Closed frushton closed 6 years ago
matlabbe
commented
6 years ago The bundle error is more a warning, odometry is still computed. For the crash, it is related to freenect:
what(): freenect_process_events errorSee also https://github.com/ros-drivers/freenect_stack/issues/40
frushton
commented
6 years ago Thank you!
zhaohengwang
commented
6 years ago @frushton
Have solved the problem？
I also have the error： [ERROR] (2018-07-06 12:25:20.213) OdometryF2M.cpp:200::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled
Could you tell me how to deal with it?
Thank you!
I am launching the demo_two_kinects.launch file, and rtabmapviz pops up and begins collecting data and showing the point cloud, but after about 20 seconds, the camera nodelet manager (always for camera 2) dies. Also, just before data starts being collected, I also get this error:
[ERROR] (2018-07-06 12:25:20.213) OdometryF2M.cpp:200::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled.
Does anyone know what's going on here?
``... logging to /home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/roslaunch-e4e-XPS-15-9560-9462.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://e4e-XPS-15-9560:46391/
SUMMARY
PARAMETERS
NODES /camera2/ camera2_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) rgbd_sync (nodelet/nodelet) /camera1/ camera1_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) rgbd_sync (nodelet/nodelet) /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) / base_to_camera1_tf (tf/static_transform_publisher) base_to_camera2_tf (tf/static_transform_publisher) camera1_base_link (tf2_ros/static_transform_publisher) camera1_base_link1 (tf2_ros/static_transform_publisher) camera1_base_link2 (tf2_ros/static_transform_publisher) camera1_base_link3 (tf2_ros/static_transform_publisher) camera2_base_link (tf2_ros/static_transform_publisher) camera2_base_link1 (tf2_ros/static_transform_publisher) camera2_base_link2 (tf2_ros/static_transform_publisher) camera2_base_link3 (tf2_ros/static_transform_publisher)
auto-starting new master process[master]: started with pid [9472] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 4f3975f8-8152-11e8-b98f-02429def565d process[rosout-1]: started with pid [9485] started core service [/rosout] process[camera1/camera1_nodelet_manager-2]: started with pid [9502] process[camera1/driver-3]: started with pid [9503] process[camera1/rgb_debayer-4]: started with pid [9504] process[camera1/rgb_rectify_mono-5]: started with pid [9510] process[camera1/rgb_rectify_color-6]: started with pid [9519] process[camera1/ir_rectify_ir-7]: started with pid [9534] process[camera1/depth_rectify_depth-8]: started with pid [9555] [ INFO] [1530905115.806371040]: Initializing nodelet with 4 worker threads. process[camera1/depth_metric_rect-9]: started with pid [9572] process[camera1/depth_metric-10]: started with pid [9607] process[camera1/depth_points-11]: started with pid [9615] process[camera1/register_depth_rgb-12]: started with pid [9630] process[camera1/points_xyzrgb_sw_registered-13]: started with pid [9638] process[camera1/depth_registered_sw_metric_rect-14]: started with pid [9646] process[camera1/depth_registered_rectify_depth-15]: started with pid [9650] process[camera1/points_xyzrgb_hw_registered-16]: started with pid [9666] process[camera1/depth_registered_hw_metric_rect-17]: started with pid [9678] process[camera1/depth_registered_metric-18]: started with pid [9689] process[camera1/disparity_depth-19]: started with pid [9691] process[camera1/disparity_registered_sw-20]: started with pid [9714] process[camera1/disparity_registered_hw-21]: started with pid [9737] process[camera1_base_link-22]: started with pid [9752] process[camera1_base_link1-23]: started with pid [9776] process[camera1_base_link2-24]: started with pid [9792] process[camera1_base_link3-25]: started with pid [9802] process[camera2/camera2_nodelet_manager-26]: started with pid [9817] process[camera2/driver-27]: started with pid [9826] process[camera2/rgb_debayer-28]: started with pid [9840] process[camera2/rgb_rectify_mono-29]: started with pid [9849] process[camera2/rgb_rectify_color-30]: started with pid [9862] process[camera2/ir_rectify_ir-31]: started with pid [9867] process[camera2/depth_rectify_depth-32]: started with pid [9877] process[camera2/depth_metric_rect-33]: started with pid [9891] process[camera2/depth_metric-34]: started with pid [9904] process[camera2/depth_points-35]: started with pid [9919] process[camera2/register_depth_rgb-36]: started with pid [9925] process[camera2/points_xyzrgb_sw_registered-37]: started with pid [9937] process[camera2/depth_registered_sw_metric_rect-38]: started with pid [9945] process[camera2/depth_registered_rectify_depth-39]: started with pid [9953] process[camera2/points_xyzrgb_hw_registered-40]: started with pid [9968] process[camera2/depth_registered_hw_metric_rect-41]: started with pid [9977] process[camera2/depth_registered_metric-42]: started with pid [9990] process[camera2/disparity_depth-43]: started with pid [9996] process[camera2/disparity_registered_sw-44]: started with pid [10006] [ INFO] [1530905116.029252147]: Initializing nodelet with 4 worker threads. process[camera2/disparity_registered_hw-45]: started with pid [10026] process[camera2_base_link-46]: started with pid [10045] process[camera2_base_link1-47]: started with pid [10049] process[camera2_base_link2-48]: started with pid [10061] process[camera2_base_link3-49]: started with pid [10075] process[base_to_camera1_tf-50]: started with pid [10086] process[base_to_camera2_tf-51]: started with pid [10098] process[camera1/rgbd_sync-52]: started with pid [10117] process[camera2/rgbd_sync-53]: started with pid [10128] process[rtabmap/rgbd_odometry-54]: started with pid [10146] process[rtabmap/rtabmap-55]: started with pid [10169] process[rtabmap/rtabmapviz-56]: started with pid [10191] [ INFO] [1530905116.369385747]: Starting node... [ INFO] [1530905116.393112921]: Number devices connected: 2 [ INFO] [1530905116.393158929]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361812237040A' [ INFO] [1530905116.393183890]: 2. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00363716224036B' [ INFO] [1530905116.394539977]: Searching for device with index = 2 [ INFO] [1530905116.409477124]: Initializing nodelet with 8 worker threads. [ INFO] [1530905116.429696217]: Initializing nodelet with 8 worker threads. [ INFO] [1530905116.456143242]: Starting node... [ INFO] [1530905116.570378918]: Number devices connected: 2 [ INFO] [1530905116.570444126]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361812237040A' [ INFO] [1530905116.570466931]: 2. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00363716224036B' [ INFO] [1530905116.575196685]: Searching for device with index = 1 [ INFO] [1530905116.604193117]: rtabmapviz: Using configuration from "/home/e4e/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1530905116.767130033]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1530905116.768099544]: Odometry: frame_id = base_link [ INFO] [1530905116.768130209]: Odometry: odom_frame_id = odom [ INFO] [1530905116.768148195]: Odometry: publish_tf = true [ INFO] [1530905116.768164027]: Odometry: wait_for_transform = true [ INFO] [1530905116.768192525]: Odometry: wait_for_transform_duration = 0.100000 [ INFO] [1530905116.768227205]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1530905116.768244022]: Odometry: ground_truth_frame_id = [ INFO] [1530905116.768264470]: Odometry: ground_truth_base_frame_id = base_link [ INFO] [1530905116.768279727]: Odometry: config_path = [ INFO] [1530905116.768292880]: Odometry: publish_null_when_lost = true [ INFO] [1530905116.768305453]: Odometry: guess_frame_id = [ INFO] [1530905116.768320518]: Odometry: guess_min_translation = 0.000000 [ INFO] [1530905116.768333736]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1530905116.835447898]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1530905116.835473310]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1530905116.835483941]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1530905116.835493685]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false [ INFO] [1530905116.835501402]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = false [ INFO] [1530905116.835509783]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1530905116.835519082]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1530905116.835527341]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1530905116.888390982]: rtabmap: frame_id = base_link [ INFO] [1530905116.888419508]: rtabmap: map_frame_id = map [ INFO] [1530905116.888438058]: rtabmap: tf_delay = 0.050000 [ INFO] [1530905116.888453631]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1530905116.888469357]: rtabmap: odom_sensor_sync = false [ INFO] [1530905116.907666769]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1530905117.004334364]: Setting odometry parameter "Odom/FillInfoData"="true" [ INFO] [1530905117.097086638]: Setting odometry parameter "Odom/Strategy"="0" [ INFO] [1530905117.122285981]: Setting odometry parameter "OdomF2M/MaxSize"="1000" [ WARN] [1530905117.153224113]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1530905117.180580251]: rgb_frame_id = 'camera1_rgb_optical_frame' [ INFO] [1530905117.180640068]: depth_frame_id = 'camera1_depth_optical_frame' [ INFO] [1530905117.187357198]: Setting RTAB-Map parameter "Grid/FromDepth"="false" [ WARN] [1530905117.217694912]: Camera calibration file /home/e4e/.ros/camera_info/rgb_A00361812237040A.yaml not found. [ WARN] [1530905117.217769382]: Using default parameters for RGB camera calibration. [ WARN] [1530905117.217816757]: Camera calibration file /home/e4e/.ros/camera_info/depth_A00361812237040A.yaml not found. [ WARN] [1530905117.217858218]: Using default parameters for IR camera calibration. [ WARN] [1530905117.281669454]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1530905117.304517933]: rgb_frame_id = 'camera2_rgb_optical_frame' [ INFO] [1530905117.304610612]: depth_frame_id = 'camera2_depth_optical_frame' [ WARN] [1530905117.337335411]: Camera calibration file /home/e4e/.ros/camera_info/rgb_B00363716224036B.yaml not found. [ WARN] [1530905117.337404871]: Using default parameters for RGB camera calibration. [ WARN] [1530905117.337455790]: Camera calibration file /home/e4e/.ros/camera_info/depth_B00363716224036B.yaml not found. [ WARN] [1530905117.337483403]: Using default parameters for IR camera calibration. [ INFO] [1530905117.533250109]: Setting odometry parameter "Vis/CorGuessWinSize"="0" [ INFO] [1530905117.537091699]: Setting odometry parameter "Vis/CorNNType"="3" [ INFO] [1530905117.547551369]: /camera1/rgbd_sync: approx_sync = true [ INFO] [1530905117.547611592]: /camera1/rgbd_sync: queue_size = 10 [ INFO] [1530905117.547665710]: /camera1/rgbd_sync: depth_scale = 1.000000 [ INFO] [1530905117.555199188]: Setting odometry parameter "Vis/EstimationType"="0" [ INFO] [1530905117.557184044]: Setting odometry parameter "Vis/FeatureType"="6" [ INFO] [1530905117.582672302]: Setting odometry parameter "Vis/InlierDistance"="0.02" [ INFO] [1530905117.589307819]: Setting odometry parameter "Vis/MaxDepth"="4.0" [ INFO] [1530905117.603016288]: Setting odometry parameter "Vis/MinInliers"="20" [ INFO] [1530905117.623576642]: Reading parameters from the ROS server... [ INFO] [1530905117.629764269]: /camera1/rgbd_sync subscribed to (approx sync): /camera1/rgb/image_rect_color, /camera1/depth_registered/image_raw, /camera1/rgb/camera_info, /camera1/depth_registered/camera_info [ INFO] [1530905117.659638848]: /camera2/rgbd_sync: approx_sync = true [ INFO] [1530905117.659685848]: /camera2/rgbd_sync: queue_size = 10 [ INFO] [1530905117.659730849]: /camera2/rgbd_sync: depth_scale = 1.000000 [ INFO] [1530905117.760331872]: /camera2/rgbd_sync subscribed to (approx sync): /camera2/rgb/image_rect_color, /camera2/depth_registered/image_raw, /camera2/rgb/camera_info, /camera2/depth_registered/camera_info [ INFO] [1530905117.930930918]: RGBDOdometry: approx_sync = true [ INFO] [1530905117.930965103]: RGBDOdometry: queue_size = 5 [ INFO] [1530905117.930984453]: RGBDOdometry: subscribe_rgbd = true [ INFO] [1530905117.931002679]: RGBDOdometry: rgbd_cameras = 2 [ INFO] [1530905117.955360334]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera1/rgbd_image, /camera2/rgbd_image [ INFO] [1530905118.116011713]: Parameters read = 0 [ INFO] [1530905118.353705724]: Setting RTAB-Map parameter "Vis/EstimationType"="0" [ INFO] [1530905118.357509374]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1530905118.357533567]: /rtabmap/rtabmapviz: rgbd_cameras = 2 [ INFO] [1530905118.357546944]: /rtabmap/rtabmapviz: approx_sync = true [ INFO] [1530905118.357576870]: Setup rgbd2 callback [ INFO] [1530905118.365731593]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.02" [ INFO] [1530905118.372556162]: Setting RTAB-Map parameter "Vis/MinInliers"="10" [ INFO] [1530905118.405486323]: /rtabmap/rtabmapviz subscribed to (approx sync): /rtabmap/odom, /camera1/rgbd_image, /camera2/rgbd_image, /rtabmap/odom_info [ INFO] [1530905118.405564115]: rtabmapviz started. [ INFO] [1530905118.640713538]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1530905118.641326077]: rtabmap: Deleted database "/home/e4e/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1530905118.641351838]: rtabmap: Using database from "/home/e4e/.ros/rtabmap.db" (0 MB). [ INFO] [1530905118.843568779]: rtabmap: Database version = "0.17.0". [ INFO] [1530905118.897268975]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1530905118.897353368]: /rtabmap/rtabmap: rgbd_cameras = 2 [ INFO] [1530905118.897391503]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1530905118.897590604]: Setup rgbd2 callback [ INFO] [1530905118.922119217]: /rtabmap/rtabmap subscribed to (approx sync): /rtabmap/odom, /camera1/rgbd_image, /camera2/rgbd_image [ INFO] [1530905118.937401017]: rtabmap 0.17.0 started... [ INFO] [1530905119.768186859]: Stopping device RGB and Depth stream flush. [ INFO] [1530905119.908729836]: Stopping device RGB and Depth stream flush. [ERROR] (2018-07-06 12:25:20.213) OdometryF2M.cpp:200::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled. [ INFO] [1530905120.255021080]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.041639s [ INFO] [1530905120.405770084]: Odom: quality=579, std dev=0.002335m|0.002335rad, update time=0.080769s
