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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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A lot of imu error while running rosbag (build with ORBSLAM3 ) [ERROR] [1732159736.177591059, 1403715291.655693360]: Make sure IMU is published faster than data rate! (last image stamp=1403715291.612143 and last imu stamp received=1403715291.607143) #1378

Closed WEILANZF closed 3 hours ago

WEILANZF commented 2 weeks ago

Hello guys,I have been stuck at this place for several days.

envirment

a282b832-6766-4ac8-a721-e2157f3c0931

I have run this 

roslaunch rtabmap_examples euroc_datasets.launch \
   args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws2/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" \
   MH_seq:=true \
   raw_images_for_odom:=true

rosbag play --clock MH_01_easy.bag

setting /run_id to bd2d71b8-9cbc-11ef-bbd8-2cfda1afc8cd process[rosout-1]: started with pid [9628] started core service [/rosout] process[stereo_camera/yaml_to_camera_info_left-2]: started with pid [9636] process[stereo_camera/yaml_to_camera_info_right-3]: started with pid [9637] process[imu_base_link-4]: started with pid [9638] process[cam0_imu_link-5]: started with pid [9639] process[cam1_imu_link-6]: started with pid [9645] process[vicon_base_link-7]: started with pid [9650] process[transform_to_tf-8]: started with pid [9656] process[world_to_map-9]: started with pid [9659] process[imu_filter-10]: started with pid [9664] process[rtabmap/stereo_odometry-11]: started with pid [9669] [ INFO] [1730951991.952524721]: Starting ComplementaryFilterROS process[rtabmap/rtabmap-12]: started with pid [9675] process[rtabmap/rtabmap_viz-13]: started with pid [9677] [ INFO] [1730951992.260985024]: Starting node... [ INFO] [1730951992.292878767]: Initializing nodelet with 8 worker threads. Traceback (most recent call last): File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 45, in camera_info_msg = yaml_to_CameraInfo(yaml_path) File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 13, in yaml_to_CameraInfo calib_data = yaml.load(file_handle, Loader=yaml.FullLoader) AttributeError: 'module' object has no attribute 'FullLoader' Traceback (most recent call last): File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 45, in camera_info_msg = yaml_to_CameraInfo(yaml_path) File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 13, in yaml_to_CameraInfo calib_data = yaml.load(file_handle, Loader=yaml.FullLoader) AttributeError: 'module' object has no attribute 'FullLoader' [ INFO] [1730951992.383591146]: Initializing nodelet with 8 worker threads. [ INFO] [1730951992.405939451]: Starting node... [stereo_camera/yaml_to_camera_info_right-3] process has died [pid 9637, exit code 1, cmd /home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yamsetting /run_id to bd2d71b8-9cbc-11ef-bbd8-2cfda1afc8cd process[rosout-1]: started with pid [9628] started core service [/rosout] process[stereo_camera/yaml_to_camera_info_left-2]: started with pid [9636] process[stereo_camera/yaml_to_camera_info_right-3]: started with pid [9637] process[imu_base_link-4]: started with pid [9638] process[cam0_imu_link-5]: started with pid [9639] process[cam1_imu_link-6]: started with pid [9645] process[vicon_base_link-7]: started with pid [9650] process[transform_to_tf-8]: started with pid [9656] process[world_to_map-9]: started with pid [9659] process[imu_filter-10]: started with pid [9664] process[rtabmap/stereo_odometry-11]: started with pid [9669] [ INFO] [1730951991.952524721]: Starting ComplementaryFilterROS process[rtabmap/rtabmap-12]: started with pid [9675] process[rtabmap/rtabmap_viz-13]: started with pid [9677] [ INFO] [1730951992.260985024]: Starting node... [ INFO] [1730951992.292878767]: Initializing nodelet with 8 worker threads. Traceback (most recent call last): File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 45, in camera_info_msg = yaml_to_CameraInfo(yaml_path) File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 13, in yaml_to_CameraInfo calib_data = yaml.load(file_handle, Loader=yaml.FullLoader) AttributeError: 'module' object has no attribute 'FullLoader' Traceback (most recent call last): File "/home/ubuntu/catkin_ws2/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py", line 45, in camera_info_msg = yaml_to_CameraInfo(yaml_path)l_to_camera_info.py image:=/cam1/image_raw camera_info:=right/camera_info name:=yaml_to_camera_info_right log:=/home/ubuntu/.ros/log/bd2d71b8-9cbc-11ef-bbd8-2cfda1afc8cd/stereo_camera-yaml_to_camera_info_right-3.log]. log file: /home/ubuntu/.ros/log/bd2d71b8-9cbc-11ef-bbd8-2cfda1afc8cd/stereo_camera-yaml_to_camera_info_right-3*.log

/rtabmap/stereo_odometry subscribed to (exact sync): /cam0/image_raw \ /cam1/image_raw \ /stereo_camera/left/camera_info \ /stereo_camera/right/camera_info libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ WARN] (2024-11-07 11:59:53.637) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead. [ WARN] (2024-11-07 11:59:53.638) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead. [ WARN] (2024-11-07 11:59:53.639) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.

[ INFO] [1730951993.735533486]: rtabmap_viz: Reading parameters from the ROS server... [ INFO] [1730951993.769399126]: rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.

rtabmap --version RTAB-Map: 0.21.8 PCL: 1.8.1 With VTK: 6.3.0 OpenCV: 3.2.0 With OpenCV xfeatures2d: false With OpenCV nonfree: false With ORB OcTree: true With SuperPoint Torch: false With Python3: false With FastCV: false With OpenGV: false With Madgwick: true With PDAL: false With libLAS: false With CudaSift: false With TORO: true With g2o: true With GTSAM: true With Vertigo: true With CVSBA: false With Ceres: true With OpenNI: false With OpenNI2: true With Freenect: true With Freenect2: false With K4W2: false With K4A: false With DC1394: true With FlyCapture2: false With ZED: false With ZED Open Capture: false With RealSense: false With RealSense SLAM: false With RealSense2: false With MYNT EYE S: false With DepthAI: false With XVisio SDK: false With libpointmatcher: true With CCCoreLib: false With Open3D: false With OctoMap: true With GridMap: false With cpu-tsdf: false With open chisel: false With Alice Vision: false With LOAM: false With FLOAM: false With FOVIS: false With Viso2: false With DVO: false With ORB_SLAM: false With OKVIS: false With MSCKF_VIO: false With VINS-Fusion: true With OpenVINS: false

  1. I have no idea what to do . I use the original launch file, change nothing.
  2. And I want to build RTAB-MAP with VINS-MONO, what should i do? VINS-FUSION can be easily link ,but i don't know how to link a similar one

Thank you all Peace & Blessings

WEILANZF commented 1 week ago

I also try turtlebot3 in gazebo without building with VINS, can't receive map. What happened? Anyone know? Please give me some advise, thanks.

`ubuntu@ubuntu1:~/catkin_ws3$ roslaunch rtabmap_demos demo_turtlebot3_navigation.launch

libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ WARN] [1731079939.259338922, 8.884000000]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from camera's cloud projection, set "Grid/Sensor" to 1. To suppress this warning, add [ INFO] [1731079939.260149172, 8.884000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0. [ WARN] [1731079939.260531397, 8.884000000]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add [ INFO] [1731079939.270629726, 8.884000000]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1731079939.272973854, 8.884000000]: rtabmap: Using database from "/home/ubuntu/.ros/rtabmap.db" (0 MB). rtabmap: malloc.c:2401: sysmalloc: Assertion `(old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)' failed. [ INFO] [1731079939.811867356, 9.213000000]: rtabmap_viz: Reading parameters from the ROS server... [ INFO] [1731079939.813004832, 9.214000000]: rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched. [rtabmap/rtabmap-3] process has died [pid 24572, exit code -6, cmd /home/ubuntu/catkin_ws3/devel/lib/rtabmap_slam/rtabmap -d move_base:=/move_base scan:=/scan odom:=/odom rgbd_image:=rgbd_image grid_map:=/map name:=rtabmap log:=/home/ubuntu/.ros/log/9bd053ac-9de6-11ef-ad22-2cfda1afc8cd/rtabmap-rtabmap-3.log]. log file: /home/ubuntu/.ros/log/9bd053ac-9de6-11ef-ad22-2cfda1afc8cd/rtabmap-rtabmap-3*.log [ WARN] [1731079944.908016247, 13.129000000]: rtabmap_viz: rtabmap's parameters seem not all there yet! continuing with those there if some... [ WARN] [1731079944.909541667, 13.129000000]: rtabmap_viz: Parameter BRIEF/Bytes not found [ WARN] [1731079944.910995414, 13.134000000]: rtabmap_viz: Parameter BRISK/Octaves not found [ WARN] [1731079944.912008212, 13.134000000]: rtabmap_viz: Parameter BRISK/PatternScale not found [ WARN] [1731079944.913166519, 13.135000000]: rtabmap_viz: Parameter BRISK/Thresh not found [ WARN] [1731079944.915769675, 13.135000000]: rtabmap_viz: Parameter Bayes/FullPredictionUpdate not found [ WARN] [1731079944.917362658, 13.135000000]: rtabmap_viz: Parameter Bayes/PredictionLC not found [ WARN] [1731079944.919315546, 13.135000000]: rtabmap_viz: Parameter Bayes/VirtualPlacePriorThr not found [ WARN] [1731079944.920536541, 13.135000000]: rtabmap_viz: Parameter Db/TargetVersion not found [ WARN] [1731079944.923322245, 13.144000000]: rtabmap_viz: Parameter DbSqlite3/CacheSize not found [ WARN] [1731079944.926942051, 13.147000000]: rtabmap_viz: Parameter DbSqlite3/InMemory not found [ WARN] [1731079944.928552088, 13.149000000]: rtabmap_viz: Parameter DbSqlite3/JournalMode not found [ WARN] [1731079944.929333524, 13.150000000]: rtabmap_viz: Parameter DbSqlite3/Synchronous not found [ WARN] [1731079944.929948507, 13.150000000]: rtabmap_viz: Parameter DbSqlite3/TempStore not found [ WARN] [1731079944.930527472, 13.151000000]: rtabmap_viz: Parameter FAST/CV not found [ WARN] [1731079944.931817756, 13.151000000]: rtabmap_viz: Parameter FAST/Gpu not found [ WARN] [1731079944.933018474, 13.151000000]: rtabmap_viz: Parameter FAST/GpuKeypointsRatio not found [ WARN] [1731079944.934959835, 13.154000000]: rtabmap_viz: Parameter FAST/GridCols not found [ WARN] [1731079944.937222252, 13.155000000]: rtabmap_viz: Parameter FAST/GridRows not found [ WARN] [1731079944.940291039, 13.157000000]: rtabmap_viz: Parameter FAST/MaxThreshold not found [ WARN] [1731079944.941566810, 13.160000000]: rtabmap_viz: Parameter FAST/MinThreshold not found [ WARN] [1731079944.942674686, 13.161000000]: rtabmap_viz: Parameter FAST/NonmaxSuppression not found [ WARN] [1731079944.943953420, 13.162000000]: rtabmap_viz: Parameter FAST/Threshold not found [ WARN] [1731079944.946189370, 13.163000000]: rtabmap_viz: Parameter FREAK/NOctaves not found [ WARN] [1731079944.948097546, 13.164000000]: rtabmap_viz: Parameter FREAK/OrientationNormalized not found [ WARN] [1731079944.951098928, 13.165000000]: rtabmap_viz: Parameter FREAK/PatternScale not found [ WARN] [1731079944.954175871, 13.165000000]: rtabmap_viz: Parameter FREAK/ScaleNormalized not found [ WARN] [1731079944.955693429, 13.165000000]: rtabmap_viz: Parameter GFTT/BlockSize not found [ WARN] [1731079944.957729223, 13.166000000]: rtabmap_viz: Parameter GFTT/Gpu not found [ WARN] [1731079944.959135044, 13.166000000]: rtabmap_viz: Parameter GFTT/K not found [ WARN] [1731079944.961892151, 13.166000000]: rtabmap_viz: Parameter GFTT/MinDistance not found [ WARN] [1731079944.963465444, 13.166000000]: rtabmap_viz: Parameter GFTT/QualityLevel not found [ WARN] [1731079944.965970065, 13.173000000]: rtabmap_viz: Parameter GFTT/UseHarrisDetector not found [ WARN] [1731079944.967754494, 13.176000000]: rtabmap_viz: Parameter GMS/ThresholdFactor not found [ WARN] [1731079944.969639816, 13.176000000]: rtabmap_viz: Parameter GMS/WithRotation not found [ WARN] [1731079944.972406838, 13.180000000]: rtabmap_viz: Parameter GMS/WithScale not found [ WARN] [1731079944.975511835, 13.181000000]: rtabmap_viz: Parameter GTSAM/IncRelinearizeSkip not found [ WARN] [1731079944.977101263, 13.183000000]: rtabmap_viz: Parameter GTSAM/IncRelinearizeThreshold not found [ WARN] [1731079944.980053106, 13.186000000]: rtabmap_viz: Parameter GTSAM/Incremental not found [ WARN] [1731079944.981298091, 13.187000000]: rtabmap_viz: Parameter GTSAM/Optimizer not found [ WARN] [1731079944.983125091, 13.188000000]: rtabmap_viz: Parameter Grid/3D not found [ WARN] [1731079944.984265262, 13.189000000]: rtabmap_viz: Parameter Grid/CellSize not found [ WARN] [1731079944.985896982, 13.191000000]: rtabmap_viz: Parameter Grid/ClusterRadius not found [ WARN] [1731079944.988193340, 13.192000000]: rtabmap_viz: Parameter Grid/DepthDecimation not found [ WARN] [1731079944.988979623, 13.194000000]: rtabmap_viz: Parameter Grid/DepthRoiRatios not found [ WARN] [1731079944.989648454, 13.194000000]: rtabmap_viz: Parameter Grid/FlatObstacleDetected not found [ WARN] [1731079944.990227680, 13.195000000]: rtabmap_viz: Parameter Grid/FootprintHeight not found [ WARN] [1731079944.990732946, 13.196000000]: rtabmap_viz: Parameter Grid/FootprintLength not found [ WARN] [1731079944.991117976, 13.196000000]: rtabmap_viz: Parameter Grid/FootprintWidth not found [ WARN] [1731079944.991651409, 13.196000000]: rtabmap_viz: Parameter Grid/GroundIsObstacle not found [ WARN] [1731079944.992643897, 13.197000000]: rtabmap_viz: Parameter Grid/MapFrameProjection not found [ WARN] [1731079944.993385485, 13.198000000]: rtabmap_viz: Parameter Grid/MaxGroundAngle not found [ WARN] [1731079944.994823404, 13.199000000]: rtabmap_viz: Parameter Grid/MaxGroundHeight not found [ WARN] [1731079944.996990241, 13.201000000]: rtabmap_viz: Parameter Grid/MaxObstacleHeight not found [ WARN] [1731079944.998793123, 13.202000000]: rtabmap_viz: Parameter Grid/MinClusterSize not found [ WARN] [1731079945.000465728, 13.202000000]: rtabmap_viz: Parameter Grid/MinGroundHeight not found [ WARN] [1731079945.001276577, 13.204000000]: rtabmap_viz: Parameter Grid/NoiseFilteringMinNeighbors not found [ WARN] [1731079945.001946401, 13.204000000]: rtabmap_viz: Parameter Grid/NoiseFilteringRadius not found [ WARN] [1731079945.002577020, 13.205000000]: rtabmap_viz: Parameter Grid/NormalK not found [ WARN] [1731079945.003273199, 13.205000000]: rtabmap_viz: Parameter Grid/NormalsSegmentation not found [ WARN] [1731079945.005061864, 13.206000000]: rtabmap_viz: Parameter Grid/PreVoxelFiltering not found [ WARN] [1731079945.006273954, 13.206000000]: rtabmap_viz: Parameter Grid/RangeMax not found [ WARN] [1731079945.006879494, 13.206000000]: rtabmap_viz: Parameter Grid/RangeMin not found [ WARN] [1731079945.007976126, 13.210000000]: rtabmap_viz: Parameter Grid/RayTracing not found [ WARN] [1731079945.009254083, 13.211000000]: rtabmap_viz: Parameter Grid/Scan2dUnknownSpaceFilled not found [ WARN] [1731079945.009919963, 13.212000000]: rtabmap_viz: Parameter Grid/ScanDecimation not found [ WARN] [1731079945.010512549, 13.213000000]: rtabmap_viz: Parameter Grid/Sensor not found [ WARN] [1731079945.011097150, 13.213000000]: rtabmap_viz: Parameter GridGlobal/AltitudeDelta not found [ WARN] [1731079945.013253391, 13.213000000]: rtabmap_viz: Parameter GridGlobal/Eroded not found [ WARN] [1731079945.015130962, 