, 1558997722.653845081]: drop tag at view angle 19.2167 with risk of flip: 0.637759 [ INFO] [1638071097.414433587, 1558997722.653845081]: drop tag with low viewing angle: 8.73979 [ INFO] [1638071097.421237878, 1558997722.653845081]: drop tag with low viewing angle: 8.73979 [ INFO] [1638071097.430196219, 1558997722.653845081]: drop tag at view angle 19.2167 with risk of flip: 0.637759 [ WARN] [1638071097.430753208, 1558997722.653845081]: could not initialize subgraph! [ INFO] [1638071097.431029047, 1558997722.653845081]: optimizer: delta graph is 0! [ INFO] [1638071097.431268739, 1558997722.653845081]: [1558997723.150345650] subgraph err: 0, subgraph sum: 0 [ WARN] [1638071097.437470206, 1558997722.653845081]: original rot: 1.71045 is off from min: -1.75341 view angle: 8.00179, qr: 0.288518 [ INFO] [1638071097.437761774, 1558997722.653845081]: drop tag with low viewing angle: 8.00179 [ INFO] [1638071097.438633665, 1558997722.653845081]: optimizer: delta graph is 0! [ INFO] [1638071097.438966848, 1558997722.653845081]: [1558997722.653845081] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.439396231, 1558997722.653845081]: graph after update: opt fac: 6 unopt fac: 23 opt vals: 6 unopt vals: 16 [ INFO] [1638071097.469961789, 1558997723.150345650]: new tag 4 attached to grasp_lab [ INFO] [1638071097.472123079, 1558997723.150345650]: frame 13 [1558997723.647047490] cam: cam0 sees tags: 3 0 4 [ INFO] [1638071097.479148207, 1558997723.150345650]: drop tag at view angle 20.1249 with risk of flip: 0.663898 [ INFO] [1638071097.485082274, 1558997723.150345650]: drop tag at view angle 25.3965 with risk of flip: 0.68642 [ INFO] [1638071097.490790243, 1558997723.150345650]: drop tag with low viewing angle: 9.60065 [ INFO] [1638071097.497833028, 1558997723.150345650]: drop tag at view angle 20.1249 with risk of flip: 0.663898 [ INFO] [1638071097.503575633, 1558997723.150345650]: drop tag at view angle 25.3965 with risk of flip: 0.68642 [ INFO] [1638071097.509317144, 1558997723.150345650]: drop tag with low viewing angle: 9.60065 [ INFO] [1638071097.516068725, 1558997723.150345650]: drop tag at view angle 25.3965 with risk of flip: 0.68642 [ INFO] [1638071097.521698307, 1558997723.150345650]: drop tag with low viewing angle: 9.60065 [ INFO] [1638071097.527747324, 1558997723.150345650]: drop tag at view angle 20.1249 with risk of flip: 0.663898 [ INFO] [1638071097.534439165, 1558997723.150345650]: drop tag with low viewing angle: 9.60065 [ INFO] [1638071097.540465890, 1558997723.150345650]: drop tag at view angle 20.1249 with risk of flip: 0.663898 [ INFO] [1638071097.546393863, 1558997723.150345650]: drop tag at view angle 25.3965 with risk of flip: 0.68642 [ WARN] [1638071097.546939602, 1558997723.150345650]: could not initialize subgraph! [ INFO] [1638071097.547178044, 1558997723.150345650]: optimizer: delta graph is 0! [ INFO] [1638071097.547946287, 1558997723.150345650]: [1558997723.647047490] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.548326554, 1558997723.150345650]: graph after update: opt fac: 6 unopt fac: 27 opt vals: 6 unopt vals: 19 [ INFO] [1638071097.550724619, 1558997723.647047490]: frame 14 [1558997724.144552210] cam: cam0 sees tags: 4 3 0 [ INFO] [1638071097.557775373, 1558997723.647047490]: drop tag at view angle 20.3195 with risk of flip: 0.729609 [ INFO] [1638071097.562613013, 1558997723.647047490]: drop tag with low viewing angle: 9.06479 [ INFO] [1638071097.568351868, 1558997723.647047490]: drop tag at view angle 20.1057 with risk of flip: 0.629625 [ INFO] [1638071097.575454967, 1558997723.647047490]: drop tag at view angle 20.3195 with risk of flip: 0.729609 [ INFO] [1638071097.580252502, 1558997723.647047490]: drop tag with low viewing angle: 9.06479 [ INFO] [1638071097.586050785, 1558997723.647047490]: drop tag at view angle 20.1057 with risk of flip: 0.629625 [ INFO] [1638071097.591755525, 1558997723.647047490]: drop tag with low viewing angle: 9.06479 [ INFO] [1638071097.597532558, 1558997723.647047490]: drop tag at view angle 20.1057 with risk of flip: 0.629625 [ INFO] [1638071097.603632929, 1558997723.647047490]: drop tag at view angle 20.3195 with risk of flip: 0.729609 [ INFO] [1638071097.610496128, 1558997723.647047490]: drop tag at view angle 20.1057 with risk of flip: 0.629625 [ INFO] [1638071097.616515144, 1558997723.647047490]: drop tag at view angle 20.3195 with risk of flip: 0.729609 [ INFO] [1638071097.621270179, 1558997723.647047490]: drop tag with low viewing angle: 9.06479 [ WARN] [1638071097.621830502, 1558997723.647047490]: could not initialize subgraph! [ INFO] [1638071097.622110819, 1558997723.647047490]: optimizer: delta graph is 0! [ INFO] [1638071097.622374522, 1558997723.647047490]: [1558997724.144552210] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.622769685, 1558997723.647047490]: graph after update: opt fac: 6 unopt fac: 31 opt vals: 6 unopt vals: 21 [ INFO] [1638071097.652097877, 1558997724.144552210]: new tag 1 attached to grasp_lab [ INFO] [1638071097.654896210, 1558997724.144552210]: frame 15 [1558997724.641216967] cam: cam0 sees tags: 1 0 3 4 [ INFO] [1638071097.662067643, 1558997724.144552210]: drop tag at view angle 19.5009 with risk of flip: 0.90301 [ INFO] [1638071097.668128587, 1558997724.144552210]: drop tag at view angle 19.3448 with risk of flip: 0.592504 [ INFO] [1638071097.674838449, 1558997724.144552210]: drop tag with low viewing angle: 0.676813 [ INFO] [1638071097.681935141, 1558997724.144552210]: drop tag at view angle 19.5009 with risk of flip: 0.90301 [ INFO] [1638071097.687846864, 1558997724.144552210]: drop tag at view angle 19.3448 with risk of flip: 0.592504 [ INFO] [1638071097.694462245, 1558997724.144552210]: drop tag with low viewing angle: 0.676813 [ INFO] [1638071097.701549771, 1558997724.144552210]: drop tag at view angle 19.3448 with risk of flip: 0.592504 [ INFO] [1638071097.708100047, 1558997724.144552210]: drop tag with low viewing angle: 0.676813 [ INFO] [1638071097.714099479, 1558997724.144552210]: drop tag at view angle 19.5009 with risk