Hi, I am using a Turtlebot equipped with Kinect 2 to explore the task of autonomous navigation. The mapping scheme is RTAB-Map. I have followed the same steps as issued by Mapping and Navigation with Turtlebot with Kinect2. I used the same launch file posted by rui-cao @rui-cao . Now I can do the mapping. Also, I can see the point cloud. However, I can not see the cost map and when I pick a goal point on the RVIZ, the Turtlebot does not move.
For convenience, I attached my launch file. The command I used is listed below:

roscore # the 1st terminal
roslaunch turtlebot_bringup minimal.launch # the 2nd terminal
roslaunch turtlebot_teleop keyboard_teleop.launch #(optional)
roslaunch depthimage_to_laserscan demo_turtlebot_mapping.launch # the 3rd terminal
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen # the 4th terminal (2D map)

The rviz is displayed as: screenshot from 2018-11-14 10-23-22

As can be seen from this, no costmap is observed.

I am using ROS Kinetic under Ubuntu 16.04. Any helpful suggestions will be fully appreciated. Many thanks.

launch.tar.gz

B.T.W., 1) the output of rqt_graph is as:

rosgraph

2) 'rosnode list':

/base_link1
/bumper2pointcloud
/cmd_vel_mux
/depthimage_to_laserscan
/diagnostic_aggregator
/kinect2
/kinect2_bridge
/kinect2_points_xyzrgb_hd
/kinect2_points_xyzrgb_qhd
/kinect2_points_xyzrgb_sd
/kobuki_safety_controller
/mobile_base
/mobile_base_nodelet_manager
/move_base
/navigation_velocity_smoother
/robot_state_publisher
/rosout
/rtabmap/rgbd_odometry
/rtabmap/rtabmap
/turtlebot_laptop_battery
/turtlebot_teleop_keyboard

3) 'rostopic list':

/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/switch
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/depthimage_to_laserscan/parameter_descriptions
/depthimage_to_laserscan/parameter_updates
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/joint_states
/kinect2/bond
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
/kobuki_safety_controller/disable
/kobuki_safety_controller/enable
/kobuki_safety_controller/reset
/laptop_charge
/map
/mobile_base/commands/controller_info
/mobile_base/commands/digital_output
/mobile_base/commands/external_power
/mobile_base/commands/led1
/mobile_base/commands/led2
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/sound
/mobile_base/commands/velocity
/mobile_base/controller_info
/mobile_base/debug/raw_control_command
/mobile_base/debug/raw_data_command
/mobile_base/debug/raw_data_stream
/mobile_base/events/bumper
/mobile_base/events/button
/mobile_base/events/cliff
/mobile_base/events/digital_input
/mobile_base/events/power_system
/mobile_base/events/robot_state
/mobile_base/events/wheel_drop
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base/sensors/dock_ir
/mobile_base/sensors/imu_data
/mobile_base/sensors/imu_data_raw
/mobile_base/version_info
/mobile_base_nodelet_manager/bond
/move_base/DWAPlannerROS/cost_cloud
/move_base/DWAPlannerROS/global_plan
/move_base/DWAPlannerROS/local_plan
/move_base/DWAPlannerROS/parameter_descriptions
/move_base/DWAPlannerROS/parameter_updates
/move_base/DWAPlannerROS/trajectory_cloud
/move_base/NavfnROS/plan
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/global_costmap/footprint
/move_base/global_costmap/inflation_layer/parameter_descriptions
/move_base/global_costmap/inflation_layer/parameter_updates
/move_base/global_costmap/obstacle_layer/clearing_endpoints
/move_base/global_costmap/obstacle_layer/parameter_descriptions
/move_base/global_costmap/obstacle_layer/parameter_updates
/move_base/global_costmap/parameter_descriptions
/move_base/global_costmap/parameter_updates
/move_base/global_costmap/static_layer/parameter_descriptions
/move_base/global_costmap/static_layer/parameter_updates
/move_base/goal
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/move_base/local_costmap/footprint
/move_base/local_costmap/inflation_layer/parameter_descriptions
/move_base/local_costmap/inflation_layer/parameter_updates
/move_base/local_costmap/obstacle_layer/clearing_endpoints
/move_base/local_costmap/obstacle_layer/parameter_descriptions
/move_base/local_costmap/obstacle_layer/parameter_updates
/move_base/local_costmap/parameter_descriptions
/move_base/local_costmap/parameter_updates
/move_base/parameter_descriptions
/move_base/parameter_updates
/move_base/result
/move_base/status
/move_base_simple/goal
/navigation_velocity_smoother/parameter_descriptions
/navigation_velocity_smoother/parameter_updates
/navigation_velocity_smoother/raw_cmd_vel
/odom
/rosout
/rosout_agg
/rtabmap/cloud_ground
/rtabmap/cloud_map
/rtabmap/cloud_obstacles
/rtabmap/global_path
/rtabmap/global_pose
/rtabmap/goal
/rtabmap/goal_node
/rtabmap/goal_out
/rtabmap/goal_reached
/rtabmap/grid_prob_map
/rtabmap/info
/rtabmap/initialpose
/rtabmap/labels
/rtabmap/local_path
/rtabmap/localization_pose
/rtabmap/mapData
/rtabmap/mapGraph
/rtabmap/mapPath
/rtabmap/octomap_binary
/rtabmap/octomap_empty_space
/rtabmap/octomap_full
/rtabmap/octomap_grid
/rtabmap/octomap_ground
/rtabmap/octomap_obstacles
/rtabmap/octomap_occupied_space
/rtabmap/odom
/rtabmap/odom_info
/rtabmap/odom_last_frame
/rtabmap/odom_local_map
/rtabmap/odom_local_scan_map
/rtabmap/proj_map
/rtabmap/scan_map
/rtabmap/user_data_async
/scan
/tf
/tf_static