[ INFO] [1530905120.524357587]: Odom: quality=599, std dev=0.002239m|0.002239rad, update time=0.071453s [ INFO] [1530905120.620728238]: Odom: quality=592, std dev=0.002252m|0.002252rad, update time=0.061904s [ INFO] [1530905120.679812185]: Odom: quality=578, std dev=0.002077m|0.002077rad, update time=0.034448s [ INFO] [1530905120.752977618]: Odom: quality=560, std dev=0.002072m|0.002072rad, update time=0.043864s [ INFO] [1530905120.820567359]: Odom: quality=567, std dev=0.002000m|0.002000rad, update time=0.043443s [ INFO] [1530905120.868817882]: Odom: quality=555, std dev=0.001949m|0.001949rad, update time=0.044060s [ INFO] [1530905120.936182140]: Odom: quality=551, std dev=0.001953m|0.001953rad, update time=0.047011s [ INFO] [1530905121.000903737]: Odom: quality=554, std dev=0.002062m|0.002062rad, update time=0.047689s [ INFO] [1530905121.071571575]: Odom: quality=563, std dev=0.002145m|0.002145rad, update time=0.054591s [ INFO] [1530905121.137507388]: Odom: quality=545, std dev=0.002101m|0.002101rad, update time=0.045099s [ INFO] [1530905121.205051987]: Odom: quality=527, std dev=0.002208m|0.002208rad, update time=0.047857s [ INFO] [1530905121.272394286]: Odom: quality=464, std dev=0.002721m|0.002721rad, update time=0.042749s [ INFO] [1530905121.376896052]: Odom: quality=424, std dev=0.003049m|0.003049rad, update time=0.063187s
[ INFO] [1530905121.462268184]: Odom: quality=222, std dev=0.004494m|0.004494rad, update time=0.061196s [ INFO] [1530905121.561245905]: Odom: quality=361, std dev=0.005323m|0.005323rad, update time=0.065859s [ INFO] [1530905121.641563147]: Odom: quality=165, std dev=0.005157m|0.005157rad, update time=0.059364s [ INFO] [1530905121.721072777]: Odom: quality=401, std dev=0.003433m|0.003433rad, update time=0.043983s [ INFO] [1530905121.787015485]: Odom: quality=190, std dev=0.010346m|0.010346rad, update time=0.047690s [ INFO] [1530905121.844605309]: Odom: quality=442, std dev=0.006249m|0.006249rad, update time=0.055219s [ INFO] [1530905121.904686754]: Odom: quality=277, std dev=0.005877m|0.005877rad, update time=0.045442s [ INFO] [1530905121.954917744]: Odom: quality=225, std dev=0.007404m|0.007404rad, update time=0.047772s [ INFO] [1530905122.006781143]: Odom: quality=162, std dev=0.011407m|0.011407rad, update time=0.047021s [ INFO] [1530905122.074944225]: Odom: quality=322, std dev=0.005201m|0.005201rad, update time=0.045564s [ INFO] [1530905122.158022770]: Odom: quality=202, std dev=0.005852m|0.005852rad, update time=0.048923s [ INFO] [1530905122.200928173]: Odom: quality=244, std dev=0.006419m|0.006419rad, update time=0.038918s [ INFO] [1530905122.271373753]: Odom: quality=412, std dev=0.006852m|0.006852rad, update time=0.038189s [ INFO] [1530905122.388778875]: Odom: quality=251, std dev=0.004375m|0.004375rad, update time=0.083711s
[ INFO] [1530905122.516069511]: Odom: quality=135, std dev=0.008428m|0.008428rad, update time=0.077431s [ INFO] [1530905122.603865403]: Odom: quality=332, std dev=0.006126m|0.006126rad, update time=0.055391s [ INFO] [1530905122.658936969]: Odom: quality=172, std dev=0.006537m|0.006537rad, update time=0.045571s [ INFO] [1530905122.723617267]: Odom: quality=205, std dev=0.006292m|0.006292rad, update time=0.042296s [ INFO] [1530905122.795261603]: Odom: quality=294, std dev=0.006120m|0.006120rad, update time=0.046211s [ INFO] [1530905122.859909772]: Odom: quality=122, std dev=0.010762m|0.010762rad, update time=0.042710s [ INFO] [1530905122.938290720]: Odom: quality=268, std dev=0.006186m|0.006186rad, update time=0.045202s [ INFO] [1530905123.006155754]: Odom: quality=143, std dev=0.006619m|0.006619rad, update time=0.037058s [ INFO] [1530905123.072630175]: Odom: quality=272, std dev=0.005740m|0.005740rad, update time=0.043550s [ INFO] [1530905123.160113689]: Odom: quality=268, std dev=0.004443m|0.004443rad, update time=0.047024s [ INFO] [1530905123.216832307]: Odom: quality=248, std dev=0.009852m|0.009852rad, update time=0.039744s [ INFO] [1530905123.290362011]: Odom: quality=297, std dev=0.008451m|0.008451rad, update time=0.051970s [ INFO] [1530905123.338874533]: Odom: quality=124, std dev=0.007461m|0.007461rad, update time=0.047066s [ INFO] [1530905123.457981024]: Odom: quality=289, std dev=0.004576m|0.004576rad, update time=0.062914s
[ INFO] [1530905123.574326269]: Odom: quality=142, std dev=0.005184m|0.005184rad, update time=0.096632s [ INFO] [1530905123.638983260]: Odom: quality=202, std dev=0.005275m|0.005275rad, update time=0.052072s [ INFO] [1530905123.715851265]: Odom: quality=260, std dev=0.004568m|0.004568rad, update time=0.047400s [ INFO] [1530905123.804990707]: Odom: quality=217, std dev=0.007717m|0.007717rad, update time=0.048505s [ INFO] [1530905123.871045449]: Odom: quality=276, std dev=0.007173m|0.007173rad, update time=0.048404s [ INFO] [1530905123.936878246]: Odom: quality=396, std dev=0.005707m|0.005707rad, update time=0.044708s [ INFO] [1530905123.988475489]: Odom: quality=214, std dev=0.010189m|0.010189rad, update time=0.050388s [ INFO] [1530905124.044116404]: Odom: quality=391, std dev=0.008272m|0.008272rad, update time=0.043765s [ INFO] [1530905124.105116863]: Odom: quality=232, std dev=0.011067m|0.011067rad, update time=0.048552s [ INFO] [1530905124.170420716]: Odom: quality=346, std dev=0.006995m|0.006995rad, update time=0.047139s [ INFO] [1530905124.232706634]: Odom: quality=190, std dev=0.014347m|0.014347rad, update time=0.055619s [ INFO] [1530905124.299944665]: Odom: quality=197, std dev=0.013899m|0.013899rad, update time=0.041736s [ INFO] [1530905124.359610429]: Odom: quality=267, std dev=0.011406m|0.011406rad, update time=0.046554s [ INFO] [1530905124.494881138]: Odom: quality=154, std dev=0.013222m|0.013222rad, update time=0.086638s