of flip: 0.90301 [ INFO] [1638071097.721646388, 1558997724.144552210]: drop tag with low viewing angle: 0.676813 [ INFO] [1638071097.727699623, 1558997724.144552210]: drop tag at view angle 19.5009 with risk of flip: 0.90301 [ INFO] [1638071097.733745463, 1558997724.144552210]: drop tag at view angle 19.3448 with risk of flip: 0.592504 [ INFO] [1638071097.738649355, 1558997724.144552210]: drop tag with low viewing angle: 0.676813 [ INFO] [1638071097.744636756, 1558997724.144552210]: drop tag at view angle 19.5009 with risk of flip: 0.90301 [ INFO] [1638071097.750764576, 1558997724.144552210]: drop tag at view angle 19.3448 with risk of flip: 0.592504 [ WARN] [1638071097.754290890, 1558997724.144552210]: could not initialize subgraph! [ INFO] [1638071097.754583448, 1558997724.144552210]: optimizer: delta graph is 0! [ INFO] [1638071097.754843296, 1558997724.144552210]: [1558997724.641216967] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.755220699, 1558997724.144552210]: graph after update: opt fac: 6 unopt fac: 36 opt vals: 6 unopt vals: 24 [ INFO] [1638071097.758330183, 1558997724.641216967]: frame 16 [1558997725.138829077] cam: cam0 sees tags: 3 0 4 1 [ INFO] [1638071097.765500106, 1558997724.641216967]: drop tag at view angle 21.5823 with risk of flip: 0.971888 [ INFO] [1638071097.769506689, 1558997724.641216967]: drop tag with low viewing angle: 0.762002 [ INFO] [1638071097.775522372, 1558997724.641216967]: drop tag at view angle 14.1985 with risk of flip: 0.571315 [ INFO] [1638071097.782180723, 1558997724.641216967]: drop tag with low viewing angle: 3.5408 [ INFO] [1638071097.789121683, 1558997724.641216967]: drop tag at view angle 21.5823 with risk of flip: 0.971888 [ INFO] [1638071097.793065714, 1558997724.641216967]: drop tag with low viewing angle: 0.762002 [ INFO] [1638071097.799102595, 1558997724.641216967]: drop tag at view angle 14.1985 with risk of flip: 0.571315 [ INFO] [1638071097.805590838, 1558997724.641216967]: drop tag with low viewing angle: 3.5408 [ INFO] [1638071097.810676921, 1558997724.641216967]: drop tag with low viewing angle: 0.762002 [ INFO] [1638071097.816632134, 1558997724.641216967]: drop tag at view angle 14.1985 with risk of flip: 0.571315 [ INFO] [1638071097.823160534, 1558997724.641216967]: drop tag with low viewing angle: 3.5408 [ INFO] [1638071097.829278823, 1558997724.641216967]: drop tag at view angle 21.5823 with risk of flip: 0.971888 [ INFO] [1638071097.836350723, 1558997724.641216967]: drop tag at view angle 14.1985 with risk of flip: 0.571315 [ INFO] [1638071097.843033814, 1558997724.641216967]: drop tag with low viewing angle: 3.5408 [ INFO] [1638071097.849079654, 1558997724.641216967]: drop tag at view angle 21.5823 with risk of flip: 0.971888 [ INFO] [1638071097.853048841, 1558997724.641216967]: drop tag with low viewing angle: 0.762002 [ INFO] [1638071097.860638667, 1558997724.641216967]: drop tag with low viewing angle: 3.5408 [ INFO] [1638071097.866700861, 1558997724.641216967]: drop tag at view angle 21.5823 with risk of flip: 0.971888 [ INFO] [1638071097.870550671, 1558997724.641216967]: drop tag with low viewing angle: 0.762002 [ INFO] [1638071097.876487602, 1558997724.641216967]: drop tag at view angle 14.1985 with risk of flip: 0.571315 [ WARN] [1638071097.877097874, 1558997724.641216967]: could not initialize subgraph! [ INFO] [1638071097.877384754, 1558997724.641216967]: optimizer: delta graph is 0! [ INFO] [1638071097.877636582, 1558997724.641216967]: [1558997725.138829077] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071097.878038256, 1558997724.641216967]: graph after update: opt fac: 6 unopt fac: 41 opt vals: 6 unopt vals: 26 [ INFO] [1638071097.910842188, 1558997725.138829077]: frame 17 [1558997725.636018856] cam: cam0 sees tags: 1 3 4 0 [ INFO] [1638071097.921125189, 1558997725.138829077]: drop tag at view angle 33.5241 with risk of flip: 0.561607 [ WARN] [1638071097.930427598, 1558997725.138829077]: original rot: 1.20776 is off from min: 1.32043 view angle: 20.8004, qr: 0 [ INFO] [1638071097.934396525, 1558997725.138829077]: drop tag with low viewing angle: 1.46759 [ INFO] [1638071097.937954767, 1558997725.138829077]: drop tag with low viewing angle: 1.13926 [ INFO] [1638071097.948018128, 1558997725.138829077]: drop tag at view angle 33.5241 with risk of flip: 0.561607 [ WARN] [1638071097.957097617, 1558997725.138829077]: original rot: 1.20776 is off from min: 1.32043 view angle: 20.8004, qr: 0 [ INFO] [1638071097.961127065, 1558997725.138829077]: drop tag with low viewing angle: 1.46759 [ INFO] [1638071097.964549940, 1558997725.138829077]: drop tag with low viewing angle: 1.13926 [ WARN] [1638071097.974682365, 1558997725.138829077]: original rot: 1.20776 is off from min: 1.32043 view angle: 20.8004, qr: 0 [ INFO] [1638071097.978696188, 1558997725.138829077]: drop tag with low viewing angle: 1.46759 [ INFO] [1638071097.982193596, 1558997725.138829077]: drop tag with low viewing angle: 1.13926 [ INFO] [1638071097.991050789, 1558997725.138829077]: drop tag at view angle 33.5241 with risk of flip: 0.561607 [ INFO] [1638071097.996133174, 1558997725.138829077]: drop tag with low viewing angle: 1.46759 [ INFO] [1638071097.999580476, 1558997725.138829077]: drop tag with low viewing angle: 1.13926 [ INFO] [1638071098.008459067, 1558997725.138829077]: drop tag at view angle 33.5241 with risk of flip: 0.561607 [ WARN] [1638071098.017596881, 1558997725.138829077]: original rot: 1.20776 is off from min: 1.32043 view angle: 20.8004, qr: 0 [ INFO] [1638071098.022191334, 1558997725.138829077]: drop tag with low viewing angle: 1.13926 [ INFO] [1638071098.031222531, 1558997725.138829077]: drop tag at view angle 33.5241 with risk of flip: 0.561607 [ WARN] [1638071098.040281176, 1558997725.138829077]: original rot: 1.20776 is off from min: 1.32043 view angle: 20.8004, qr: 0 [ INFO] [1638071098.044344683, 1558997725.138829077]: drop tag with low viewing angle: 1.46759 [ WARN] [1638071098.044974226, 1558997725.138829077]: could not initialize subgraph! [ INFO] [1638071098.045259387, 