4) 'rosrun tf view_frames' frames.pdf

5) other information: screenshot-1 screenshot-2 screenshot-3 screenshot-4 screenshot-5

Update According to the discussed comments in Autonomous Navigation , I have made four yaml files which made minor modification according to my turtlebot 2. Now I can see the cost map in the rviz dialog. When I click a target point on the rviz dialog, I can see that the path is planned, and the obstacles (such as moving persons) can be detected. However, the problem still occurs: the robot cannot move towards the target point. I captured a screenshot from my computer:

screenshot

The newly modified files are in attached: two launch files and four yaml files.

launch.tar.gz config.tar.gz

Any helpful comments and suggestions will be fully appreciated. Many thanks.

rqt_graph

rosgraph

rosrun tf view_frames frames.pdf

rostopic list -v

Published topics:
 * /cmd_vel_mux/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /move_base/local_costmap/footprint [geometry_msgs/PolygonStamped] 1 publisher
 * /move_base/feedback [move_base_msgs/MoveBaseActionFeedback] 1 publisher
 * /move_base/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /navigation_velocity_smoother/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /scan [sensor_msgs/LaserScan] 1 publisher
 * /mobile_base/sensors/core [kobuki_msgs/SensorState] 1 publisher
 * /kinect2/hd/image_mono [sensor_msgs/Image] 1 publisher
 * /rtabmap/goal_reached [std_msgs/Bool] 1 publisher
 * /mobile_base/debug/raw_data_command [std_msgs/String] 1 publisher
 * /rtabmap/octomap_ground [sensor_msgs/PointCloud2] 1 publisher
 * /move_base/NavfnROS/plan [nav_msgs/Path] 1 publisher
 * /move_base/status [actionlib_msgs/GoalStatusArray] 1 publisher
 * /move_base/local_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /rtabmap/goal_out [geometry_msgs/PoseStamped] 1 publisher
 * /kinect2/qhd/image_color_rect [sensor_msgs/Image] 1 publisher
 * /move_base/global_costmap/footprint [geometry_msgs/PolygonStamped] 1 publisher
 * /depthimage_to_laserscan/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /mobile_base/sensors/imu_data_raw [sensor_msgs/Imu] 1 publisher
 * /move_base/local_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /move_base/TrajectoryPlannerROS/local_plan [nav_msgs/Path] 1 publisher
 * /rtabmap/mapGraph [rtabmap_ros/MapGraph] 1 publisher
 * /kinect2/qhd/image_mono_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /move_base/global_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /kinect2/sd/image_color_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /rtabmap/odom_last_frame [sensor_msgs/PointCloud2] 1 publisher
 * /rtabmap/labels [visualization_msgs/MarkerArray] 1 publisher
 * /rtabmap/local_path [nav_msgs/Path] 1 publisher
 * /mobile_base_nodelet_manager/bond [bond/Status] 6 publishers
 * /mobile_base/version_info [kobuki_msgs/VersionInfo] 1 publisher
 * /move_base/global_costmap/static_layer/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /rtabmap/odom_local_map [sensor_msgs/PointCloud2] 1 publisher
 * /move_base/current_goal [geometry_msgs/PoseStamped] 1 publisher
 * /rtabmap/scan_map [sensor_msgs/PointCloud2] 1 publisher
 * /mobile_base/events/robot_state [kobuki_msgs/RobotStateEvent] 1 publisher
 * /kinect2/bond [bond/Status] 5 publishers
 * /move_base/local_costmap/costmap [nav_msgs/OccupancyGrid] 1 publisher