[ INFO] [1530905124.595353307]: Odom: quality=230, std dev=0.010059m|0.010059rad, update time=0.062272s [ INFO] [1530905124.706409911]: Odom: quality=268, std dev=0.008710m|0.008710rad, update time=0.047697s [ INFO] [1530905124.772118339]: Odom: quality=395, std dev=0.007026m|0.007026rad, update time=0.045647s [ INFO] [1530905124.829117019]: Odom: quality=348, std dev=0.008220m|0.008220rad, update time=0.051561s [ INFO] [1530905124.890376955]: Odom: quality=287, std dev=0.012228m|0.012228rad, update time=0.047719s [ INFO] [1530905124.956887049]: Odom: quality=277, std dev=0.010447m|0.010447rad, update time=0.048283s [ INFO] [1530905125.026565924]: Odom: quality=193, std dev=0.011995m|0.011995rad, update time=0.045485s [ INFO] [1530905125.095502275]: Odom: quality=274, std dev=0.009957m|0.009957rad, update time=0.042411s [ INFO] [1530905125.159799416]: Odom: quality=229, std dev=0.010901m|0.010901rad, update time=0.042416s [ INFO] [1530905125.224673557]: Odom: quality=282, std dev=0.010000m|0.010000rad, update time=0.047248s [ INFO] [1530905125.283898453]: Odom: quality=205, std dev=0.010605m|0.010605rad, update time=0.040415s [ INFO] [1530905125.355043323]: Odom: quality=319, std dev=0.007793m|0.007793rad, update time=0.054001s [ INFO] [1530905125.426289739]: Odom: quality=226, std dev=0.009698m|0.009698rad, update time=0.046007s [ INFO] [1530905125.551128321]: Odom: quality=195, std dev=0.015939m|0.015939rad, update time=0.091673s
[ INFO] [1530905125.638463846]: Odom: quality=179, std dev=0.016379m|0.016379rad, update time=0.064720s [ INFO] [1530905125.734009023]: Odom: quality=162, std dev=0.019407m|0.019407rad, update time=0.094239s [ INFO] [1530905125.797086340]: Odom: quality=76, std dev=0.021083m|0.021083rad, update time=0.043684s [ INFO] [1530905125.864153003]: Odom: quality=288, std dev=0.007717m|0.007717rad, update time=0.046743s [ INFO] [1530905125.940996206]: Odom: quality=219, std dev=0.008832m|0.008832rad, update time=0.048373s [ INFO] [1530905125.990784444]: Odom: quality=314, std dev=0.007993m|0.007993rad, update time=0.044284s [ INFO] [1530905126.041304078]: Odom: quality=276, std dev=0.009208m|0.009208rad, update time=0.048119s [ INFO] [1530905126.092875911]: Odom: quality=258, std dev=0.009902m|0.009902rad, update time=0.047298s [ INFO] [1530905126.161209758]: Odom: quality=334, std dev=0.011686m|0.011686rad, update time=0.048098s [ INFO] [1530905126.258869700]: Odom: quality=277, std dev=0.010212m|0.010212rad, update time=0.061423s [ INFO] [1530905126.310870399]: Odom: quality=258, std dev=0.010421m|0.010421rad, update time=0.044432s [ INFO] [1530905126.393004881]: Odom: quality=279, std dev=0.009002m|0.009002rad, update time=0.056778s [ INFO] [1530905126.459264650]: Odom: quality=369, std dev=0.010337m|0.010337rad, update time=0.045773s
[ INFO] [1530905126.590179802]: Odom: quality=403, std dev=0.008714m|0.008714rad, update time=0.063777s [ INFO] [1530905126.706891529]: Odom: quality=186, std dev=0.010996m|0.010996rad, update time=0.078811s [ INFO] [1530905126.775729064]: Odom: quality=335, std dev=0.010603m|0.010603rad, update time=0.048089s [ INFO] [1530905126.860064651]: Odom: quality=135, std dev=0.011193m|0.011193rad, update time=0.067144s [ INFO] [1530905126.926735650]: Odom: quality=298, std dev=0.008593m|0.008593rad, update time=0.048305s [ INFO] [1530905126.991717515]: Odom: quality=262, std dev=0.008894m|0.008894rad, update time=0.034677s [ INFO] [1530905127.058672779]: Odom: quality=317, std dev=0.008084m|0.008084rad, update time=0.060648s [ INFO] [1530905127.109414180]: Odom: quality=292, std dev=0.008495m|0.008495rad, update time=0.047737s [ INFO] [1530905127.161510346]: Odom: quality=246, std dev=0.009013m|0.009013rad, update time=0.048270s [ INFO] [1530905127.230103851]: Odom: quality=195, std dev=0.011030m|0.011030rad, update time=0.054402s [ INFO] [1530905127.292593219]: Odom: quality=336, std dev=0.008949m|0.008949rad, update time=0.047211s [ INFO] [1530905127.359037480]: Odom: quality=310, std dev=0.008747m|0.008747rad, update time=0.049500s [ INFO] [1530905127.435867953]: Odom: quality=295, std dev=0.010346m|0.010346rad, update time=0.046789s [ INFO] [1530905127.497082478]: Odom: quality=279, std dev=0.008957m|0.008957rad, update time=0.050377s [ INFO] [1530905127.626037370]: Odom: quality=338, std dev=0.009308m|0.009308rad, update time=0.072195s