1558997725.138829077]: optimizer: delta graph is 0! [ INFO] [1638071098.045525850, 1558997725.138829077]: [1558997725.636018856] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.045905908, 1558997725.138829077]: graph after update: opt fac: 6 unopt fac: 46 opt vals: 6 unopt vals: 28 [ INFO] [1638071098.048637882, 1558997725.636018856]: frame 18 [1558997726.133547447] cam: cam0 sees tags: 4 1 3 0 [ INFO] [1638071098.055698003, 1558997725.636018856]: drop tag at view angle 23.3469 with risk of flip: 0.732259 [ INFO] [1638071098.059517236, 1558997725.636018856]: drop tag with low viewing angle: 1.93817 [ INFO] [1638071098.063646577, 1558997725.636018856]: drop tag with low viewing angle: 5.36516 [ INFO] [1638071098.067475237, 1558997725.636018856]: drop tag with low viewing angle: 9.61074 [ INFO] [1638071098.074596609, 1558997725.636018856]: drop tag at view angle 23.3469 with risk of flip: 0.732259 [ INFO] [1638071098.078448238, 1558997725.636018856]: drop tag with low viewing angle: 1.93817 [ INFO] [1638071098.082533152, 1558997725.636018856]: drop tag with low viewing angle: 5.36516 [ INFO] [1638071098.086253476, 1558997725.636018856]: drop tag with low viewing angle: 9.61074 [ INFO] [1638071098.091059027, 1558997725.636018856]: drop tag with low viewing angle: 1.93817 [ INFO] [1638071098.095201911, 1558997725.636018856]: drop tag with low viewing angle: 5.36516 [ INFO] [1638071098.098944631, 1558997725.636018856]: drop tag with low viewing angle: 9.61074 [ INFO] [1638071098.104900515, 1558997725.636018856]: drop tag at view angle 23.3469 with risk of flip: 0.732259 [ INFO] [1638071098.110149667, 1558997725.636018856]: drop tag with low viewing angle: 5.36516 [ INFO] [1638071098.113897909, 1558997725.636018856]: drop tag with low viewing angle: 9.61074 [ INFO] [1638071098.119992180, 1558997725.636018856]: drop tag at view angle 23.3469 with risk of flip: 0.732259 [ INFO] [1638071098.123779901, 1558997725.636018856]: drop tag with low viewing angle: 1.93817 [ INFO] [1638071098.128697642, 1558997725.636018856]: drop tag with low viewing angle: 9.61074 [ INFO] [1638071098.134766080, 1558997725.636018856]: drop tag at view angle 23.3469 with risk of flip: 0.732259 [ INFO] [1638071098.138540467, 1558997725.636018856]: drop tag with low viewing angle: 1.93817 [ INFO] [1638071098.142739966, 1558997725.636018856]: drop tag with low viewing angle: 5.36516 [ WARN] [1638071098.143296382, 1558997725.636018856]: could not initialize subgraph! [ INFO] [1638071098.143550814, 1558997725.636018856]: optimizer: delta graph is 0! [ INFO] [1638071098.143793682, 1558997725.636018856]: [1558997726.133547447] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.144206919, 1558997725.636018856]: graph after update: opt fac: 6 unopt fac: 51 opt vals: 6 unopt vals: 30 [ INFO] [1638071098.179081424, 1558997726.133547447]: frame 19 [1558997726.631469665] cam: cam0 sees tags: 3 1 4 0 [ INFO] [1638071098.184493079, 1558997726.133547447]: drop tag at view angle 33.1317 with risk of flip: 0.451132 [ INFO] [1638071098.188683932, 1558997726.133547447]: drop tag with low viewing angle: 7.65049 [ INFO] [1638071098.196180415, 1558997726.133547447]: drop tag with low viewing angle: 4.5319 [ INFO] [1638071098.203710232, 1558997726.133547447]: drop tag with low viewing angle: 0.75179 [ INFO] [1638071098.209054126, 1558997726.133547447]: drop tag at view angle 33.1317 with risk of flip: 0.451132 [ INFO] [1638071098.213158102, 1558997726.133547447]: drop tag with low viewing angle: 7.65049 [ INFO] [1638071098.220521406, 1558997726.133547447]: drop tag with low viewing angle: 4.5319 [ INFO] [1638071098.227958044, 1558997726.133547447]: drop tag with low viewing angle: 0.75179 [ INFO] [1638071098.233190217, 1558997726.133547447]: drop tag with low viewing angle: 7.65049 [ INFO] [1638071098.240452217, 1558997726.133547447]: drop tag with low viewing angle: 4.5319 [ INFO] [1638071098.247830260, 1558997726.133547447]: drop tag with low viewing angle: 0.75179 [ INFO] [1638071098.251963717, 1558997726.133547447]: drop tag at view angle 33.1317 with risk of flip: 0.451132 [ INFO] [1638071098.260463602, 1558997726.133547447]: drop tag with low viewing angle: 4.5319 [ INFO] [1638071098.267811853, 1558997726.133547447]: drop tag with low viewing angle: 0.75179 [ INFO] [1638071098.271923799, 1558997726.133547447]: drop tag at view angle 33.1317 with risk of flip: 0.451132 [ INFO] [1638071098.276108037, 1558997726.133547447]: drop tag with low viewing angle: 7.65049 [ INFO] [1638071098.284597662, 1558997726.133547447]: drop tag with low viewing angle: 0.75179 [ INFO] [1638071098.288778307, 1558997726.133547447]: drop tag at view angle 33.1317 with risk of flip: 0.451132 [ INFO] [1638071098.292945983, 1558997726.133547447]: drop tag with low viewing angle: 7.65049 [ INFO] [1638071098.300281109, 1558997726.133547447]: drop tag with low viewing angle: 4.5319 [ WARN] [1638071098.300778148, 1558997726.133547447]: could not initialize subgraph! [ INFO] [1638071098.301082685, 1558997726.133547447]: optimizer: delta graph is 0! [ INFO] [1638071098.301343783, 1558997726.133547447]: [1558997726.631469665] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.301752384, 1558997726.133547447]: graph after update: opt fac: 6 unopt fac: 56 opt vals: 6 unopt vals: 32 [ INFO] [1638071098.304530557, 1558997726.631469665]: frame 20 [1558997727.129493278] cam: cam0 sees tags: 3 0 4 1 [ INFO] [1638071098.315220584, 1558997726.631469665]: drop tag with low viewing angle: 8.4919 [ INFO] [1638071098.322042003, 1558997726.631469665]: drop tag at view angle 17.696 with risk of flip: 0.340392 [ INFO] [1638071098.327521524, 1558997726.631469665]: drop tag with low viewing angle: 1.82564 [ INFO] [1638071098.331676595, 1558997726.631469665]: [1558997727.129493278] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.332332857, 1558997726.631469665]: graph after update: opt fac: 8 unopt fac: 59 opt vals: 8 unopt vals: 32 [ INFO] [1638071098.399911100, 1558997727.129493278]: frame 21 [1558997727.628015360] cam: cam0 sees tags: 3 0 4 1 [ INFO] [1638071098.409962158, 1558997727.129493278]: drop tag at view angle 41.622 with risk of flip: 0.717527 [ INFO] [1638071098.415161050, 1558997727.129493278]: drop tag with low viewing angle: 2.7156 [ INFO] [1638071098.420510933, 1558997727.129493278]: drop tag with low viewing angle: 2.71224 [ INFO] [1638071098.426066133, 1558997727.129493278]: drop tag with low viewing angle: 6.00751 [ INFO] [1638071098.435946771, 1558997727.129493278]: drop tag at view angle 41.622 with risk of flip: 0.717527 [ INFO] [1638071098.441074463, 1558997727.129493278]: drop tag with low viewing angle: 2.7156 [ INFO] [1638071098.446491119, 1558997727.129493278]: drop tag with low viewing angle: 2.71224 [ INFO] [1638071098.451917722, 1558997727.129493278]: drop tag with low viewing angle: 6.00751 [ INFO] [1638071098.458154965, 1558997727.129493278]: drop tag with low viewing angle: 2.7156 [ INFO] [1638071098.463446410, 1558997727.129493278]: drop tag with low viewing angle: 2.71224 [ INFO] [1638071098.468807387, 1558997727.129493278]: drop tag with low viewing angle: 6.00751 [ INFO] [1638071098.477620143, 1558997727.129493278]: drop tag at view angle 41.622 with risk of flip: 0.717527 [ INFO] [1638071098.484146036, 1558997727.129493278]: drop tag with low viewing angle: 2.71224 [ INFO] [1638071098.489560868, 1558997727.129493278]: drop tag with low viewing angle: 6.00751 [ INFO] [1638071098.498274508, 1558997727.129493278]: drop tag at view angle 41.622 with risk of flip: 0.717527 [ INFO] [1638071098.503208394, 1558997727.129493278]: drop tag with low viewing angle: 2.7156 [ INFO] [1638071098.509830956, 1558997727.129493278]: drop tag with low viewing angle: 6.00751 [ INFO] [1638071098.518527095, 1558997727.129493278]: drop tag at view angle 41.622 with risk of flip: 0.717527 [ INFO] [1638071098.523534420, 1558997727.129493278]: drop tag with low viewing angle: 2.7156 [ INFO] [1638071098.529005452, 1558997727.129493278]: drop tag with low viewing angle: 2.71224 [ WARN] [1638071098.529652703, 1558997727.129493278]: could not initialize subgraph! [ INFO] [1638071098.529898436, 1558997727.129493278]: optimizer: delta graph is 0! [ INFO] [1638071098.530161618, 1558997727.129493278]: [1558997727.628015360] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.536698188, 1558997727.129493278]: drop tag with low viewing angle: 8.4919 [ INFO] [1638071098.544486655, 1558997727.129493278]: drop tag at view angle 17.696 with risk of flip: 0.340392 [ INFO] [1638071098.550601552, 1558997727.129493278]: drop tag with low viewing angle: 1.82564 [ INFO] [1638071098.551595215, 1558997727.129493278]: optimizer: delta graph is 0! [ INFO] [1638071098.551886834, 1558997727.129493278]: [1558997727.129493278] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.552542210, 1558997727.129493278]: graph after update: opt fac: 8 unopt fac: 64 opt vals: 8 unopt vals: 34 [ INFO] [1638071098.555361061, 1558997727.628015360]: frame 22 [1558997728.126880675] cam: cam0 sees tags: 3 0 4 1 [ INFO] [1638071098.567658928, 1558997727.628015360]: drop tag at view angle 54.5293 with risk of flip: 0.965343 [ INFO] [1638071098.572719744, 1558997727.628015360]: drop tag with low viewing angle: 1.22188 [ INFO] [1638071098.577139612, 1558997727.628015360]: drop tag with low viewing angle: 0.249742 [ INFO] [1638071098.583507013, 1558997727.628015360]: [1558997728.126880675] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.584177701, 1558997727.628015360]: graph after update: opt fac: 10 unopt fac: 67 opt vals: 10 unopt vals: 34 [ INFO] [1638071098.618646730, 1558997728.126880675]: new tag 5 attached to grasp_lab [ INFO] [1638071098.621757773, 1558997728.126880675]: frame 23 [1558997728.625849960] cam: cam0 sees tags: 1 0 3 4 5 [ INFO] [1638071098.627121043, 1558997728.126880675]: drop tag at view angle 36.1679 with risk of flip: 0.369657 [ INFO] [1638071098.633231877, 1558997728.126880675]: drop tag at view angle 20.0383 with risk of flip: 0.571687 [ INFO] [1638071098.641971662, 1558997728.126880675]: drop tag with low viewing angle: 4.04764 [ INFO] [1638071098.648710111, 1558997728.126880675]: drop tag at view angle 22.295 with risk of flip: 0.996724 [ INFO] [1638071098.661767939, 1558997728.126880675]: drop tag at view angle 36.1679 with risk of flip: 0.369657 [ INFO] [1638071098.667764449, 1558997728.126880675]: drop tag at view angle 20.0383 with risk of flip: 0.571687 [ INFO] [1638071098.676499338, 1558997728.126880675]: drop tag with low viewing angle: 4.04764 [ INFO] [1638071098.683191536, 1558997728.126880675]: drop tag at view angle 22.295 with risk of flip: 0.996724 [ INFO] [1638071098.698328098, 1558997728.126880675]: drop tag at view angle 20.0383 with risk of flip: 0.571687 [ INFO] [1638071098.706989497, 1558997728.126880675]: drop tag with low viewing angle: 4.04764 [ INFO] [1638071098.713836698, 1558997728.126880675]: drop tag at view angle 22.295 with risk of flip: 0.996724 [ INFO] [1638071098.725726329, 1558997728.126880675]: drop tag at view angle 36.1679 with risk of flip: 0.369657 [ INFO] [1638071098.735819575, 1558997728.126880675]: drop tag with low viewing angle: 4.04764 [ INFO] [1638071098.742642609, 1558997728.126880675]: drop tag at view angle 22.295 with risk of flip: 0.996724 [ INFO] [1638071098.754560522, 1558997728.126880675]: drop tag at view angle 36.1679 with risk of flip: 0.369657 [ INFO] [1638071098.760628439, 1558997728.126880675]: drop tag at view angle 20.0383 with risk of flip: 0.571687 [ INFO] [1638071098.768562846, 1558997728.126880675]: drop tag at view angle 22.295 with risk of flip: 0.996724 [ INFO] [1638071098.780385705, 1558997728.126880675]: drop tag at view angle 36.1679 with risk of flip: 0.369657 [ INFO] [1638071098.786383152, 1558997728.126880675]: drop tag at view angle 20.0383 with risk of flip: 0.571687 [ INFO] [1638071098.795257783, 1558997728.126880675]: drop tag with low viewing angle: 4.04764 [ INFO] [1638071098.808206287, 1558997728.126880675]: drop tag at view angle 36.1679 with risk of flip: 