13.213000000]: rtabmap_viz: Parameter GridGlobal/FloodFillDepth not found [ WARN] [1731079945.018392988, 13.214000000]: rtabmap_viz: Parameter GridGlobal/FootprintRadius not found [ WARN] [1731079945.021967884, 13.215000000]: rtabmap_viz: Parameter GridGlobal/MaxNodes not found [ WARN] [1731079945.026844078, 13.220000000]: rtabmap_viz: Parameter GridGlobal/OccupancyThr not found [ WARN] [1731079945.029418678, 13.220000000]: rtabmap_viz: Parameter GridGlobal/ProbClampingMax not found [ WARN] [1731079945.033951062, 13.222000000]: rtabmap_viz: Parameter GridGlobal/ProbClampingMin not found [ WARN] [1731079945.035469377, 13.222000000]: rtabmap_viz: Parameter GridGlobal/ProbHit not found [ WARN] [1731079945.038854346, 13.222000000]: rtabmap_viz: Parameter GridGlobal/ProbMiss not found [ WARN] [1731079945.040097849, 13.222000000]: rtabmap_viz: Parameter GridGlobal/UpdateError not found [ WARN] [1731079945.044085126, 13.224000000]: rtabmap_viz: Parameter Icp/CCFilterOutFarthestPoints not found [ WARN] [1731079945.045675473, 13.224000000]: rtabmap_viz: Parameter Icp/CCMaxFinalRMS not found [ WARN] [1731079945.047097324, 13.224000000]: rtabmap_viz: Parameter Icp/CCSamplingLimit not found [ WARN] [1731079945.048931588, 13.224000000]: rtabmap_viz: Parameter Icp/CorrespondenceRatio not found [ WARN] [1731079945.050315185, 13.224000000]: rtabmap_viz: Parameter Icp/DebugExportFormat not found [ WARN] [1731079945.053103484, 13.235000000]: rtabmap_viz: Parameter Icp/DownsamplingStep not found [ WARN] [1731079945.056024724, 13.238000000]: rtabmap_viz: Parameter Icp/Epsilon not found [ WARN] [1731079945.056704557, 13.239000000]: rtabmap_viz: Parameter Icp/FiltersEnabled not found [ WARN] [1731079945.058101047, 13.239000000]: rtabmap_viz: Parameter Icp/Force4DoF not found [ WARN] [1731079945.059707778, 13.241000000]: rtabmap_viz: Parameter Icp/Iterations not found [ WARN] [1731079945.062899611, 13.242000000]: rtabmap_viz: Parameter Icp/MaxCorrespondenceDistance not found [ WARN] [1731079945.064303144, 13.243000000]: rtabmap_viz: Parameter Icp/MaxRotation not found [ WARN] [1731079945.065522802, 13.243000000]: rtabmap_viz: Parameter Icp/MaxTranslation not found [ WARN] [1731079945.066729816, 13.243000000]: rtabmap_viz: Parameter Icp/OutlierRatio not found [ WARN] [1731079945.068030044, 13.244000000]: rtabmap_viz: Parameter Icp/PMConfig not found [ WARN] [1731079945.069671287, 13.245000000]: rtabmap_viz: Parameter Icp/PMMatcherEpsilon not found [ WARN] [1731079945.073535810, 13.246000000]: rtabmap_viz: Parameter Icp/PMMatcherIntensity not found [ WARN] [1731079945.076578735, 13.246000000]: rtabmap_viz: Parameter Icp/PMMatcherKnn not found [ WARN] [1731079945.079174316, 13.246000000]: rtabmap_viz: Parameter Icp/PointToPlane not found [ WARN] [1731079945.083452869, 13.246000000]: rtabmap_viz: Parameter Icp/PointToPlaneGroundNormalsUp not found [ WARN] [1731079945.085778166, 13.246000000]: rtabmap_viz: Parameter Icp/PointToPlaneK not found [ WARN] [1731079945.087893826, 13.250000000]: rtabmap_viz: Parameter Icp/PointToPlaneLowComplexityStrategy not found [ WARN] [1731079945.090306997, 13.250000000]: rtabmap_viz: Parameter Icp/PointToPlaneMinComplexity not found [ WARN] [1731079945.092467753, 13.261000000]: rtabmap_viz: Parameter Icp/PointToPlaneRadius not found [ WARN] [1731079945.093956832, 13.262000000]: rtabmap_viz: Parameter Icp/RangeMax not found [ WARN] [1731079945.097161982, 13.264000000]: rtabmap_viz: Parameter Icp/RangeMin not found [ WARN] [1731079945.099552632, 13.264000000]: rtabmap_viz: Parameter Icp/ReciprocalCorrespondences not found [ WARN] [1731079945.102336330, 13.264000000]: rtabmap_viz: Parameter Icp/Strategy not found [ WARN] [1731079945.103569355, 13.264000000]: rtabmap_viz: Parameter Icp/VoxelSize not found [ WARN] [1731079945.104905065, 13.265000000]: rtabmap_viz: Parameter ImuFilter/ComplementaryBiasAlpha not found [ WARN] [1731079945.108049807, 13.272000000]: rtabmap_viz: Parameter ImuFilter/ComplementaryDoAdpativeGain not found [ WARN] [1731079945.109143024, 13.274000000]: rtabmap_viz: Parameter ImuFilter/ComplementaryDoBiasEstimation not found [ WARN] [1731079945.109933034, 13.274000000]: rtabmap_viz: Parameter ImuFilter/ComplementaryGainAcc not found [ WARN] [1731079945.110530336, 13.275000000]: rtabmap_viz: Parameter ImuFilter/MadgwickGain not found [ WARN] [1731079945.111096199, 13.276000000]: rtabmap_viz: Parameter ImuFilter/MadgwickZeta not found [ WARN] [1731079945.111993989, 13.276000000]: rtabmap_viz: Parameter KAZE/Diffusivity not found [ WARN] [1731079945.112925988, 13.277000000]: rtabmap_viz: Parameter KAZE/Extended not found [ WARN] [1731079945.113662950, 13.278000000]: rtabmap_viz: Parameter KAZE/NOctaveLayers not found [ WARN] [1731079945.115197186, 13.279000000]: rtabmap_viz: Parameter KAZE/NOctaves not found [ WARN] [1731079945.116213174, 13.281000000]: rtabmap_viz: Parameter KAZE/Threshold not found [ WARN] [1731079945.116785895, 13.281000000]: rtabmap_viz: Parameter KAZE/Upright not found [ WARN] [1731079945.117693650, 13.282000000]: rtabmap_viz: Parameter Kp/BadSignRatio not found [ WARN] [1731079945.119170383, 13.284000000]: rtabmap_viz: Parameter Kp/ByteToFloat not found [ WARN] [1731079945.120889669, 13.285000000]: rtabmap_viz: Parameter Kp/DetectorStrategy not found [ WARN] [1731079945.121899463, 13.286000000]: rtabmap_viz: Parameter Kp/DictionaryPath not found [ WARN] [1731079945.122594118, 13.287000000]: rtabmap_viz: Parameter Kp/FlannRebalancingFactor not found [ WARN] [1731079945.123397915, 13.288000000]: rtabmap_viz: Parameter Kp/GridCols not found [ WARN] [1731079945.124561729, 13.289000000]: rtabmap_viz: Parameter Kp/GridRows not found [ WARN] [1731079945.126013773, 13.290000000]: rtabmap_viz: Parameter Kp/IncrementalDictionary not found [ WARN] [1731079945.128104049, 13.292000000]: rtabmap_viz: Parameter Kp/IncrementalFlann not found [ WARN] [1731079945.128982568, 13.293000000]: rtabmap_viz: Parameter Kp/MaxDepth not found [ WARN] [1731079945.129651588, 13.294000000]: rtabmap_viz: Parameter Kp/MaxFeatures not found [ WARN] [1731079945.130409349, 13.294000000]: rtabmap_viz: Parameter Kp/MinDepth not found [ WARN] [1731079945.132077117, 13.296000000]: rtabmap_viz: Parameter Kp/NNStrategy not found [ WARN] [1731079945.134510008, 13.297000000]: rtabmap_viz: Parameter Kp/NewWordsComparedTogether not found [ WARN] [1731079945.137137889, 13.301000000]: rtabmap_viz: Parameter Kp/NndrRatio not found [ WARN] [1731079945.138074311, 13.301000000]: rtabmap_viz: Parameter Kp/Parallelized not found [ WARN] [1731079945.139252513, 13.302000000]: rtabmap_viz: Parameter Kp/RoiRatios not found [ WARN] [1731079945.140444461, 13.303000000]: rtabmap_viz: Parameter Kp/SSC not found [ WARN] [1731079945.141611517, 13.303000000]: rtabmap_viz: Parameter Kp/SubPixEps not found [ WARN] [1731079945.143993393, 13.303000000]: rtabmap_viz: Parameter Kp/SubPixIterations not found [ WARN] [1731079945.145660904, 13.303000000]: rtabmap_viz: Parameter Kp/SubPixWinSize not found [ WARN] [1731079945.147885383, 13.303000000]: rtabmap_viz: Parameter Kp/TfIdfLikelihoodUsed not found [ WARN] [1731079945.150538744, 13.308000000]: rtabmap_viz: Parameter Marker/CornerRefinementMethod not found [ WARN] [1731079945.152825474, 13.309000000]: rtabmap_viz: Parameter Marker/Dictionary not found [ WARN] [1731079945.154398535, 13.312000000]: rtabmap_viz: Parameter Marker/Length not found [ WARN] [1731079945.155644214, 13.312000000]: rtabmap_viz: Parameter Marker/MaxDepthError not found [ WARN] [1731079945.158309490, 13.315000000]: rtabmap_viz: Parameter Marker/MaxRange not found [ WARN] [1731079945.160123038, 13.316000000]: rtabmap_viz: Parameter Marker/MinRange not found [ WARN] [1731079945.163269856, 13.318000000]: rtabmap_viz: Parameter Marker/Priors not found [ WARN] [1731079945.165243954, 13.320000000]: rtabmap_viz: Parameter Marker/PriorsVarianceAngular not found [ WARN] [1731079945.168037965, 13.321000000]: rtabmap_viz: Parameter Marker/PriorsVarianceLinear not found [ WARN] [1731079945.169545210, 13.322000000]: rtabmap_viz: Parameter Marker/VarianceAngular not found [ WARN] [1731079945.170952527, 13.322000000]: rtabmap_viz: Parameter