 * /rtabmap/octomap_empty_space [sensor_msgs/PointCloud2] 1 publisher
 * /kinect2/hd/image_depth_rect [sensor_msgs/Image] 1 publisher
 * /kinect2/hd/image_color_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /kinect2/sd/image_color_rect [sensor_msgs/Image] 1 publisher
 * /navigation_velocity_smoother/raw_cmd_vel [geometry_msgs/Twist] 1 publisher
 * /mobile_base/events/button [kobuki_msgs/ButtonEvent] 1 publisher
 * /kinect2/sd/image_ir/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /move_base/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /kinect2/qhd/image_color [sensor_msgs/Image] 1 publisher
 * /kinect2/sd/image_ir [sensor_msgs/Image] 1 publisher
 * /rtabmap/odom_local_scan_map [sensor_msgs/PointCloud2] 1 publisher
 * /mobile_base/debug/raw_control_command [std_msgs/Int16MultiArray] 1 publisher
 * /move_base/local_costmap/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /move_base/TrajectoryPlannerROS/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /move_base/goal [move_base_msgs/MoveBaseActionGoal] 1 publisher
 * /mobile_base/events/bumper [kobuki_msgs/BumperEvent] 1 publisher
 * /move_base/TrajectoryPlannerROS/cost_cloud [sensor_msgs/PointCloud2] 1 publisher
 * /rtabmap/odom_info [rtabmap_ros/OdomInfo] 1 publisher
 * /kinect2/hd/image_mono_rect [sensor_msgs/Image] 1 publisher
 * /mobile_base/commands/velocity [geometry_msgs/Twist] 1 publisher
 * /diagnostics_toplevel_state [diagnostic_msgs/DiagnosticStatus] 1 publisher
 * /kinect2/qhd/image_color_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /kinect2/hd/image_mono_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /move_base/TrajectoryPlannerROS/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /move_base/local_costmap/costmap_updates [map_msgs/OccupancyGridUpdate] 1 publisher
 * /mobile_base/sensors/imu_data [sensor_msgs/Imu] 1 publisher
 * /move_base/global_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /rtabmap/mapData [rtabmap_ros/MapData] 1 publisher
 * /move_base/global_costmap/costmap_updates [map_msgs/OccupancyGridUpdate] 1 publisher
 * /rtabmap/octomap_grid [nav_msgs/OccupancyGrid] 1 publisher
 * /mobile_base/debug/raw_data_stream [std_msgs/String] 1 publisher
 * /tf [tf2_msgs/TFMessage] 6 publishers
 * /kinect2/qhd/image_depth_rect [sensor_msgs/Image] 1 publisher
 * /cmd_vel_mux/input/safety_controller [geometry_msgs/Twist] 1 publisher
 * /kinect2/hd/points [sensor_msgs/PointCloud2] 1 publisher
 * /kinect2/hd/image_color/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /rtabmap/octomap_obstacles [sensor_msgs/PointCloud2] 1 publisher
 * /kinect2/hd/image_color_rect [sensor_msgs/Image] 1 publisher
 * /move_base/global_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /move_base/local_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /rtabmap/grid_prob_map [nav_msgs/OccupancyGrid] 1 publisher
 * /tf_static [tf2_msgs/TFMessage] 1 publisher
 * /rtabmap/octomap_occupied_space [sensor_msgs/PointCloud2] 1 publisher
 * /kinect2/hd/image_mono/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /diagnostics [diagnostic_msgs/DiagnosticArray] 2 publishers
 * /rtabmap/octomap_full [octomap_msgs/Octomap] 1 publisher
 * /kinect2/sd/image_depth_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /joint_states [sensor_msgs/JointState] 1 publisher
 * /kinect2/hd/image_depth_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /kinect2/qhd/points [sensor_msgs/PointCloud2] 1 publisher