0.369657 [ INFO] [1638071098.814338423, 1558997728.126880675]: drop tag at view angle 20.0383 with risk of flip: 0.571687 [ INFO] [1638071098.821084372, 1558997728.126880675]: drop tag with low viewing angle: 4.04764 [ INFO] [1638071098.824062132, 1558997728.126880675]: drop tag at view angle 22.295 with risk of flip: 0.996724 [ WARN] [1638071098.824377137, 1558997728.126880675]: could not initialize subgraph! [ INFO] [1638071098.824506410, 1558997728.126880675]: optimizer: delta graph is 0! [ INFO] [1638071098.824616204, 1558997728.126880675]: [1558997728.625849960] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.827342865, 1558997728.126880675]: drop tag with low viewing angle: 1.22188 [ INFO] [1638071098.829946608, 1558997728.126880675]: drop tag with low viewing angle: 0.249742 [ INFO] [1638071098.834508822, 1558997728.126880675]: drop tag at view angle 54.5293 with risk of flip: 0.965343 [ INFO] [1638071098.835040602, 1558997728.126880675]: optimizer: delta graph is 0! [ INFO] [1638071098.835210292, 1558997728.126880675]: [1558997728.126880675] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.835559465, 1558997728.126880675]: graph after update: opt fac: 10 unopt fac: 73 opt vals: 10 unopt vals: 37 [ INFO] [1638071098.837146627, 1558997728.625849960]: frame 24 [1558997729.125450244] cam: cam0 sees tags: 3 4 1 0 5 [ INFO] [1638071098.839545002, 1558997728.625849960]: drop tag with low viewing angle: 11.4612 [ INFO] [1638071098.842236454, 1558997728.625849960]: drop tag at view angle 23.1087 with risk of flip: 0.567875 [ INFO] [1638071098.846129594, 1558997728.625849960]: drop tag at view angle 45.8235 with risk of flip: 0.805247 [ INFO] [1638071098.849874711, 1558997728.625849960]: drop tag at view angle 20.4694 with risk of flip: 0.724179 [ INFO] [1638071098.853821237, 1558997728.625849960]: drop tag at view angle 40.5137 with risk of flip: 0.842714 [ INFO] [1638071098.856266226, 1558997728.625849960]: drop tag with low viewing angle: 11.4612 [ INFO] [1638071098.858997628, 1558997728.625849960]: drop tag at view angle 23.1087 with risk of flip: 0.567875 [ INFO] [1638071098.862879465, 1558997728.625849960]: drop tag at view angle 45.8235 with risk of flip: 0.805247 [ INFO] [1638071098.866672082, 1558997728.625849960]: drop tag at view angle 20.4694 with risk of flip: 0.724179 [ INFO] [1638071098.870603296, 1558997728.625849960]: drop tag at view angle 40.5137 with risk of flip: 0.842714 [ INFO] [1638071098.873984447, 1558997728.625849960]: drop tag at view angle 23.1087 with risk of flip: 0.567875 [ INFO] [1638071098.877888108, 1558997728.625849960]: drop tag at view angle 45.8235 with risk of flip: 0.805247 [ INFO] [1638071098.881679840, 1558997728.625849960]: drop tag at view angle 20.4694 with risk of flip: 0.724179 [ INFO] [1638071098.885659075, 1558997728.625849960]: drop tag at view angle 40.5137 with risk of flip: 0.842714 [ INFO] [1638071098.887420928, 1558997728.625849960]: drop tag with low viewing angle: 11.4612 [ INFO] [1638071098.891934130, 1558997728.625849960]: drop tag at view angle 45.8235 with risk of flip: 0.805247 [ INFO] [1638071098.895723466, 1558997728.625849960]: drop tag at view angle 20.4694 with risk of flip: 0.724179 [ INFO] [1638071098.899704420, 1558997728.625849960]: drop tag at view angle 40.5137 with risk of flip: 0.842714 [ INFO] [1638071098.901426898, 1558997728.625849960]: drop tag with low viewing angle: 11.4612 [ INFO] [1638071098.904073245, 1558997728.625849960]: drop tag at view angle 23.1087 with risk of flip: 0.567875 [ INFO] [1638071098.908499102, 1558997728.625849960]: drop tag at view angle 20.4694 with risk of flip: 0.724179 [ INFO] [1638071098.912525005, 1558997728.625849960]: drop tag at view angle 40.5137 with risk of flip: 0.842714 [ INFO] [1638071098.914300400, 1558997728.625849960]: drop tag with low viewing angle: 11.4612 [ INFO] [1638071098.916975706, 1558997728.625849960]: drop tag at view angle 23.1087 with risk of flip: 0.567875 [ INFO] [1638071098.920717698, 1558997728.625849960]: drop tag at view angle 45.8235 with risk of flip: 0.805247 [ INFO] [1638071098.930736620, 1558997728.625849960]: drop tag at view angle 40.5137 with risk of flip: 0.842714 [ INFO] [1638071098.934524705, 1558997728.625849960]: drop tag with low viewing angle: 11.4612 [ INFO] [1638071098.940479339, 1558997728.625849960]: drop tag at view angle 23.1087 with risk of flip: 0.567875 [ INFO] [1638071098.949284334, 1558997728.625849960]: drop tag at view angle 45.8235 with risk of flip: 0.805247 [ INFO] [1638071098.957698697, 1558997728.625849960]: drop tag at view angle 20.4694 with risk of flip: 0.724179 [ WARN] [1638071098.958299437, 1558997728.625849960]: could not initialize subgraph! [ INFO] [1638071098.958560639, 1558997728.625849960]: optimizer: delta graph is 0! [ INFO] [1638071098.958807883, 1558997728.625849960]: [1558997729.125450244] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071098.959262005, 1558997728.625849960]: graph after update: opt fac: 10 unopt fac: 79 opt vals: 10 unopt vals: 39 [ INFO] [1638071098.991428964, 1558997729.125450244]: new tag 2 attached to grasp_lab [ INFO] [1638071098.995039390, 1558997729.125450244]: frame 25 [1558997729.624504313] cam: cam0 sees tags: 4 5 0 1 3 2 [ INFO] [1638071099.007662464, 1558997729.125450244]: drop tag with low viewing angle: 0.45688 [ INFO] [1638071099.017125793, 1558997729.125450244]: drop tag with low viewing angle: 5.34708 [ INFO] [1638071099.023135265, 1558997729.125450244]: drop tag at view angle 23.2978 with risk of flip: 0.867574 [ INFO] [1638071099.029291405, 1558997729.125450244]: drop tag at view angle 16.6541 with risk of flip: 0.540458 [ INFO] [1638071099.040346740, 1558997729.125450244]: [1558997729.624504313] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.041217483, 1558997729.125450244]: graph after update: opt fac: 13 unopt fac: 83 opt vals: 13 unopt vals: 39 [ INFO] [1638071099.045706565, 1558997729.624504313]: frame 26 [1558997730.124480211] cam: cam0 sees tags: 4 1 0 2 5 [ INFO] [1638071099.058668961, 