Marker/VarianceLinear not found [ WARN] [1731079945.173998092, 13.322000000]: rtabmap_viz: Parameter Mem/BadSignaturesIgnored not found [ WARN] [1731079945.175244485, 13.322000000]: rtabmap_viz: Parameter Mem/BinDataKept not found [ WARN] [1731079945.176396190, 13.322000000]: rtabmap_viz: Parameter Mem/CompressionParallelized not found [ WARN] [1731079945.178193504, 13.322000000]: rtabmap_viz: Parameter Mem/CovOffDiagIgnored not found [ WARN] [1731079945.180484196, 13.322000000]: rtabmap_viz: Parameter Mem/DepthAsMask not found [ WARN] [1731079945.182834681, 13.322000000]: rtabmap_viz: Parameter Mem/GenerateIds not found [ WARN] [1731079945.184664338, 13.322000000]: rtabmap_viz: Parameter Mem/GlobalDescriptorStrategy not found [ WARN] [1731079945.186222980, 13.322000000]: rtabmap_viz: Parameter Mem/ImageCompressionFormat not found [ WARN] [1731079945.188456694, 13.322000000]: rtabmap_viz: Parameter Mem/ImageKept not found [ WARN] [1731079945.190151289, 13.333000000]: rtabmap_viz: Parameter Mem/ImagePostDecimation not found [ WARN] [1731079945.191289103, 13.333000000]: rtabmap_viz: Parameter Mem/ImagePreDecimation not found [ WARN] [1731079945.196299197, 13.339000000]: rtabmap_viz: Parameter Mem/InitWMWithAllNodes not found [ WARN] [1731079945.198250654, 13.344000000]: rtabmap_viz: Parameter Mem/IntermediateNodeDataKept not found [ WARN] [1731079945.199685651, 13.344000000]: rtabmap_viz: Parameter Mem/LaserScanDownsampleStepSize not found [ WARN] [1731079945.201583899, 13.345000000]: rtabmap_viz: Parameter Mem/LaserScanNormalK not found [ WARN] [1731079945.202820116, 13.345000000]: rtabmap_viz: Parameter Mem/LaserScanNormalRadius not found [ WARN] [1731079945.204289727, 13.346000000]: rtabmap_viz: Parameter Mem/LaserScanVoxelSize not found [ WARN] [1731079945.206522258, 13.346000000]: rtabmap_viz: Parameter Mem/LocalizationDataSaved not found [ WARN] [1731079945.209253321, 13.347000000]: rtabmap_viz: Parameter Mem/MapLabelsAdded not found [ WARN] [1731079945.210357593, 13.347000000]: rtabmap_viz: Parameter Mem/NotLinkedNodesKept not found [ WARN] [1731079945.211431776, 13.347000000]: rtabmap_viz: Parameter Mem/RawDescriptorsKept not found [ WARN] [1731079945.212369409, 13.352000000]: rtabmap_viz: Parameter Mem/RecentWmRatio not found [ WARN] [1731079945.213579363, 13.352000000]: rtabmap_viz: Parameter Mem/ReduceGraph not found [ WARN] [1731079945.220091919, 13.355000000]: rtabmap_viz: Parameter Mem/RehearsalIdUpdatedToNewOne not found [ WARN] [1731079945.221743264, 13.355000000]: rtabmap_viz: Parameter Mem/RehearsalSimilarity not found [ WARN] [1731079945.222550032, 13.355000000]: rtabmap_viz: Parameter Mem/RehearsalWeightIgnoredWhileMoving not found [ WARN] [1731079945.223305950, 13.356000000]: rtabmap_viz: Parameter Mem/RotateImagesUpsideUp not found [ WARN] [1731079945.225544148, 13.356000000]: rtabmap_viz: Parameter Mem/STMSize not found [ WARN] [1731079945.227283852, 13.359000000]: rtabmap_viz: Parameter Mem/SaveDepth16Format not found [ WARN] [1731079945.228593306, 13.360000000]: rtabmap_viz: Parameter Mem/StereoFromMotion not found [ WARN] [1731079945.231400860, 13.362000000]: rtabmap_viz: Parameter Mem/TransferSortingByWeightId not found [ WARN] [1731079945.232562395, 13.364000000]: rtabmap_viz: Parameter Mem/UseOdomFeatures not found [ WARN] [1731079945.233417812, 13.365000000]: rtabmap_viz: Parameter Mem/UseOdomGravity not found [ WARN] [1731079945.234111657, 13.366000000]: rtabmap_viz: Parameter ORB/EdgeThreshold not found [ WARN] [1731079945.235005419, 13.366000000]: rtabmap_viz: Parameter ORB/FirstLevel not found [ WARN] [1731079945.236028054, 13.367000000]: rtabmap_viz: Parameter ORB/Gpu not found [ WARN] [1731079945.237599435, 13.369000000]: rtabmap_viz: Parameter ORB/NLevels not found [ WARN] [1731079945.238597991, 13.370000000]: rtabmap_viz: Parameter ORB/PatchSize not found [ WARN] [1731079945.239557670, 13.371000000]: rtabmap_viz: Parameter ORB/ScaleFactor not found [ WARN] [1731079945.240324476, 13.372000000]: rtabmap_viz: Parameter ORB/ScoreType not found [ WARN] [1731079945.241257931, 13.373000000]: rtabmap_viz: Parameter ORB/WTA_K not found [ WARN] [1731079945.243233614, 13.374000000]: rtabmap_viz: Parameter Optimizer/Epsilon not found [ WARN] [1731079945.247051832, 13.375000000]: rtabmap_viz: Parameter Optimizer/GravitySigma not found [ WARN] [1731079945.248076000, 13.378000000]: rtabmap_viz: Parameter Optimizer/Iterations not found [ WARN] [1731079945.248986992, 13.378000000]: rtabmap_viz: Parameter Optimizer/LandmarksIgnored not found [ WARN] [1731079945.250078016, 13.379000000]: rtabmap_viz: Parameter Optimizer/PriorsIgnored not found [ WARN] [1731079945.251503081, 13.380000000]: rtabmap_viz: Parameter Optimizer/Robust not found [ WARN] [1731079945.252610512, 13.380000000]: rtabmap_viz: Parameter Optimizer/Strategy not found [ WARN] [1731079945.253594746, 13.381000000]: rtabmap_viz: Parameter Optimizer/VarianceIgnored not found [ WARN] [1731079945.256397770, 13.384000000]: rtabmap_viz: Parameter PyDescriptor/Dim not found [ WARN] [1731079945.258372992, 13.386000000]: rtabmap_viz: Parameter PyDescriptor/Path not found [ WARN] [1731079945.260004336, 13.388000000]: rtabmap_viz: Parameter PyDetector/Cuda not found [ WARN] [1731079945.261353647, 13.389000000]: rtabmap_viz: Parameter PyDetector/Path not found [ WARN] [1731079945.263486087, 13.390000000]: rtabmap_viz: Parameter PyMatcher/Cuda not found [ WARN] [1731079945.265220932, 13.390000000]: rtabmap_viz: Parameter PyMatcher/Iterations not found [ WARN] [1731079945.266273967, 13.393000000]: rtabmap_viz: Parameter PyMatcher/Model not found [ WARN] [1731079945.269374609, 13.395000000]: rtabmap_viz: Parameter PyMatcher/Path not found [ WARN] [1731079945.272324215, 13.395000000]: rtabmap_viz: Parameter PyMatcher/Threshold not found [ WARN] [1731079945.274296920, 13.395000000]: rtabmap_viz: Parameter RGBD/AggressiveLoopThr not found [ WARN] [1731079945.276356250, 13.395000000]: rtabmap_viz: Parameter RGBD/AngularSpeedUpdate not found [ WARN] [1731079945.277838388, 13.399000000]: rtabmap_viz: Parameter RGBD/AngularUpdate not found [ WARN] [1731079945.279300585, 13.402000000]: rtabmap_viz: Parameter RGBD/CreateOccupancyGrid not found [ WARN] [1731079945.280733725, 13.403000000]: rtabmap_viz: Parameter RGBD/Enabled not found [ WARN] [1731079945.282275914, 13.403000000]: rtabmap_viz: Parameter RGBD/ForceOdom3DoF not found [ WARN] [1731079945.284086292, 13.404000000]: rtabmap_viz: Parameter RGBD/GoalReachedRadius not found [ WARN] [1731079945.286312429, 13.404000000]: rtabmap_viz: Parameter RGBD/GoalsSavedInUserData not found [ WARN] [1731079945.288892206, 13.404000000]: rtabmap_viz: Parameter RGBD/InvertedReg not found [ WARN] [1731079945.292094139, 13.405000000]: rtabmap_viz: Parameter RGBD/LinearSpeedUpdate not found [ WARN] [1731079945.293122479, 13.405000000]: rtabmap_viz: Parameter RGBD/LinearUpdate not found [ WARN] [1731079945.293965500, 13.405000000]: rtabmap_viz: Parameter RGBD/LocalBundleOnLoopClosure not found [ WARN] [1731079945.295099076, 13.410000000]: rtabmap_viz: Parameter RGBD/LocalImmunizationRatio not found [ WARN] [1731079945.296420776, 13.410000000]: rtabmap_viz: Parameter RGBD/LocalRadius not found [ WARN] [1731079945.298292040, 13.412000000]: rtabmap_viz: Parameter RGBD/LocalizationPriorError not found [ WARN] [1731079945.300784658, 13.413000000]: rtabmap_viz: Parameter RGBD/LocalizationSmoothing not found [ WARN] [1731079945.303514544, 13.415000000]: rtabmap_viz: Parameter RGBD/LoopClosureIdentityGuess not found [ WARN] [1731079945.309483624, 13.420000000]: rtabmap_viz: Parameter RGBD/LoopClosureReextractFeatures not found [ WARN] [1731079945.312776836, 13.421000000]: rtabmap_viz: Parameter RGBD/LoopCovLimited not found [ WARN] [1731079945.314598510, 13.421000000]: rtabmap_viz: Parameter RGBD/MarkerDetection not found [ WARN] [1731079945.317101823, 13.421000000]: rtabmap_viz: Parameter RGBD/MaxLocalRetrieved not found [ WARN] [1731079945.319568299, 13.421000000]: rtabmap_viz: Parameter RGBD/MaxLoopClosureDistance not found [ WARN] [1731079945.322420826, 13.424000000]: rtabmap_viz: Parameter RGBD/MaxOdomCacheSize not found [ WARN] [1731079945.324556329, 13.424000000]: rtabmap_viz: Parameter RGBD/NeighborLinkRefining not found [ WARN] [1731079945.325851994, 13.424000000]: rtabmap_viz: Parameter RGBD/NewMapOdomChangeDistance not found [ WARN] [1731079945.328916613, 13.424000000]: rtabmap_viz: Parameter RGBD/OptimizeFromGraphEnd not found [ WARN] [1731079945.330662549, 13.424000000]: rtabmap_viz: Parameter RGBD/OptimizeMaxError not found [ WARN] [1731079945.332700662, 13.434000000]: rtabmap_viz: Parameter RGBD/PlanAngularVelocity not found [ WARN] [1731079945.335750487, 13.434000000]: rtabmap_viz: Parameter RGBD/PlanLinearVelocity not found [ WARN] [1731079945.337149017, 13.437000000]: rtabmap_viz: Parameter RGBD/PlanStuckIterations not found [ WARN] [1731079945.338609845, 13.437000000]: rtabmap_viz: Parameter RGBD/ProximityAngle not found [ WARN] [1731079945.339680843, 13.439000000]: rtabmap_viz: Parameter RGBD/ProximityBySpace not found [ WARN] [1731079945.341304103, 13.440000000]: rtabmap_viz: Parameter RGBD/ProximityByTime not found [ WARN] [1731079945.345016353, 13.442000000]: rtabmap_viz: Parameter RGBD/ProximityGlobalScanMap not found [ WARN] [1731079945.346915242, 13.444000000]: rtabmap_viz: Parameter RGBD/ProximityMaxGraphDepth not found [ WARN] [1731079945.349483069, 13.444000000]: rtabmap_viz: Parameter RGBD/ProximityMaxPaths not found [ WARN] [1731079945.350850010, 13.447000000]: rtabmap_viz: Parameter RGBD/ProximityMergedScanCovFactor not found [ WARN] [1731079945.351856109, 13.448000000]: rtabmap_viz: Parameter RGBD/ProximityOdomGuess not found [ WARN] [1731079945.354527176, 13.450000000]: rtabmap_viz: Parameter RGBD/ProximityPathFilteringRadius not found [ WARN] [1731079945.355811662, 13.452000000]: rtabmap_viz: Parameter RGBD/ProximityPathMaxNeighbors not found [ WARN] [1731079945.356721053, 13.453000000]: rtabmap_viz: Parameter RGBD/ProximityPathRawPosesUsed not found [ WARN] [1731079945.357246875, 13.454000000]: rtabmap_viz: Parameter RGBD/ScanMatchingIdsSavedInLinks not found [ WARN] [1731079945.357679764, 13.454000000]: rtabmap_viz: Parameter RGBD/StartAtOrigin not found [ WARN] [1731079945.359509850, 13.456000000]: rtabmap_viz: Parameter Reg/RepeatOnce not found [ WARN] [1731079945.361360672, 13.458000000]: rtabmap_viz: Parameter Rtabmap/ComputeRMSE not found [ WARN] [1731079945.361933558, 13.459000000]: rtabmap_viz: Parameter Rtabmap/CreateIntermediateNodes not found [ WARN] [1731079945.362648110, 13.459000000]: rtabmap_viz: Parameter Rtabmap/DetectionRate not found [ WARN] [1731079945.369119998, 13.465000000]: rtabmap_viz: Parameter Rtabmap/ImageBufferSize not found [ WARN] [1731079945.370244383, 13.465000000]: rtabmap_viz: Parameter Rtabmap/ImagesAlreadyRectified not found [ WARN] [1731079945.371716039, 13.467000000]: rtabmap_viz: Parameter Rtabmap/LoopGPS not found [ WARN] [1731079945.373123292, 13.469000000]: rtabmap_viz: Parameter Rtabmap/LoopRatio not found [ WARN] [1731079945.373767412, 13.469000000]: rtabmap_viz: Parameter Rtabmap/LoopThr not found [ WARN] [1731079945.374323708, 13.470000000]: rtabmap_viz: Parameter Rtabmap/MaxRepublished not found [ WARN] [1731079945.374890423, 13.470000000]: rtabmap_viz: Parameter Rtabmap/MaxRetrieved not found [ WARN] [1731079945.375994992, 13.471000000]: rtabmap_viz: Parameter Rtabmap/MemoryThr not found [ WARN] [1731079945.377233495, 13.473000000]: rtabmap_viz: Parameter Rtabmap/PublishLastSignature not found [ WARN] [1731079945.379364227, 13.474000000]: rtabmap_viz: Parameter Rtabmap/PublishLikelihood not found [ WARN] [1731079945.380672758, 13.474000000]: rtabmap_viz: Parameter Rtabmap/PublishPdf not found [ WARN] [1731079945.385789225, 13.478000000]: rtabmap_viz: Parameter Rtabmap/PublishRAMUsage not found [ WARN] [1731079945.387691611, 13.480000000]: rtabmap_viz: Parameter Rtabmap/PublishStats not found [ WARN] [1731079945.388825510, 13.482000000]: rtabmap_viz: Parameter Rtabmap/RectifyOnlyFeatures not found [ WARN] [1731079945.391368710, 13.482000000]: rtabmap_viz: Parameter Rtabmap/SaveWMState not found [ WARN] [1731079945.394596357, 13.482000000]: rtabmap_viz: Parameter Rtabmap/StartNewMapOnGoodSignature not found [ WARN] [1731079945.395795461, 13.482000000]: rtabmap_viz: Parameter Rtabmap/StartNewMapOnLoopClosure not found [ WARN] [1731079945.398917727, 13.483000000]: rtabmap_viz: Parameter Rtabmap/StatisticLogged not found [ WARN] [1731079945.403928779, 13.488000000]: rtabmap_viz: Parameter Rtabmap/StatisticLoggedHeaders not found [ WARN] [1731079945.405756743, 13.488000000]: rtabmap_viz: Parameter Rtabmap/StatisticLogsBufferedInRAM not found [ WARN] [1731079945.408898171, 13.488000000]: rtabmap_viz: Parameter Rtabmap/TimeThr not found [ WARN] [1731079945.411004994, 13.488000000]: rtabmap_viz: Parameter Rtabmap/VirtualPlaceLikelihoodRatio not found [ WARN] [1731079945.417305233, 13.488000000]: rtabmap_viz: Parameter SIFT/ContrastThreshold not found [ WARN] [1731079945.418791499, 13.495000000]: rtabmap_viz: Parameter SIFT/EdgeThreshold not found [ WARN] [1731079945.420067505, 13.498000000]: rtabmap_viz: Parameter SIFT/GaussianThreshold not found [ WARN] [1731079945.421948471, 13.499000000]: rtabmap_viz: Parameter SIFT/Gpu not found [ WARN] [1731079945.423859190, 13.501000000]: rtabmap_viz: Parameter SIFT/NOctaveLayers not found [ WARN] [1731079945.426597954, 13.503000000]: rtabmap_viz: Parameter SIFT/PreciseUpscale not found [ WARN] [1731079945.427431787, 13.505000000]: rtabmap_viz: Parameter SIFT/RootSIFT not found [ WARN] [1731079945.428662077, 13.506000000]: rtabmap_viz: Parameter SIFT/Sigma not found [ WARN] [1731079945.429778579, 13.507000000]: rtabmap_viz: Parameter SIFT/Upscale not found [ WARN] [1731079945.430392875, 13.508000000]: rtabmap_viz: Parameter SURF/Extended not found [ WARN] [1731079945.431030342, 13.509000000]: rtabmap_viz: Parameter SURF/GpuKeypointsRatio not found [ WARN] [1731079945.431860451, 13.509000000]: rtabmap_viz: Parameter SURF/GpuVersion not found [ WARN] [1731079945.432960775, 13.510000000]: rtabmap_viz: Parameter SURF/HessianThreshold not found [ WARN] [1731079945.434474681, 13.512000000]: rtabmap_viz: Parameter SURF/OctaveLayers not found [ WARN] [1731079945.436624793, 13.513000000]: rtabmap_viz: Parameter SURF/Octaves not found [ WARN] [1731079945.438530033, 13.514000000]: rtabmap_viz: Parameter SURF/Upright not found [ WARN] [1731079945.440617508, 13.517000000]: rtabmap_viz: Parameter Stereo/DenseStrategy not found [ WARN] [1731079945.442110826, 13.518000000]: rtabmap_viz: Parameter Stereo/Eps not found [ WARN] [1731079945.443554917, 13.519000000]: rtabmap_viz: Parameter Stereo/Gpu not found [ WARN] [1731079945.445237159, 13.520000000]: rtabmap_viz: Parameter Stereo/Iterations not found [ WARN] [1731079945.447188026, 13.521000000]: rtabmap_viz: Parameter Stereo/MaxDisparity not found [ WARN] [1731079945.449262583, 13.522000000]: rtabmap_viz: Parameter Stereo/MaxLevel not found [ WARN] [1731079945.451239828, 13.522000000]: rtabmap_viz: Parameter Stereo/MinDisparity not found [ WARN] [1731079945.454621448, 13.522000000]: rtabmap_viz: Parameter Stereo/OpticalFlow not found [ WARN] [1731079945.455903052, 13.523000000]: rtabmap_viz: Parameter Stereo/SSD not found [ WARN] [1731079945.457111628, 13.523000000]: rtabmap_viz: Parameter Stereo/WinHeight not found [ WARN] [1731079945.459230570, 13.523000000]: rtabmap_viz: Parameter Stereo/WinWidth not found [ WARN] [1731079945.461884285, 13.523000000]: rtabmap_viz: Parameter StereoBM/BlockSize not found [ WARN] [1731079945.464537389, 13.523000000]: rtabmap_viz: Parameter StereoBM/Disp12MaxDiff not found [ WARN] [1731079945.466438787, 13.523000000]: rtabmap_viz: Parameter StereoBM/MinDisparity not found [ WARN] [1731079945.468447324, 13.523000000]: rtabmap_viz: Parameter StereoBM/NumDisparities not found [ WARN] [1731079945.470654234, 13.523000000]: rtabmap_viz: Parameter StereoBM/PreFilterCap not found [ WARN] [1731079945.472075305, 13.533000000]: rtabmap_viz: Parameter StereoBM/PreFilterSize not found [ WARN] [1731079945.473537426, 13.535000000]: rtabmap_viz: Parameter StereoBM/SpeckleRange not found [ WARN] [1731079945.475562558, 13.535000000]: rtabmap_viz: Parameter StereoBM/SpeckleWindowSize not found [ WARN] [1731079945.476969989, 13.538000000]: rtabmap_viz: Parameter StereoBM/TextureThreshold not found [ WARN] [1731079945.478274784, 13.540000000]: rtabmap_viz: Parameter StereoBM/UniquenessRatio not found [ WARN] [1731079945.480536802, 13.541000000]: rtabmap_viz: Parameter StereoSGBM/BlockSize not found [ WARN] [1731079945.481348266, 13.542000000]: rtabmap_viz: Parameter StereoSGBM/Disp12MaxDiff not found [ WARN] [1731079945.482372168, 13.542000000]: rtabmap_viz: Parameter StereoSGBM/MinDisparity not found [ WARN] [1731079945.482995175, 13.542000000]: rtabmap_viz: Parameter StereoSGBM/Mode not found [ WARN] [1731079945.484959916, 13.542000000]: rtabmap_viz: Parameter StereoSGBM/NumDisparities not found [ WARN] [1731079945.487027972, 13.542000000]: rtabmap_viz: Parameter StereoSGBM/P1 not found [ WARN] [1731079945.488240069, 13.542000000]: rtabmap_viz: Parameter StereoSGBM/P2 not found [ WARN] [1731079945.489765755, 13.543000000]: rtabmap_viz: Parameter StereoSGBM/PreFilterCap not found [ WARN] [1731079945.490853786, 13.544000000]: rtabmap_viz: Parameter StereoSGBM/SpeckleRange not found [ WARN] [1731079945.492751929, 13.546000000]: rtabmap_viz: Parameter StereoSGBM/SpeckleWindowSize not found [ WARN] [1731079945.494048957, 13.547000000]: rtabmap_viz: Parameter StereoSGBM/UniquenessRatio not found [ WARN] [1731079945.495747742, 13.549000000]: rtabmap_viz: Parameter SuperPoint/Cuda not found [ WARN] [1731079945.496499259, 13.550000000]: rtabmap_viz: Parameter SuperPoint/ModelPath not found [ WARN] [1731079945.497202254, 13.551000000]: rtabmap_viz: Parameter SuperPoint/NMS not found [ WARN] [1731079945.497923144, 13.551000000]: rtabmap_viz: Parameter SuperPoint/NMSRadius not found [ WARN] [1731079945.498759903, 13.552000000]: rtabmap_viz: Parameter SuperPoint/Threshold not found [ WARN] [1731079945.499655383, 13.553000000]: rtabmap_viz: Parameter VhEp/Enabled not found [ WARN] [1731079945.500347896, 13.554000000]: rtabmap_viz: Parameter VhEp/MatchCountMin not found [ WARN] [1731079945.500952147, 13.555000000]: rtabmap_viz: Parameter VhEp/RansacParam1 not found [ WARN] [1731079945.501427907, 13.555000000]: rtabmap_viz: Parameter VhEp/RansacParam2 not found [ WARN] [1731079945.502216078, 13.555000000]: rtabmap_viz: Parameter Vis/BundleAdjustment not found [ WARN] [1731079945.503673942, 13.557000000]: rtabmap_viz: Parameter Vis/CorFlowEps not found [ WARN] [1731079945.504622603, 13.558000000]: rtabmap_viz: Parameter Vis/CorFlowGpu not found [ WARN] [1731079945.506518668, 13.559000000]: rtabmap_viz: Parameter Vis/CorFlowIterations not found [ WARN] [1731079945.508132189, 13.560000000]: rtabmap_viz: Parameter Vis/CorFlowMaxLevel not found [ WARN] [1731079945.510776116, 13.561000000]: rtabmap_viz: Parameter Vis/CorFlowWinSize not found [ WARN] [1731079945.512037887, 13.564000000]: rtabmap_viz: Parameter Vis/CorGuessMatchToProjection not found [ WARN] [1731079945.512920467, 13.564000000]: rtabmap_viz: Parameter Vis/CorGuessWinSize not found [ WARN] [1731079945.513768051, 13.564000000]: rtabmap_viz: Parameter Vis/CorNNDR not found [ WARN] [1731079945.514513738, 13.566000000]: rtabmap_viz: Parameter Vis/CorNNType not found [ WARN] [1731079945.515118258, 13.567000000]: rtabmap_viz: Parameter Vis/CorType not found [ WARN] [1731079945.515717811, 13.568000000]: rtabmap_viz: Parameter Vis/DepthAsMask not found [ WARN] [1731079945.516412172, 13.568000000]: rtabmap_viz: Parameter Vis/EpipolarGeometryVar not found [ WARN] [1731079945.518995262, 13.570000000]: rtabmap_viz: Parameter Vis/EstimationType not found [ WARN] [1731079945.522134718, 13.571000000]: rtabmap_viz: Parameter Vis/FeatureType not found [ WARN] [1731079945.524164935, 13.573000000]: rtabmap_viz: Parameter Vis/ForwardEstOnly not found [ WARN] [1731079945.527807048, 13.577000000]: rtabmap_viz: Parameter Vis/GridCols not found [ WARN] [1731079945.529322575, 13.579000000]: rtabmap_viz: Parameter Vis/GridRows not found [ WARN] [1731079945.531029712, 13.579000000]: rtabmap_viz: Parameter Vis/InlierDistance not found [ WARN] [1731079945.532846788, 13.581000000]: rtabmap_viz: Parameter Vis/Iterations not found [ WARN] [1731079945.534452976, 13.583000000]: rtabmap_viz: Parameter Vis/MaxDepth not found [ WARN] [1731079945.536139242, 13.584000000]: rtabmap_viz: Parameter Vis/MaxFeatures not found [ WARN] [1731079945.537719249, 13.584000000]: rtabmap_viz: Parameter Vis/MeanInliersDistance not found [ WARN] [1731079945.539001803, 13.586000000]: rtabmap_viz: Parameter Vis/MinDepth not found [ WARN] [1731079945.541596156, 13.586000000]: rtabmap_viz: Parameter Vis/MinInliers not found [ WARN] [1731079945.543646602, 13.586000000]: rtabmap_viz: Parameter Vis/MinInliersDistribution not found [ WARN] [1731079945.545283281, 13.586000000]: rtabmap_viz: Parameter Vis/PnPFlags not found [ WARN] [1731079945.547265180, 13.586000000]: rtabmap_viz: Parameter Vis/PnPMaxVariance not found [ WARN] [1731079945.549021568, 13.586000000]: rtabmap_viz: Parameter Vis/PnPRefineIterations not found [ WARN] [1731079945.550758936, 13.586000000]: rtabmap_viz: Parameter Vis/PnPReprojError not found [ WARN] [1731079945.552132110, 13.593000000]: rtabmap_viz: Parameter Vis/PnPSamplingPolicy not found [ WARN] [1731079945.553653093, 13.593000000]: rtabmap_viz: Parameter Vis/PnPSplitLinearCovComponents not found [ WARN] [1731079945.554651791, 13.596000000]: rtabmap_viz: Parameter Vis/PnPVarianceMedianRatio not found [ WARN] [1731079945.555567789, 13.597000000]: rtabmap_viz: Parameter Vis/RefineIterations not found [ WARN] [1731079945.556500506, 13.599000000]: rtabmap_viz: Parameter Vis/RoiRatios not found [ WARN] [1731079945.557541696, 13.600000000]: rtabmap_viz: Parameter Vis/SSC not found [ WARN] [1731079945.559807945, 13.602000000]: rtabmap_viz: Parameter Vis/SubPixEps not found [ WARN] [1731079945.562585001, 13.603000000]: rtabmap_viz: Parameter Vis/SubPixIterations not found [ WARN] [1731079945.566105338, 13.606000000]: rtabmap_viz: Parameter Vis/SubPixWinSize not found [ WARN] [1731079945.567095022, 13.607000000]: rtabmap_viz: Parameter g2o/Baseline not found [ WARN] [1731079945.569750083, 13.607000000]: rtabmap_viz: Parameter g2o/Optimizer not found [ WARN] [1731079945.572679624, 13.607000000]: rtabmap_viz: Parameter g2o/PixelVariance not found [ WARN] [1731079945.574344707, 13.610000000]: rtabmap_viz: Parameter g2o/RobustKernelDelta not found [ WARN] [1731079945.575755429, 13.610000000]: rtabmap_viz: Parameter g2o/Solver not found [ INFO] [1731079945.575826206, 13.610000000]: rtabmap_viz: Parameters read = 4 [ INFO] [1731079946.673576454, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_depth = false [ INFO] [1731079946.673819907, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_rgb = false [ INFO] [1731079946.673903521, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_stereo = false [ INFO] [1731079946.673942394, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1731079946.673982138, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_sensor_data = false [ INFO] [1731079946.674028539, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_odom_info = false [ INFO] [1731079946.674068946, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_user_data = false [ INFO] [1731079946.674098080, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_scan = true [ INFO] [1731079946.674113711, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false [ INFO] [1731079946.674133762, 14.401000000]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false [ INFO] [1731079946.674153248, 14.401000000]: /rtabmap/rtabmap_viz: topic_queue_size = 10 [ INFO] [1731079946.674181008, 14.401000000]: /rtabmap/rtabmap_viz: sync_queue_size = 10 [ INFO] [1731079946.674219671, 14.401000000]: /rtabmap/rtabmap_viz: approx_sync = true [ INFO] [1731079946.674376955, 14.401000000]: Setup scan callback [ INFO] [1731079946.712700998, 14.415000000]: /rtabmap/rtabmap_viz subscribed to (approx sync): /odom \ /scan [ INFO] [1731079946.723016975, 14.419000000]: rtabmap_viz started. [ WARN] [1731079952.188883873, 18.419000000]: /rtabmap/rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively). /rtabmap/rtabmap_viz subscribed to (approx sync): /odom \ /scan