 * /mobile_base/sensors/dock_ir [kobuki_msgs/DockInfraRed] 1 publisher
 * /cmd_vel_mux/input/navi [geometry_msgs/Twist] 1 publisher
 * /kinect2/qhd/image_mono_rect [sensor_msgs/Image] 1 publisher
 * /kinect2/sd/image_ir_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /mobile_base/controller_info [kobuki_msgs/ControllerInfo] 1 publisher
 * /move_base/global_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /rtabmap/info [rtabmap_ros/Info] 1 publisher
 * /kinect2/sd/image_ir_rect [sensor_msgs/Image] 1 publisher
 * /mobile_base/events/cliff [kobuki_msgs/CliffEvent] 1 publisher
 * /kinect2/qhd/image_mono/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /move_base/global_costmap/costmap [nav_msgs/OccupancyGrid] 1 publisher
 * /rtabmap/localization_pose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
 * /kinect2/hd/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kinect2/sd/image_depth/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /rtabmap/cloud_map [sensor_msgs/PointCloud2] 1 publisher
 * /kinect2/qhd/image_depth_rect/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /laptop_charge [sensor_msgs/BatteryState] 1 publisher
 * /kinect2/sd/points [sensor_msgs/PointCloud2] 1 publisher
 * /move_base/global_costmap/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher
 * /odom [nav_msgs/Odometry] 1 publisher
 * /kinect2/sd/image_depth_rect [sensor_msgs/Image] 1 publisher
 * /cmd_vel_mux/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /mobile_base/sensors/bumper_pointcloud [sensor_msgs/PointCloud2] 1 publisher
 * /move_base/global_costmap/static_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /move_base/TrajectoryPlannerROS/global_plan [nav_msgs/Path] 1 publisher
 * /rtabmap/cloud_ground [sensor_msgs/PointCloud2] 1 publisher
 * /kinect2/qhd/image_mono [sensor_msgs/Image] 1 publisher
 * /rtabmap/proj_map [nav_msgs/OccupancyGrid] 1 publisher
 * /kinect2/sd/image_depth [sensor_msgs/Image] 1 publisher
 * /mobile_base/events/power_system [kobuki_msgs/PowerSystemEvent] 1 publisher
 * /map [nav_msgs/OccupancyGrid] 1 publisher
 * /cmd_vel_mux/active [std_msgs/String] 1 publisher
 * /rtabmap/odom [nav_msgs/Odometry] 1 publisher
 * /navigation_velocity_smoother/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /mobile_base/events/digital_input [kobuki_msgs/DigitalInputEvent] 1 publisher
 * /kinect2/hd/image_color [sensor_msgs/Image] 1 publisher
 * /rtabmap/cloud_obstacles [sensor_msgs/PointCloud2] 1 publisher
 * /mobile_base/events/wheel_drop [kobuki_msgs/WheelDropEvent] 1 publisher
 * /rosout [rosgraph_msgs/Log] 20 publishers
 * /move_base/local_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /move_base/local_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /move_base/global_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /kinect2/qhd/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /rtabmap/mapPath [nav_msgs/Path] 1 publisher
 * /rtabmap/global_path [nav_msgs/Path] 1 publisher
 * /rtabmap/octomap_binary [octomap_msgs/Octomap] 1 publisher
 * /move_base/result [move_base_msgs/MoveBaseActionResult] 1 publisher
 * /kinect2/sd/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /depthimage_to_laserscan/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /kinect2/qhd/image_color/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /diagnostics_agg [diagnostic_msgs/DiagnosticArray] 1 publisher