1558997729.624504313]: drop tag with low viewing angle: 5.14702 [ INFO] [1638071099.063851180, 1558997729.624504313]: drop tag with low viewing angle: 0.259704 [ INFO] [1638071099.072704760, 1558997729.624504313]: drop tag at view angle 28.6699 with risk of flip: 0.626837 [ INFO] [1638071099.078740221, 1558997729.624504313]: drop tag at view angle 26.87 with risk of flip: 0.355267 [ INFO] [1638071099.083642332, 1558997729.624504313]: [1558997730.124480211] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.090482858, 1558997729.624504313]: drop tag at view angle 16.6541 with risk of flip: 0.540458 [ INFO] [1638071099.100094627, 1558997729.624504313]: drop tag with low viewing angle: 0.45688 [ INFO] [1638071099.107145574, 1558997729.624504313]: drop tag at view angle 23.2978 with risk of flip: 0.867574 [ INFO] [1638071099.108079704, 1558997729.624504313]: optimizer: delta graph is 0! [ INFO] [1638071099.108388094, 1558997729.624504313]: [1558997729.624504313] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.109162013, 1558997729.624504313]: graph after update: opt fac: 16 unopt fac: 86 opt vals: 15 unopt vals: 39 [ INFO] [1638071099.143560535, 1558997730.124480211]: frame 27 [1558997730.624825795] cam: cam0 sees tags: 4 1 0 5 2 [ INFO] [1638071099.152360676, 1558997730.124480211]: drop tag with low viewing angle: 0.216558 [ INFO] [1638071099.155983547, 1558997730.124480211]: drop tag with low viewing angle: 8.6965 [ INFO] [1638071099.165124319, 1558997730.124480211]: drop tag at view angle 46.7035 with risk of flip: 0.838841 [ INFO] [1638071099.171001497, 1558997730.124480211]: drop tag at view angle 29.0163 with risk of flip: 0.334438 [ INFO] [1638071099.176127048, 1558997730.124480211]: [1558997730.624825795] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.182146728, 1558997730.124480211]: drop tag with low viewing angle: 0.259704 [ INFO] [1638071099.192144233, 1558997730.124480211]: drop tag with low viewing angle: 5.14702 [ INFO] [1638071099.202197571, 1558997730.124480211]: drop tag at view angle 28.6699 with risk of flip: 0.626837 [ INFO] [1638071099.203137378, 1558997730.124480211]: optimizer: delta graph is 0! [ INFO] [1638071099.203453112, 1558997730.124480211]: [1558997730.124480211] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.212927848, 1558997730.124480211]: drop tag with low viewing angle: 0.45688 [ INFO] [1638071099.219976555, 1558997730.124480211]: drop tag at view angle 16.6541 with risk of flip: 0.540458 [ INFO] [1638071099.227206151, 1558997730.124480211]: drop tag at view angle 23.2978 with risk of flip: 0.867574 [ INFO] [1638071099.228211531, 1558997730.124480211]: optimizer: delta graph is 0! [ INFO] [1638071099.228523672, 1558997730.124480211]: [1558997729.624504313] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.229250767, 1558997730.124480211]: graph after update: opt fac: 19 unopt fac: 89 opt vals: 17 unopt vals: 39 [ INFO] [1638071099.233781933, 1558997730.624825795]: frame 28 [1558997731.124585186] cam: cam0 sees tags: 4 0 5 1 2 [ INFO] [1638071099.243385004, 1558997730.624825795]: drop tag with low viewing angle: 0.215341 [ INFO] [1638071099.252346763, 1558997730.624825795]: drop tag at view angle 28.3431 with risk of flip: 0.630006 [ INFO] [1638071099.256140470, 1558997730.624825795]: drop tag with low viewing angle: 9.66281 [ INFO] [1638071099.262128223, 1558997730.624825795]: drop tag at view angle 28.1715 with risk of flip: 0.356708 [ INFO] [1638071099.267254920, 1558997730.624825795]: [1558997731.124585186] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.272498910, 1558997730.624825795]: drop tag with low viewing angle: 0.216558 [ INFO] [1638071099.282586572, 1558997730.624825795]: drop tag at view angle 46.7035 with risk of flip: 0.838841 [ INFO] [1638071099.287046123, 1558997730.624825795]: drop tag with low viewing angle: 8.6965 [ INFO] [1638071099.288065515, 1558997730.624825795]: optimizer: delta graph is 0! [ INFO] [1638071099.288375676, 1558997730.624825795]: [1558997730.624825795] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.294397075, 1558997730.624825795]: drop tag with low viewing angle: 0.259704 [ INFO] [1638071099.304391558, 1558997730.624825795]: drop tag at view angle 28.6699 with risk of flip: 0.626837 [ INFO] [1638071099.314599379, 1558997730.624825795]: drop tag with low viewing angle: 5.14702 [ INFO] [1638071099.315547259, 1558997730.624825795]: optimizer: delta graph is 0! [ INFO] [1638071099.315833878, 1558997730.624825795]: [1558997730.124480211] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.325194445, 1558997730.624825795]: drop tag with low viewing angle: 0.45688 [ INFO] [1638071099.332388467, 1558997730.624825795]: drop tag at view angle 23.2978 with risk of flip: 0.867574 [ INFO] [1638071099.339359881, 1558997730.624825795]: drop tag at view angle 16.6541 with risk of flip: 0.540458 [ INFO] [1638071099.340291667, 1558997730.624825795]: optimizer: delta graph is 0! [ INFO] [1638071099.340593911, 1558997730.624825795]: [1558997729.624504313] subgraph err: 0, subgraph sum: 0 [ INFO] [1638071099.341404133, 1558997730.624825795]: graph after update: opt fac: 22 unopt fac: 92 opt vals: 19 unopt vals: 39 [ INFO] [1638071099.375361189, 1558997731.124585186]: frame 29 [1558997731.624657439] cam: cam0 sees tags: 1 4 3 0 5 2 [ INFO] [1638071099.384266124, 1558997731.124585186]: drop tag with low viewing angle: 5.63239 [ INFO] [1638071099.388734008, 1558997731.124585186]: drop tag with low viewing angle: 0.223543 [ INFO] [1638071099.396011209, 1558997731.124585186]: drop tag at view angle 21.1554 with risk of flip: 0.608641 [ INFO] [1638071099.402006097, 1558997731.124585186]: drop tag with low viewing angle: 5.48272 [ INFO] [1638071099.416378620, 1558997731.124585186]: drop tag at view angle 29.1815 with risk of flip: 0.628113 [ WARN] [1638071099.433194880, 1558997731.124585186]: optimizer crapped out! [ WARN] [1638071099.433532541, 1558997731.124585186]: Indeterminant linear system detected while working near variable 14 (Symbol: 14).

Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. [ INFO] [1638071099.433856661, 1558997731.124585186]: updater performance: eraseStoredFactors = tot: 285us per: 8+-7(1-42) count: 35 subgraphOpt = tot: 3022us per: 88+-56(41-380) count: 34 initializeFromSubgraphs = tot: 4683us per: 137+-135(31-421) count: 34 findSubGraphs = tot: 8137us per: 137+-102(21-429) count: 59 optimize = tot: 29723us per: 849+-1235(92-4796) count: 35 initializeSubgraphs = tot: 1844747us per: 35475+-44401(923-202004) count: 52 processNewFactors = tot: 1871696us per: 64541+-52815(2-213680) count: 29

[ INFO] [1638071099.434630476, 1558997731.124585186]: unoptimized: p:tag:3,t:0 [ INFO] [1638071099.434878344, 1558997731.124585186]: unoptimized: p:body:rig,t:719179 [ INFO] [1638071099.435099285, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:719179 [ INFO] [1638071099.435293715, 1558997731.124585186]: unoptimized: p:body:rig,t:719676 [ INFO] [1638071099.435468302, 1558997731.124585186]: unoptimized: p:cam:cam0,t:719676 [ INFO] [1638071099.435659971, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:719676 [ INFO] [1638071099.435857318, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:719676 [ INFO] [1638071099.436052946, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:719676 [ INFO] [1638071099.436263054, 1558997731.124585186]: unoptimized: p:body:rig,t:720173 [ INFO] [1638071099.436460088, 1558997731.124585186]: unoptimized: p:cam:cam0,t:720173 [ INFO] [1638071099.436661029, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:720173 [ INFO] [1638071099.436923898, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:720173 [ INFO] [1638071099.437121245, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:720173 [ INFO] [1638071099.437328436, 1558997731.124585186]: unoptimized: p:body:rig,t:720669 [ INFO] [1638071099.437524272, 1558997731.124585186]: unoptimized: p:cam:cam0,t:720669 [ INFO] [1638071099.437705681, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:720669 [ INFO] [1638071099.437905632, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:720669 [ INFO] [1638071099.438095063, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:720669 [ INFO] [1638071099.438296055, 1558997731.124585186]: unoptimized: p:body:rig,t:721165 [ INFO] [1638071099.438488611, 1558997731.124585186]: unoptimized: p:cam:cam0,t:721165 [ INFO] [1638071099.438662259, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:721165 [ INFO] [1638071099.438843304, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:721165 [ INFO] [1638071099.439020390, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:721165 [ INFO] [1638071099.439196278, 1558997731.124585186]: unoptimized: p:body:rig,t:721661 [ INFO] [1638071099.439380448, 1558997731.124585186]: unoptimized: p:cam:cam0,t:721661 [ INFO] [1638071099.439549513, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:721661 [ INFO] [1638071099.439726183, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:721661 [ INFO] [1638071099.439907071, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:721661 [ INFO] [1638071099.440098480, 1558997731.124585186]: unoptimized: p:body:rig,t:722157 [ INFO] [1638071099.440288796, 1558997731.124585186]: unoptimized: p:cam:cam0,t:722157 [ INFO] [1638071099.440464267, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:722157 [ INFO] [1638071099.440640156, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:722157 [ INFO] [1638071099.440823648, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:722157 [ INFO] [1638071099.441100476, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:722653 [ INFO] [1638071099.441285166, 1558997731.124585186]: unoptimized: p:body:rig,t:723150 [ INFO] [1638071099.441454804, 1558997731.124585186]: unoptimized: p:cam:cam0,t:723150 [ INFO] [1638071099.441651786, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:723150 [ INFO] [1638071099.441862050, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:723150 [ INFO] [1638071099.442068356, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:723150 [ INFO] [1638071099.442278984, 1558997731.124585186]: unoptimized: p:body:rig,t:723647 [ INFO] [1638071099.442464247, 1558997731.124585186]: unoptimized: p:cam:cam0,t:723647 [ INFO] [1638071099.442638521, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:723647 [ INFO] [1638071099.442829826, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:723647 [ INFO] [1638071099.443031340, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:723647 [ INFO] [1638071099.443236604, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:723647 [ INFO] [1638071099.443428690, 1558997731.124585186]: unoptimized: p:body:rig,t:724144 [ INFO] [1638071099.443633329, 1558997731.124585186]: unoptimized: p:cam:cam0,t:724144 [ INFO] [1638071099.443821144, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:724144 [ INFO] [1638071099.444007606, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:724144 [ INFO] [1638071099.444223703, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:724144 [ INFO] [1638071099.444423758, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:724144 [ INFO] [1638071099.444608084, 1558997731.124585186]: unoptimized: p:tag:1,t:0 [ INFO] [1638071099.444795587, 1558997731.124585186]: unoptimized: p:body:rig,t:724641 [ INFO] [1638071099.445063091, 1558997731.124585186]: unoptimized: p:cam:cam0,t:724641 [ INFO] [1638071099.445244344, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:724641 [ INFO] [1638071099.445434764, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:724641 [ INFO] [1638071099.445622007, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:724641 [ INFO] [1638071099.445816958, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:724641 [ INFO] [1638071099.446002325, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:724641 [ INFO] [1638071099.446201860, 1558997731.124585186]: unoptimized: p:body:rig,t:725138 [ INFO] [1638071099.446390717, 1558997731.124585186]: unoptimized: p:cam:cam0,t:725138 [ INFO] [1638071099.446578637, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:725138 [ INFO] [1638071099.446770723, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:725138 [ INFO] [1638071099.446955518, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:725138 [ INFO] [1638071099.447146250, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:725138 [ INFO] [1638071099.447355837, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:725138 [ INFO] [1638071099.447547038, 1558997731.124585186]: unoptimized: p:body:rig,t:725636 [ INFO] [1638071099.447900897, 1558997731.124585186]: unoptimized: p:cam:cam0,t:725636 [ INFO] [1638071099.448116995, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:725636 [ INFO] [1638071099.448319915, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:725636 [ INFO] [1638071099.448496272, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:725636 [ INFO] [1638071099.448689712, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:725636 [ INFO] [1638071099.448970550, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:725636 [ INFO] [1638071099.449181908, 1558997731.124585186]: unoptimized: p:body:rig,t:726133 [ INFO] [1638071099.449376077, 1558997731.124585186]: unoptimized: p:cam:cam0,t:726133 [ INFO] [1638071099.449575403, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:726133 [ INFO] [1638071099.449784834, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:726133 [ INFO] [1638071099.449979056, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:726133 [ INFO] [1638071099.450168746, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:726133 [ INFO] [1638071099.450348749, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:726133 [ INFO] [1638071099.450535784, 1558997731.124585186]: unoptimized: p:body:rig,t:726631 [ INFO] [1638071099.450721932, 1558997731.124585186]: unoptimized: p:cam:cam0,t:726631 [ INFO] [1638071099.450906883, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:726631 [ INFO] [1638071099.451090949, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:726631 [ INFO] [1638071099.451276473, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:726631 [ INFO] [1638071099.451460590, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:726631 [ INFO] [1638071099.451649968, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:726631 [ INFO] [1638071099.451838877, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:727129 [ INFO] [1638071099.452028151, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:727129 [ INFO] [1638071099.452215602, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:727129 [ INFO] [1638071099.452401595, 1558997731.124585186]: unoptimized: p:body:rig,t:727628 [ INFO] [1638071099.452585087, 1558997731.124585186]: unoptimized: p:cam:cam0,t:727628 [ INFO] [1638071099.452775299, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:727628 [ INFO] [1638071099.453018480, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:727628 [ INFO] [1638071099.453207441, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:727628 [ INFO] [1638071099.453396507, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:727628 [ INFO] [1638071099.453579270, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:727628 [ INFO] [1638071099.453767398, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:728126 [ INFO] [1638071099.453958182, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:728126 [ INFO] [1638071099.454144435, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:728126 [ INFO] [1638071099.454322511, 1558997731.124585186]: unoptimized: p:tag:5,t:0 [ INFO] [1638071099.454506681, 1558997731.124585186]: unoptimized: p:body:rig,t:728625 [ INFO] [1638071099.454692361, 1558997731.124585186]: unoptimized: p:cam:cam0,t:728625 [ INFO] [1638071099.454877155, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:728625 [ INFO] [1638071099.455066586, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:728625 [ INFO] [1638071099.455251745, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:728625 [ INFO] [1638071099.455437894, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:728625 [ INFO] [1638071099.455617376, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:728625 [ INFO] [1638071099.455807847, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:728625 [ INFO] [1638071099.455998059, 1558997731.124585186]: unoptimized: p:body:rig,t:729125 [ INFO] [1638071099.456187333, 1558997731.124585186]: unoptimized: p:cam:cam0,t:729125 [ INFO] [1638071099.456374419, 1558997731.124585186]: unoptimized: rpp:cam:cam0,t:729125 [ INFO] [1638071099.456565828, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:729125 [ INFO] [1638071099.456748956, 1558997731.124585186]: unoptimized: proj:cam0-tag:4,t:729125 [ INFO] [1638071099.456994585, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:729125 [ INFO] [1638071099.457186568, 1558997731.124585186]: unoptimized: proj:cam0-tag:0,t:729125 [ INFO] [1638071099.457371779, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:729125 [ INFO] [1638071099.457555792, 1558997731.124585186]: unoptimized: p:tag:2,t:0 [ INFO] [1638071099.457748556, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:729624 [ INFO] [1638071099.457933923, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:729624 [ INFO] [1638071099.458124603, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:729624 [ INFO] [1638071099.458311429, 1558997731.124585186]: unoptimized: proj:cam0-tag:2,t:729624 [ INFO] [1638071099.458499870, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:730124 [ INFO] [1638071099.458688883, 1558997731.124585186]: unoptimized: proj:cam0-tag:2,t:730124 [ INFO] [1638071099.458878053, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:730124 [ INFO] [1638071099.459073369, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:730624 [ INFO] [1638071099.459262643, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:730624 [ INFO] [1638071099.459447541, 1558997731.124585186]: unoptimized: proj:cam0-tag:2,t:730624 [ INFO] [1638071099.459634003, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:731124 [ INFO] [1638071099.459819735, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:731124 [ INFO] [1638071099.460007238, 1558997731.124585186]: unoptimized: proj:cam0-tag:2,t:731124 [ INFO] [1638071099.460196408, 1558997731.124585186]: unoptimized: proj:cam0-tag:1,t:731624 [ INFO] [1638071099.460383025, 1558997731.124585186]: unoptimized: proj:cam0-tag:3,t:731624 [ INFO] [1638071099.460570216, 1558997731.124585186]: unoptimized: proj:cam0-tag:5,t:731624 [ INFO] [1638071099.460755635, 1558997731.124585186]: unoptimized: proj:cam0-tag:2,t:731624

Indeterminant linear system detected while working near variable 1 (Symbol: 1).

Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. [tagslam-1] process has died [pid 2233, exit code 255, cmd /home/turtlebot3/tagslam_root/devel/lib/tagslam/tagslam_node name:=tagslam log:=/home/turtlebot3/.ros/log/03228ace-4ffd-11ec-a6ab-b827eb751c4a/tagslam-1.log]. log file: /home/turtlebot3/.ros/log/03228ace-4ffd-11ec-a6ab-b827eb751c4a/tagslam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done [1]+ Exit 1 rviz -d rospack find tagslam/example/tagslam_example.rviz

berndpfrommer commented 2 years ago

From your output I can see that you are not running the example, but a modified version of it. Most likely something is wrong with your input files. The display error you are getting when trying to start rviz is due to the fact that you have not set the DISPLAY environment variable correctly. Please read up on the X windows system and the DISPLAY variable. To troubleshoot your error I need to have:

berndpfrommer commented 2 years ago

This does not appear to be bug with the tagslam example, closing the issue