[ INFO] [1530905127.714440355]: Odom: quality=273, std dev=0.009839m|0.009839rad, update time=0.065066s [ INFO] [1530905127.832743930]: Odom: quality=349, std dev=0.009657m|0.009657rad, update time=0.058483s [ INFO] [1530905127.893360382]: Odom: quality=260, std dev=0.009851m|0.009851rad, update time=0.040249s [ INFO] [1530905127.942118220]: Odom: quality=279, std dev=0.014109m|0.014109rad, update time=0.037116s [ INFO] [1530905128.030780166]: Odom: quality=208, std dev=0.012975m|0.012975rad, update time=0.060735s [ INFO] [1530905128.082617155]: Odom: quality=131, std dev=0.013344m|0.013344rad, update time=0.043492s [ INFO] [1530905128.143728662]: Odom: quality=241, std dev=0.010766m|0.010766rad, update time=0.047700s [ INFO] [1530905128.216922272]: Odom: quality=194, std dev=0.013253m|0.013253rad, update time=0.047514s [ INFO] [1530905128.293661526]: Odom: quality=289, std dev=0.008675m|0.008675rad, update time=0.043075s [ INFO] [1530905128.354384816]: Odom: quality=287, std dev=0.010099m|0.010099rad, update time=0.040966s [ INFO] [1530905128.420222370]: Odom: quality=206, std dev=0.011785m|0.011785rad, update time=0.039604s [ INFO] [1530905128.503084483]: Odom: quality=361, std dev=0.009610m|0.009610rad, update time=0.044191s [ INFO] [1530905128.634107465]: Odom: quality=311, std dev=0.010345m|0.010345rad, update time=0.104247s
[ INFO] [1530905128.714066919]: Odom: quality=273, std dev=0.011453m|0.011453rad, update time=0.059482s [ INFO] [1530905128.820466980]: Odom: quality=267, std dev=0.009716m|0.009716rad, update time=0.062337s [ INFO] [1530905128.905485135]: Odom: quality=277, std dev=0.009849m|0.009849rad, update time=0.052377s [ INFO] [1530905128.971328856]: Odom: quality=232, std dev=0.011515m|0.011515rad, update time=0.049940s [ INFO] [1530905129.043065994]: Odom: quality=331, std dev=0.011772m|0.011772rad, update time=0.050556s [ INFO] [1530905129.092357067]: Odom: quality=268, std dev=0.013342m|0.013342rad, update time=0.047059s [ INFO] [1530905129.158818532]: Odom: quality=227, std dev=0.012650m|0.012650rad, update time=0.045625s [ INFO] [1530905129.220953840]: Odom: quality=273, std dev=0.011888m|0.011888rad, update time=0.047806s [ INFO] [1530905129.285835116]: Odom: quality=296, std dev=0.010916m|0.010916rad, update time=0.047501s [ INFO] [1530905129.346092700]: Odom: quality=210, std dev=0.015342m|0.015342rad, update time=0.048699s [ INFO] [1530905129.411792023]: Odom: quality=366, std dev=0.009167m|0.009167rad, update time=0.038737s [ INFO] [1530905129.470875639]: Odom: quality=289, std dev=0.012295m|0.012295rad, update time=0.042450s [ INFO] [1530905129.529874637]: Odom: quality=286, std dev=0.010817m|0.010817rad, update time=0.041903s [ INFO] [1530905129.629674328]: Odom: quality=158, std dev=0.012968m|0.012968rad, update time=0.095551s
[ INFO] [1530905129.685600798]: Odom: quality=92, std dev=0.016894m|0.016894rad, update time=0.052591s [ INFO] [1530905129.805596166]: Odom: quality=153, std dev=0.015462m|0.015462rad, update time=0.100540s [ INFO] [1530905129.878295042]: Odom: quality=66, std dev=0.019045m|0.019045rad, update time=0.053295s [ INFO] [1530905129.961354280]: Odom: quality=76, std dev=0.013429m|0.013429rad, update time=0.045528s [ INFO] [1530905130.036421471]: Odom: quality=195, std dev=0.011703m|0.011703rad, update time=0.049891s [ INFO] [1530905130.112289800]: Odom: quality=91, std dev=0.013190m|0.013190rad, update time=0.045865s [ INFO] [1530905130.187108943]: Odom: quality=116, std dev=0.013017m|0.013017rad, update time=0.050045s [ INFO] [1530905130.251565034]: Odom: quality=206, std dev=0.012088m|0.012088rad, update time=0.049826s [ INFO] [1530905130.327093778]: Odom: quality=235, std dev=0.010225m|0.010225rad, update time=0.051493s [ INFO] [1530905130.394514746]: Odom: quality=188, std dev=0.017496m|0.017496rad, update time=0.045287s [ INFO] [1530905130.482401429]: Odom: quality=275, std dev=0.015024m|0.015024rad, update time=0.057337s [ INFO] [1530905130.559747399]: Odom: quality=162, std dev=0.016796m|0.016796rad, update time=0.054349s [ INFO] [1530905130.679569911]: Odom: quality=288, std dev=0.011756m|0.011756rad, update time=0.080434s
[ INFO] [1530905130.797898438]: Odom: quality=261, std dev=0.012200m|0.012200rad, update time=0.098455s [ INFO] [1530905130.869976310]: Odom: quality=288, std dev=0.012511m|0.012511rad, update time=0.044054s [ INFO] [1530905130.931097562]: Odom: quality=248, std dev=0.012867m|0.012867rad, update time=0.049720s [ INFO] [1530905131.013168952]: Odom: quality=338, std dev=0.011243m|0.011243rad, update time=0.048489s [ INFO] [1530905131.062332338]: Odom: quality=291, std dev=0.011389m|0.011389rad, update time=0.047588s [ INFO] [1530905131.136721482]: Odom: quality=256, std dev=0.013136m|0.013136rad, update time=0.055669s [ INFO] [1530905131.194301835]: Odom: quality=435, std dev=0.008874m|0.008874rad, update time=0.044922s [ INFO] [1530905131.289648335]: Odom: quality=370, std dev=0.010175m|0.010175rad, update time=0.061457s [ INFO] [1530905131.368692255]: Odom: quality=317, std dev=0.013188m|0.013188rad, update time=0.052064s [ INFO] [1530905131.441586412]: Odom: quality=306, std dev=0.012281m|0.012281rad, update time=0.044155s [ INFO] [1530905131.507846715]: Odom: quality=255, std dev=0.014070m|0.014070rad, update time=0.047723s [ INFO] [1530905131.556349171]: Odom: quality=423, std dev=0.010550m|0.010550rad, update time=0.045144s [ INFO] [1530905131.690183239]: Odom: quality=354, std dev=0.010891m|0.010891rad, update time=0.090272s [ WARN] (2018-07-06 12:25:31.705) util3d_registration.cpp:186::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers!