Subscribed topics:
 * /cmd_vel_mux/input/switch [geometry_msgs/Twist] 1 subscriber
 * /move_base/local_costmap/footprint [geometry_msgs/PolygonStamped] 1 subscriber
 * /rtabmap/user_data_async [rtabmap_ros/UserData] 1 subscriber
 * /mobile_base/events/bumper [kobuki_msgs/BumperEvent] 1 subscriber
 * /tf [tf2_msgs/TFMessage] 3 subscribers
 * /kinect2/qhd/image_depth_rect [sensor_msgs/Image] 3 subscribers
 * /rtabmap/initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
 * /odom [nav_msgs/Odometry] 3 subscribers
 * /scan [sensor_msgs/LaserScan] 2 subscribers
 * /mobile_base/sensors/core [kobuki_msgs/SensorState] 1 subscriber
 * /navigation_velocity_smoother/raw_cmd_vel [geometry_msgs/Twist] 1 subscriber
 * /move_base_simple/goal [geometry_msgs/PoseStamped] 1 subscriber
 * /move_base/cancel [actionlib_msgs/GoalID] 1 subscriber
 * /mobile_base/commands/reset_odometry [std_msgs/Empty] 1 subscriber
 * /statistics [rosgraph_msgs/TopicStatistics] 1 subscriber
 * /tf_static [tf2_msgs/TFMessage] 3 subscribers
 * /kinect2/qhd/image_color_rect [sensor_msgs/Image] 2 subscribers
 * /map [nav_msgs/OccupancyGrid] 1 subscriber
 * /diagnostics [diagnostic_msgs/DiagnosticArray] 1 subscriber
 * /rtabmap/goal [geometry_msgs/PoseStamped] 1 subscriber
 * /mobile_base/events/wheel_drop [kobuki_msgs/WheelDropEvent] 1 subscriber
 * /move_base/global_costmap/footprint [geometry_msgs/PolygonStamped] 1 subscriber
 * /mobile_base/commands/external_power [kobuki_msgs/ExternalPower] 1 subscriber
 * /joint_states [sensor_msgs/JointState] 1 subscriber
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /move_base/goal [move_base_msgs/MoveBaseActionGoal] 1 subscriber
 * /kobuki_safety_controller/disable [std_msgs/Empty] 1 subscriber
 * /mobile_base/commands/sound [kobuki_msgs/Sound] 1 subscriber
 * /kinect2/bond [bond/Status] 5 subscribers
 * /cmd_vel_mux/input/navi [geometry_msgs/Twist] 1 subscriber
 * /mobile_base/commands/digital_output [kobuki_msgs/DigitalOutput] 1 subscriber
 * /mobile_base/commands/velocity [geometry_msgs/Twist] 1 subscriber
 * /mobile_base/commands/led1 [kobuki_msgs/Led] 1 subscriber
 * /mobile_base/commands/led2 [kobuki_msgs/Led] 1 subscriber
 * /kobuki_safety_controller/enable [std_msgs/Empty] 1 subscriber
 * /kinect2/qhd/camera_info [sensor_msgs/CameraInfo] 3 subscribers
 * /mobile_base/commands/motor_power [kobuki_msgs/MotorPower] 1 subscriber
 * /mobile_base/events/cliff [kobuki_msgs/CliffEvent] 1 subscriber
 * /cmd_vel_mux/input/safety_controller [geometry_msgs/Twist] 1 subscriber
 * /rtabmap/global_pose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
 * /rtabmap/goal_node [rtabmap_ros/Goal] 1 subscriber
 * /mobile_base_nodelet_manager/bond [bond/Status] 6 subscribers
 * /cmd_vel_mux/input/teleop [geometry_msgs/Twist] 1 subscriber
 * /kobuki_safety_controller/reset [std_msgs/Empty] 1 subscriber
 * /mobile_base/commands/controller_info [kobuki_msgs/ControllerInfo] 1 subscriber