` 1 2

matlabbe commented 5 days ago

For python error AttributeError: 'module' object has no attribute 'FullLoader', maybe a python version issue. If the camera_info is not published, visual odometry will wait for topics.

On the turtlebot issue, there is this error: rtabmap: malloc.c:2401: sysmalloc: Assertion (old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)' failed.

See https://github.com/introlab/rtabmap/issues/872 and https://github.com/introlab/rtabmap_ros/issues/881 if it can help.

WEILANZF commented 1 day ago

For python error AttributeError: 'module' object has no attribute 'FullLoader', maybe a python version issue. If the camera_info is not published, visual odometry will wait for topics.

On the turtlebot issue, there is this error: rtabmap: malloc.c:2401: sysmalloc: Assertion (old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)' failed.

See #872 and introlab/rtabmap_ros#881 if it can help.

HI,matlabble,THANKS for help! I have change the system to ubuntu20.04, and follow the docker step by step. But I have some problem when build with ORBSLAM3v1.0. Building success with some package warning. Error comes after first frame show in rtab_viz running the examples.(optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!) environment

cmake -DWITH_G2O=OFF -DWITH_GTSAM=ON -DWITH_CERES=ON -DWITH_VINS=OFF -DWITH_OPENVINS=OFF -DWITH_ORB_SLAM=ON .. CMAKE INFO

-- MOBILE_BUILD=OFF
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (USB_10)
  does not match the name of the calling package (OpenNI).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake:28 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:179 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:322 (find_openni)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (libusb-1.0)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:291 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:338 (find_libusb)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (USB_10)
  does not match the name of the calling package (OpenNI).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake:28 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:179 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:322 (find_openni)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_COMMON)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_OCTREE)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_IO)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_KDTREE)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_SEARCH)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SURFACE) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_FILTERS) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_2D)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:619 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_FEATURES) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_REGISTRATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SAMPLE_CONSENSUS) does not match the name of the calling package
  (PCL).  This can lead to problems in calling code that expects
  `find_package` result variables (e.g., `_FOUND`) to follow a certain
  pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_GEOMETRY) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:619 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_ML)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SEGMENTATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_VISUALIZATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:240 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found SQLite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP: /usr/lib/gcc/x86_64-linux-gnu/13/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Add PCL_OMP to definitions
-- Found OpenCV: /usr/include/opencv4
-- Found PCL: /usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL2
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/include/eigen3
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include/eigen3;/home/ubuntu/Dependence/libnabo;/usr/include/eigen3;/usr/include;/home/ubuntu/Dependence/libpointmatcher/pointmatcher
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono atomic 
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono timer serialization atomic 
-- Found octomap 1.9.8: /opt/ros/noetic/include
-- Found grid_map_core 1.6.4: /opt/ros/noetic/include;/usr/include/eigen3
-- Found ceres 2.0.0: 
-- Architecture: x86_64
-- Found Pangolin: /home/ubuntu/Dependence/Pangolin-0.5/include;/home/ubuntu/Dependence/Pangolin-0.5/build/src/include;/usr/include;/usr/include;/usr/include;/usr/include/eigen3
-- Found ORB_SLAM3: /home/ubuntu/Dependence/ORB_SLAM3/include;/home/ubuntu/Dependence/ORB_SLAM3/include/CameraModels;/home/ubuntu/Dependence/ORB_SLAM3/Thirdparty/g2o;/home/ubuntu/Dependence/ORB_SLAM3/Thirdparty/Sophus;/home/ubuntu/Dependence/ORB_SLAM3;/home/ubuntu/Dependence/Pangolin-0.5/include;/home/ubuntu/Dependence/Pangolin-0.5/build/src/include;/usr/include;/usr/include;/usr/include;/usr/include/eigen3
-- Found Pthreads
CMake Deprecation Warning at examples/LidarMapping/CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.21.6
--   CMAKE_VERSION =        3.26.0
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++14
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_VERSION = 1.10.0
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 4.2.0 xfeatures2d = NO, nonfree = NO (License: BSD)
--   With Qt 5.12.8            = YES (License: Open Source or Commercial)
--   With VTK 7.1              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint          = NO (WITH_TORCH=OFF)
--   With Python3              = NO (WITH_PYTHON=OFF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = NO (PDAL not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = NO (WITH_G2O=OFF)
--  *With GTSAM           = YES (License: BSD)
--  *With Ceres 2.0.0         = YES (License: BSD)
--   With MRPT                 = NO (MRPT not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (WITH_CVSBA=OFF)
--  *With libpointmatcher 1.2.3 = YES (License: BSD)
--   With CCCoreLib            = NO (WITH_CCCORELIB=OFF)
--   With Open3D               = NO (WITH_OPEN3D=OFF)
--   With OpenGV               = NO (WITH_OPENGV=OFF)
-- 
--  Reconstruction Approaches:
--   With OctoMap 1.9.8        = YES (License: BSD)
--   With GridMap 1.6.4        = YES (License: BSD)
--   With CPUTSDF              = NO (WITH_CPUTSDF=OFF)
--   With OpenChisel           = NO (WITH_OPENCHISEL=OFF)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI               = YES (License: Apache v2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = NO (librealsense2 not found)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = NO (WITH_DEPTHAI=OFF)
--   With XVisio SDK           = NO (WITH_XVSDK=OFF)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (WITH_LOAM=OFF)
--   With floam                = NO (WITH_FLOAM=OFF)
--   With libfovis             = NO (WITH_FOVIS=OFF)
--   With libviso2             = NO (WITH_VISO2=OFF)
--   With dvo_core             = NO (WITH_DVO=OFF)
--   With okvis                = NO (WITH_OKVIS=OFF)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (WITH_VINS=OFF)
--   With OpenVINS             = NO (WITH_OPENVINS=OFF)
--   With ORB_SLAM3            = YES (License: GPLv3)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done (0.4s)
-- Generating done (0.5s)
-- Build files have been written to: /home/ubuntu/Dependence/rtabmap/build

I RUN roslaunch rtabmap_examples euroc_datasets.launch MH_seq:=true rosbag play --clock MH_01_easy.bag

INFO


Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu-virtual-machine:36811/

SUMMARY
========

CLEAR PARAMETERS
 * /rtabmap/rtabmap/
 * /rtabmap/rtabmap_viz/
 * /rtabmap/stereo_odometry/

PARAMETERS
 * /imu_filter/publish_tf: False
 * /imu_filter/use_mag: False
 * /imu_filter/world_frame: enu
 * /point_to_tf/fixed_frame_id: world
 * /point_to_tf/frame_id: leica
 * /rosdistro: noetic
 * /rosversion: 1.17.0
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: base_link
 * /rtabmap/rtabmap/gen_depth: False
 * /rtabmap/rtabmap/gen_depth_decimation: 1
 * /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
 * /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
 * /rtabmap/rtabmap/gen_depth_fill_iterations: 1
 * /rtabmap/rtabmap/gen_scan: False
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/initial_pose: 
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/loc_thr: 0.0
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_frame_id_init: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: False
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap/subscribe_stereo: True
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/sync_queue_size: 10
 * /rtabmap/rtabmap/topic_queue_size: 1
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.1
 * /rtabmap/rtabmap_viz/approx_sync: False
 * /rtabmap/rtabmap_viz/frame_id: base_link
 * /rtabmap/rtabmap_viz/odom_frame_id: 
 * /rtabmap/rtabmap_viz/subscribe_depth: False
 * /rtabmap/rtabmap_viz/subscribe_odom_info: True
 * /rtabmap/rtabmap_viz/subscribe_rgb: False
 * /rtabmap/rtabmap_viz/subscribe_rgbd: False
 * /rtabmap/rtabmap_viz/subscribe_scan: False
 * /rtabmap/rtabmap_viz/subscribe_scan_cloud: False
 * /rtabmap/rtabmap_viz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap_viz/subscribe_stereo: True
 * /rtabmap/rtabmap_viz/sync_queue_size: 10
 * /rtabmap/rtabmap_viz/topic_queue_size: 1
 * /rtabmap/rtabmap_viz/wait_for_transform_duration: 0.1
 * /rtabmap/stereo_odometry/approx_sync: False
 * /rtabmap/stereo_odometry/approx_sync_max_interval: 0.0
 * /rtabmap/stereo_odometry/config_path: 
 * /rtabmap/stereo_odometry/expected_update_rate: 0.0
 * /rtabmap/stereo_odometry/frame_id: base_link
 * /rtabmap/stereo_odometry/ground_truth_base_frame_id: 
 * /rtabmap/stereo_odometry/ground_truth_frame_id: 
 * /rtabmap/stereo_odometry/guess_frame_id: 
 * /rtabmap/stereo_odometry/guess_min_rotation: 0.0
 * /rtabmap/stereo_odometry/guess_min_translation: 0.0
 * /rtabmap/stereo_odometry/keep_color: False
 * /rtabmap/stereo_odometry/max_update_rate: 0.0
 * /rtabmap/stereo_odometry/odom_frame_id: odom
 * /rtabmap/stereo_odometry/publish_tf: True
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/sync_queue_size: 10
 * /rtabmap/stereo_odometry/topic_queue_size: 1
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.1
 * /rtabmap/stereo_odometry/wait_imu_to_init: True
 * /stereo_camera/yaml_to_camera_info_left/yaml_path: /home/ubuntu/rtab...
 * /stereo_camera/yaml_to_camera_info_right/frame_id: cam1
 * /stereo_camera/yaml_to_camera_info_right/yaml_path: /home/ubuntu/rtab...
 * /use_sim_time: True

NODES
  /
    cam0_imu_link (tf/static_transform_publisher)
    cam1_imu_link (tf/static_transform_publisher)
    imu_base_link (tf/static_transform_publisher)
    imu_filter (imu_complementary_filter/complementary_filter_node)
    leica_base_link (tf/static_transform_publisher)
    point_to_tf (rtabmap_util/point_to_tf.py)
    world_to_map (tf/static_transform_publisher)
  /rtabmap/
    rtabmap (rtabmap_slam/rtabmap)
    rtabmap_viz (rtabmap_viz/rtabmap_viz)
    stereo_odometry (rtabmap_odom/stereo_odometry)
  /stereo_camera/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
    yaml_to_camera_info_left (rtabmap_util/yaml_to_camera_info.py)
    yaml_to_camera_info_right (rtabmap_util/yaml_to_camera_info.py)