[ INFO] [1530905131.823481161]: Odom: quality=238, std dev=0.013442m|0.013442rad, update time=0.078403s [ INFO] [1530905131.913313255]: Odom: quality=332, std dev=0.012383m|0.012383rad, update time=0.044218s [ INFO] [1530905131.976741746]: Odom: quality=237, std dev=0.014003m|0.014003rad, update time=0.039349s [ INFO] [1530905132.048687418]: Odom: quality=355, std dev=0.012022m|0.012022rad, update time=0.043492s [ INFO] [1530905132.120477836]: Odom: quality=290, std dev=0.013091m|0.013091rad, update time=0.047064s [ INFO] [1530905132.181394726]: Odom: quality=267, std dev=0.012860m|0.012860rad, update time=0.044009s [ INFO] [1530905132.261938690]: Odom: quality=341, std dev=0.011336m|0.011336rad, update time=0.056771s [ INFO] [1530905132.331500195]: Odom: quality=272, std dev=0.013348m|0.013348rad, update time=0.043186s [ INFO] [1530905132.425243259]: Odom: quality=308, std dev=0.012633m|0.012633rad, update time=0.056067s [ INFO] [1530905132.481438310]: Odom: quality=260, std dev=0.013061m|0.013061rad, update time=0.048839s [ INFO] [1530905132.555843989]: Odom: quality=289, std dev=0.012742m|0.012742rad, update time=0.041366s [ INFO] [1530905132.632785259]: Odom: quality=290, std dev=0.011895m|0.011895rad, update time=0.063447s [ INFO] [1530905132.765665064]: Odom: quality=217, std dev=0.012813m|0.012813rad, update time=0.081821s
[ INFO] [1530905132.851344448]: Odom: quality=212, std dev=0.013075m|0.013075rad, update time=0.078244s [ INFO] [1530905132.939296103]: Odom: quality=198, std dev=0.014208m|0.014208rad, update time=0.086556s [ INFO] [1530905133.014613385]: Odom: quality=269, std dev=0.012338m|0.012338rad, update time=0.057375s [ INFO] [1530905133.076319098]: Odom: quality=323, std dev=0.011555m|0.011555rad, update time=0.051437s [ INFO] [1530905133.137382208]: Odom: quality=260, std dev=0.014941m|0.014941rad, update time=0.057432s [ INFO] [1530905133.205717913]: Odom: quality=341, std dev=0.012190m|0.012190rad, update time=0.055940s [ INFO] [1530905133.264946197]: Odom: quality=286, std dev=0.013761m|0.013761rad, update time=0.047792s [ INFO] [1530905133.329988999]: Odom: quality=232, std dev=0.014159m|0.014159rad, update time=0.045612s [ INFO] [1530905133.407027950]: Odom: quality=297, std dev=0.011976m|0.011976rad, update time=0.049627s [ INFO] [1530905133.475938261]: Odom: quality=240, std dev=0.012988m|0.012988rad, update time=0.035531s [ INFO] [1530905133.539211163]: Odom: quality=281, std dev=0.010796m|0.010796rad, update time=0.049753s [ INFO] [1530905133.610525778]: Odom: quality=259, std dev=0.011839m|0.011839rad, update time=0.037780s [ INFO] [1530905133.688898305]: Odom: quality=307, std dev=0.010461m|0.010461rad, update time=0.067482s
[ INFO] [1530905133.818036878]: Odom: quality=186, std dev=0.014270m|0.014270rad, update time=0.067571s [ INFO] [1530905133.927292611]: Odom: quality=215, std dev=0.012748m|0.012748rad, update time=0.063297s [ INFO] [1530905133.997950587]: Odom: quality=218, std dev=0.014209m|0.014209rad, update time=0.049388s [ INFO] [1530905134.063556230]: Odom: quality=178, std dev=0.016616m|0.016616rad, update time=0.047076s [ INFO] [1530905134.138019329]: Odom: quality=178, std dev=0.018135m|0.018135rad, update time=0.046447s [ INFO] [1530905134.198960703]: Odom: quality=196, std dev=0.014222m|0.014222rad, update time=0.043653s [ INFO] [1530905134.272928342]: Odom: quality=269, std dev=0.011017m|0.011017rad, update time=0.046244s [ INFO] [1530905134.333835692]: Odom: quality=108, std dev=0.014520m|0.014520rad, update time=0.048488s [ INFO] [1530905134.405285511]: Odom: quality=265, std dev=0.011595m|0.011595rad, update time=0.050721s [ INFO] [1530905134.490274204]: Odom: quality=266, std dev=0.011436m|0.011436rad, update time=0.049222s [ INFO] [1530905134.563955100]: Odom: quality=136, std dev=0.017799m|0.017799rad, update time=0.050858s [ INFO] [1530905134.622903248]: Odom: quality=138, std dev=0.015713m|0.015713rad, update time=0.037540s [ INFO] [1530905134.697889653]: Odom: quality=225, std dev=0.010719m|0.010719rad, update time=0.063444s [ INFO] [1530905134.790514311]: Odom: quality=161, std dev=0.012951m|0.012951rad, update time=0.048402s