Hi,

Can you tell us if you are able to send goals with the example in simulation on this tutorial (Section 6)? If the robot is moving in simulation, it would be easier for you to debug with the official turtlebot navigation parameters. If in simulation it doesn't work, I will try here to see if I can reproduce the problem with that example.

cheers, Mathieu

Hi, Mathieu, I can not simulate the example using the tutorial of section 6 on my computer. When I type in the third command roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true, an error message occurs repeatedly. The error message is shown as:


$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true

... logging to /home/teddyluo/.ros/log/2096bf5c-e93b-11e8-908a-54e1ad1bc0ad/roslaunch-teddyluo-laptop-8015.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://localhost:40717/

SUMMARY
========

PARAMETERS
 * /move_base/DWAPlannerROS/acc_lim_theta: 2.0
 * /move_base/DWAPlannerROS/acc_lim_x: 1.0
 * /move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base/DWAPlannerROS/global_frame_id: odom
 * /move_base/DWAPlannerROS/goal_distance_bias: 24.0
 * /move_base/DWAPlannerROS/max_rot_vel: 5.0
 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base/DWAPlannerROS/max_trans_vel: 0.5
 * /move_base/DWAPlannerROS/max_vel_x: 0.5
 * /move_base/DWAPlannerROS/max_vel_y: 0.0
 * /move_base/DWAPlannerROS/min_rot_vel: 0.4
 * /move_base/DWAPlannerROS/min_trans_vel: 0.1
 * /move_base/DWAPlannerROS/min_vel_x: 0.0
 * /move_base/DWAPlannerROS/min_vel_y: 0.0
 * /move_base/DWAPlannerROS/occdist_scale: 0.5
 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/DWAPlannerROS/path_distance_bias: 64.0
 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /move_base/DWAPlannerROS/publish_traj_pc: True
 * /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
 * /move_base/DWAPlannerROS/scaling_speed: 0.25
 * /move_base/DWAPlannerROS/sim_time: 1.0
 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
 * /move_base/DWAPlannerROS/vtheta_samples: 20
 * /move_base/DWAPlannerROS/vx_samples: 6
 * /move_base/DWAPlannerROS/vy_samples: 1
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
 * /move_base/GlobalPlanner/allow_unknown: True
 * /move_base/GlobalPlanner/cost_factor: 3.0
 * /move_base/GlobalPlanner/default_tolerance: 0.0
 * /move_base/GlobalPlanner/lethal_cost: 253
 * /move_base/GlobalPlanner/neutral_cost: 50
 * /move_base/GlobalPlanner/old_navfn_behavior: False
 * /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
 * /move_base/GlobalPlanner/planner_window_x: 0.0
 * /move_base/GlobalPlanner/planner_window_y: 0.0
 * /move_base/GlobalPlanner/publish_potential: True
 * /move_base/GlobalPlanner/publish_scale: 100
 * /move_base/GlobalPlanner/use_dijkstra: True
 * /move_base/GlobalPlanner/use_grid_path: False
 * /move_base/GlobalPlanner/use_quadratic: True
 * /move_base/NavfnROS/allow_unknown: False
 * /move_base/NavfnROS/default_tolerance: 0.0
 * /move_base/NavfnROS/planner_window_x: 0.0
 * /move_base/NavfnROS/planner_window_y: 0.0
 * /move_base/NavfnROS/visualize_potential: False
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/controller_frequency: 5.0
 * /move_base/controller_patience: 3.0
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/global_costmap/inflation_layer/enabled: True
 * /move_base/global_costmap/inflation_layer/inflation_radius: 0.1
 * /move_base/global_costmap/map_type: voxel
 * /move_base/global_costmap/max_obstacle_height: 0.6
 * /move_base/global_costmap/obstacle_layer/bump/clearing: False
 * /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
 * /move_base/global_costmap/obstacle_layer/bump/marking: True
 * /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /move_base/global_costmap/obstacle_layer/combination_method: 1
 * /move_base/global_costmap/obstacle_layer/enabled: True
 * /move_base/global_costmap/obstacle_layer/mark_threshold: 0
 * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
 * /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
 * /move_base/global_costmap/obstacle_layer/origin_z: 0.0
 * /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
 * /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
 * /move_base/global_costmap/obstacle_layer/scan/clearing: True
 * /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
 * /move_base/global_costmap/obstacle_layer/scan/marking: True