auto-starting new master
process[master]: started with pid [150217]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0c89d802-a72e-11ef-aca6-ad2aafa193a5
process[rosout-1]: started with pid [150227]
started core service [/rosout]
process[stereo_camera/yaml_to_camera_info_left-2]: started with pid [150235]
process[stereo_camera/yaml_to_camera_info_right-3]: started with pid [150236]
process[stereo_camera/stereo_image_proc-4]: started with pid [150237]
process[imu_base_link-5]: started with pid [150238]
process[cam0_imu_link-6]: started with pid [150239]
process[cam1_imu_link-7]: started with pid [150240]
process[leica_base_link-8]: started with pid [150246]
process[point_to_tf-9]: started with pid [150251]
process[world_to_map-10]: started with pid [150259]
process[imu_filter-11]: started with pid [150264]
process[rtabmap/stereo_odometry-12]: started with pid [150265]
process[rtabmap/rtabmap-13]: started with pid [150270]
[ INFO] [1732100170.093969301]: Starting ComplementaryFilterROS
process[rtabmap/rtabmap_viz-14]: started with pid [150276]
[ WARN] [1732100170.484909041]: The input topic '/cam0/image_raw' is not yet advertised
[ WARN] [1732100170.485794211]: The input topic '/stereo_camera/left/camera_info' is not yet advertised
[ WARN] [1732100170.485956513]: The input topic '/cam1/image_raw' is not yet advertised
[ WARN] [1732100170.486045418]: The input topic '/stereo_camera/right/camera_info' is not yet advertised
[ INFO] [1732100170.539784920]: Starting node...
[ INFO] [1732100170.553182629]: Initializing nodelet with 8 worker threads.
[ INFO] [1732100170.600402700]: Initializing nodelet with 8 worker threads.
[ INFO] [1732100170.624516074]: Odometry: frame_id               = base_link
[ INFO] [1732100170.624585912]: Odometry: odom_frame_id          = odom
[ INFO] [1732100170.624611296]: Odometry: publish_tf             = true
[ INFO] [1732100170.624634551]: Odometry: wait_for_transform     = true
[ INFO] [1732100170.624668111]: Odometry: wait_for_transform_duration  = 0.100000
[ INFO] [1732100170.624692374]: Odometry: log_to_rosout_level    = 4
[ INFO] [1732100170.624733020]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1732100170.624758289]: Odometry: ground_truth_frame_id  = 
[ INFO] [1732100170.624781422]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1732100170.624804108]: Odometry: config_path            = 
[ INFO] [1732100170.624832634]: Odometry: publish_null_when_lost = true
[ INFO] [1732100170.624855693]: Odometry: publish_compressed_sensor_data = false
[ INFO] [1732100170.624878337]: Odometry: guess_frame_id         = 
[ INFO] [1732100170.624911167]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1732100170.624950226]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1732100170.624985902]: Odometry: guess_min_time         = 0.000000
[ INFO] [1732100170.625021115]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1732100170.625056510]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1732100170.625091946]: Odometry: min_update_rate        = 0.000000 Hz
[ INFO] [1732100170.625128443]: Odometry: wait_imu_to_init       = true
[ INFO] [1732100170.625156974]: Odometry: sensor_data_compression_format   = .jpg
[ INFO] [1732100170.625179869]: Odometry: sensor_data_parallel_compression = true
[ INFO] [1732100170.625219955]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1732100170.688063973]: Starting node...
[ INFO] [1732100170.833958866]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1732100170.834013243]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1732100170.834035751]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1732100170.834053071]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1732100170.834069557]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1732100170.834085013]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1732100170.834100323]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1732100170.834117067]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1732100170.834505220]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1732100170.883387819]: rtabmap: frame_id      = base_link
[ INFO] [1732100170.883435121]: rtabmap: map_frame_id  = map
[ INFO] [1732100170.883472936]: rtabmap: log_to_rosout_level = 4
[ INFO] [1732100170.883520028]: rtabmap: initial_pose  = 
[ INFO] [1732100170.883574056]: rtabmap: use_action_for_goal  = false
[ INFO] [1732100170.883639441]: rtabmap: tf_delay      = 0.050000
[ INFO] [1732100170.883681941]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1732100170.883750303]: rtabmap: odom_sensor_sync   = false
[ INFO] [1732100170.883780181]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1732100170.884853760]: rtabmap: stereo_to_depth = false
[ INFO] [1732100170.884871023]: rtabmap: gen_scan  = false
[ INFO] [1732100170.884880222]: rtabmap: gen_depth  = false
[ INFO] [1732100171.053199406]: rtabmap_viz: Using configuration from "/home/ubuntu/.ros/rtabmap_gui.ini"
[ WARN] (2024-11-20 18:56:11.100) Parameters.cpp:1161::parseArguments() Parameter migration from "Odom/FeatureType" to "Vis/FeatureType" (value=6).
[ INFO] [1732100171.100781528]: Odometry: Ignored parameter "Kp/DetectorStrategy"="6" from arguments
[ INFO] [1732100171.100804431]: Odometry: Ignored parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[ INFO] [1732100171.100816631]: Update odometry parameter "Vis/FeatureType"="6" from arguments
[ INFO] [1732100171.208429915]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1732100171.208876709]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ WARN] (2024-11-20 18:56:11.372) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.373) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1732100171.386080317]: odometry: Subscribing to IMU topic /imu/data
[ INFO] [1732100171.392941561]: StereoOdometry: approx_sync = false
[ INFO] [1732100171.393001385]: StereoOdometry: topic_queue_size = 1
[ INFO] [1732100171.393019042]: StereoOdometry: sync_queue_size = 10
[ INFO] [1732100171.393038051]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1732100171.393056634]: StereoOdometry: keep_color = false
[ INFO] [1732100171.416759055]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info
[ WARN] (2024-11-20 18:56:11.490) Parameters.cpp:1161::parseArguments() Parameter migration from "Odom/FeatureType" to "Vis/FeatureType" (value=6).
[ INFO] [1732100171.490238040]: Update RTAB-Map parameter "Kp/DetectorStrategy"="6" from arguments
[ INFO] [1732100171.490303626]: Update RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[ INFO] [1732100171.490332137]: Update RTAB-Map parameter "Vis/FeatureType"="6" from arguments
[ INFO] [1732100171.654665351]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1732100171.656139374]: rtabmap: Deleted database "/home/ubuntu/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1732100171.656253808]: rtabmap: Using database from "/home/ubuntu/.ros/rtabmap.db" (0 MB).
[ WARN] (2024-11-20 18:56:11.670) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.672) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.672) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.675) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.676) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.676) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.678) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.679) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.680) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.859) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.860) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-11-20 18:56:11.861) Features2d.cpp:619::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1732100171.862414031]: rtabmap: Database version = "0.21.6".
[ INFO] [1732100171.862483991]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1732100171.898274884]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1732100171.898359815]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1732100171.898386241]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1732100171.898415979]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1732100171.898441612]: /rtabmap/rtabmap: subscribe_sensor_data = false
[ INFO] [1732100171.898478007]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1732100171.898499483]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1732100171.898555610]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1732100171.898582225]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1732100171.898605242]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1732100171.898631324]: /rtabmap/rtabmap: topic_queue_size = 1
[ INFO] [1732100171.898657628]: /rtabmap/rtabmap: sync_queue_size = 10
[ INFO] [1732100171.898681155]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1732100171.898755957]: Setup stereo callback
[ INFO] [1732100171.921710742]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
[ INFO] [1732100172.079487865]: rtabmap 0.21.6 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1732100172.674135131]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1732100172.941092406]: rtabmap_viz: Parameters read = 377
[ INFO] [1732100172.941124269]: rtabmap_viz: Parameters successfully read.
[ INFO] [1732100173.280984914]: /rtabmap/rtabmap_viz: subscribe_depth = false
[ INFO] [1732100173.281011222]: /rtabmap/rtabmap_viz: subscribe_rgb = false
[ INFO] [1732100173.281021001]: /rtabmap/rtabmap_viz: subscribe_stereo = true
[ INFO] [1732100173.281030013]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1732100173.281038510]: /rtabmap/rtabmap_viz: subscribe_sensor_data = false
[ INFO] [1732100173.281046768]: /rtabmap/rtabmap_viz: subscribe_odom_info = true
[ INFO] [1732100173.281054478]: /rtabmap/rtabmap_viz: subscribe_user_data = false
[ INFO] [1732100173.281062174]: /rtabmap/rtabmap_viz: subscribe_scan = false
[ INFO] [1732100173.281070678]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false
[ INFO] [1732100173.281081590]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false
[ INFO] [1732100173.281091831]: /rtabmap/rtabmap_viz: topic_queue_size = 1
[ INFO] [1732100173.281100608]: /rtabmap/rtabmap_viz: sync_queue_size = 10
[ INFO] [1732100173.281109023]: /rtabmap/rtabmap_viz: approx_sync = false
[ INFO] [1732100173.281127986]: Setup stereo callback
[ INFO] [1732100173.333871037]: 
/rtabmap/rtabmap_viz subscribed to (exact sync):
   /rtabmap/odom \
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
[ INFO] [1732100173.336262132]: rtabmap_viz started.
[ WARN] [1732100178.762764972, 1403636578.947525179]: /rtabmap/rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap_viz subscribed to (exact sync):
   /rtabmap/odom \
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
[ WARN] [1732100178.763206699, 1403636578.947525179]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
[ WARN] [1732100178.763253937, 1403636578.947525179]: /rtabmap/stereo_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info
[ WARN] (2024-11-20 18:56:19.669) Odometry.cpp:324::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=0.050821,0.290262,-3.090772 with IMU orientation
[ INFO] [1732100179.703274417, 1403636579.887496545]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.033540s, delay=0.123941s
**[FATAL] (2024-11-20 18:56:19.786) OptimizerG2O.cpp:1906::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!**
**[FATAL] [1732100179.787033761, 1403636579.968077726]: [FATAL] (2024-11-20 18:56:19.786) OptimizerG2O.cpp:1906::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!**
terminate called after throwing an instance of 'UException'
  what():  [FATAL] (2024-11-20 18:56:19.786) OptimizerG2O.cpp:1906::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!
[ INFO] [1732100179.793604729, 1403636579.978157538]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0071s, RTAB-Map=0.0655s, Maps update=0.0020s pub=0.0113s (local map=1, WM=1)
[rtabmap/stereo_odometry-12] process has died [pid 150265, exit code -6, cmd /home/ubuntu/rtab_ws/devel/lib/rtabmap_odom/stereo_odometry -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType 6 --Kp/DetectorStrategy 6 left/image_rect:=/stereo_camera/left/image_rect right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/imu/data __name:=stereo_odometry __log:=/home/ubuntu/.ros/log/0c89d802-a72e-11ef-aca6-ad2aafa193a5/rtabmap-stereo_odometry-12.log].
log file: /home/ubuntu/.ros/log/0c89d802-a72e-11ef-aca6-ad2aafa193a5/rtabmap-stereo_odometry-12*.log
[ WARN] [1732100184.765403762, 1403636584.951415511]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /stereo_camera/left/image_rect \
   /stereo_camera/right/image_rect \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
WEILANZF commented 1 day ago

I have solved this problem by replacing a g2o file in Thirdparty(ORBSLAM3).