[ INFO] [1530905134.867098258]: Odom: quality=379, std dev=0.009962m|0.009962rad, update time=0.054004s [ INFO] [1530905134.976189920]: Odom: quality=303, std dev=0.010108m|0.010108rad, update time=0.089743s [ INFO] [1530905135.049944665]: Odom: quality=135, std dev=0.015297m|0.015297rad, update time=0.046297s [ INFO] [1530905135.116290685]: Odom: quality=307, std dev=0.009509m|0.009509rad, update time=0.042892s [ INFO] [1530905135.181954069]: Odom: quality=221, std dev=0.012409m|0.012409rad, update time=0.044436s [ INFO] [1530905135.251927006]: Odom: quality=355, std dev=0.009648m|0.009648rad, update time=0.046519s [ INFO] [1530905135.316087194]: Odom: quality=269, std dev=0.012595m|0.012595rad, update time=0.042678s [ INFO] [1530905135.381112921]: Odom: quality=382, std dev=0.008357m|0.008357rad, update time=0.049193s [ INFO] [1530905135.448875093]: Odom: quality=292, std dev=0.011364m|0.011364rad, update time=0.045939s [ INFO] [1530905135.500735316]: Odom: quality=341, std dev=0.012712m|0.012712rad, update time=0.033741s [ INFO] [1530905135.568921610]: Odom: quality=290, std dev=0.012272m|0.012272rad, update time=0.055517s terminate called after throwing an instance of 'std::runtime_error' what(): freenect_process_events error [ INFO] [1530905135.674769765]: Odom: quality=225, std dev=0.012883m|0.012883rad, update time=0.073623s
[camera2/camera2_nodelet_manager-26] process has died [pid 9817, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=camera2_nodelet_manager log:=/home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/camera2-camera2_nodelet_manager-26.log]. log file: /home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/camera2-camera2_nodelet_manager-26.log [camera2/rgbd_sync-53] process has finished cleanly log file: /home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/camera2-rgbd_sync-53.log ^C[rtabmap/rtabmap-55] killing on exit [rtabmap/rtabmapviz-56] killing on exit [rtabmap/rgbd_odometry-54] killing on exit [camera1/rgbd_sync-52] killing on exit [base_to_camera2_tf-51] killing on exit [base_to_camera1_tf-50] killing on exit [ INFO] [1530905529.321291850]: rtabmapviz: ctrl-c catched! Exiting Qt app... [camera2_base_link3-49] killing on exit [camera2_base_link2-48] killing on exit [camera2_base_link1-47] killing on exit [camera2_base_link-46] killing on exit [camera2/disparity_registered_hw-45] killing on exit [camera2/disparity_registered_sw-44] killing on exit [camera2/disparity_depth-43] killing on exit [camera2/depth_registered_metric-42] killing on exit [camera2/depth_registered_hw_metric_rect-41] killing on exit [camera2/points_xyzrgb_hw_registered-40] killing on exit [camera2/depth_registered_rectify_depth-39] killing on exit [camera2/depth_registered_sw_metric_rect-38] killing on exit [camera2/points_xyzrgb_sw_registered-37] killing on exit [camera2/register_depth_rgb-36] killing on exit [camera2/depth_points-35] killing on exit [camera2/depth_metric-34] killing on exit [camera2/depth_metric_rect-33] killing on exit [camera2/depth_rectify_depth-32] killing on exit [camera2/ir_rectify_ir-31] killing on exit [camera2/rgb_rectify_color-30] killing on exit [camera2/rgb_rectify_mono-29] killing on exit [camera2/rgb_debayer-28] killing on exit [camera2/driver-27] killing on exit [camera1_base_link3-25] killing on exit [camera1_base_link2-24] killing on exit [camera1_base_link1-23] killing on exit [camera1_base_link-22] killing on exit [camera1/disparity_registered_hw-21] killing on exit [camera1/disparity_registered_sw-20] killing on exit rtabmap: Saving database/long-term memory... (located at /home/e4e/.ros/rtabmap.db) [camera1/disparity_depth-19] killing on exit [camera1/depth_registered_metric-18] killing on exit [camera1/depth_registered_hw_metric_rect-17] killing on exit [camera1/points_xyzrgb_hw_registered-16] killing on exit [camera1/depth_registered_rectify_depth-15] killing on exit [camera1/depth_registered_sw_metric_rect-14] killing on exit [camera1/points_xyzrgb_sw_registered-13] killing on exit [camera1/register_depth_rgb-12] killing on exit [camera1/depth_points-11] killing on exit [camera1/depth_metric-10] killing on exit [camera1/depth_metric_rect-9] killing on exit [camera1/ir_rectify_ir-7] killing on exit [camera1/depth_rectify_depth-8] killing on exit [camera1/rgb_rectify_color-6] killing on exit [camera1/rgb_rectify_mono-5] killing on exit [camera1/rgb_debayer-4] killing on exit [camera1/driver-3] killing on exit [camera1/camera1_nodelet_manager-2] killing on exit device 0x7f4bf4036ce0 not found in linked list for this context! rtabmap: Saving database/long-term memory...done! (located at /home/e4e/.ros/rtabmap.db, 7 MB) [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done