 * /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
 * /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
 * /move_base/global_costmap/obstacle_layer/scan/topic: scan
 * /move_base/global_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
 * /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
 * /move_base/global_costmap/obstacle_layer/z_voxels: 2
 * /move_base/global_costmap/plugins: [{'type': 'costma...
 * /move_base/global_costmap/publish_frequency: 0.5
 * /move_base/global_costmap/robot_base_frame: base_footprint
 * /move_base/global_costmap/robot_radius: 0.2
 * /move_base/global_costmap/static_layer/enabled: True
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 1.0
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 4.0
 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/local_costmap/inflation_layer/enabled: True
 * /move_base/local_costmap/inflation_layer/inflation_radius: 0.1
 * /move_base/local_costmap/map_type: voxel
 * /move_base/local_costmap/max_obstacle_height: 0.6
 * /move_base/local_costmap/obstacle_layer/bump/clearing: False
 * /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
 * /move_base/local_costmap/obstacle_layer/bump/marking: True
 * /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /move_base/local_costmap/obstacle_layer/combination_method: 1
 * /move_base/local_costmap/obstacle_layer/enabled: True
 * /move_base/local_costmap/obstacle_layer/mark_threshold: 0
 * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
 * /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
 * /move_base/local_costmap/obstacle_layer/origin_z: 0.0
 * /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
 * /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
 * /move_base/local_costmap/obstacle_layer/scan/clearing: True
 * /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
 * /move_base/local_costmap/obstacle_layer/scan/marking: True
 * /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
 * /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
 * /move_base/local_costmap/obstacle_layer/scan/topic: scan
 * /move_base/local_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
 * /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
 * /move_base/local_costmap/obstacle_layer/z_voxels: 2
 * /move_base/local_costmap/plugins: [{'type': 'costma...
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_footprint
 * /move_base/local_costmap/robot_radius: 0.2
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_layer/enabled: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 5.0
 * /move_base/local_costmap/width: 4.0
 * /move_base/oscillation_distance: 0.2
 * /move_base/oscillation_timeout: 10.0
 * /move_base/planner_frequency: 1.0
 * /move_base/planner_patience: 5.0
 * /move_base/shutdown_costmaps: False
 * /navigation_velocity_smoother/accel_lim_v: 1.0
 * /navigation_velocity_smoother/accel_lim_w: 2.0
 * /navigation_velocity_smoother/decel_factor: 1.5
 * /navigation_velocity_smoother/frequency: 20.0
 * /navigation_velocity_smoother/robot_feedback: 2
 * /navigation_velocity_smoother/speed_lim_v: 0.8
 * /navigation_velocity_smoother/speed_lim_w: 5.4
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rtabmap/rtabmap/GridGlobal/MinSize: 20
 * /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
 * /rtabmap/rtabmap/Kp/MaxDepth: 4.0
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.30
 * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
 * /rtabmap/rtabmap/RGBD/ProximityBySpace: true
 * /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0
 * /rtabmap/rtabmap/Reg/Force3DoF: true
 * /rtabmap/rtabmap/Reg/Strategy: 0
 * /rtabmap/rtabmap/Rtabmap/TimeThr: 700
 * /rtabmap/rtabmap/Vis/InlierDistance: 0.1
 * /rtabmap/rtabmap/Vis/MinInliers: 15
 * /rtabmap/rtabmap/database_path: rtabmap.db
 * /rtabmap/rtabmap/frame_id: base_footprint
 * /rtabmap/rtabmap/map_negative_poses_ignored: True
 * /rtabmap/rtabmap/odom_frame_id: odom
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: True
 * /rtabmap/rtabmap/use_action_for_goal: True
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
  /
    kobuki_safety_controller (nodelet/nodelet)
    move_base (move_base/move_base)
    navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[navigation_velocity_smoother-1]: started with pid [8056]
process[kobuki_safety_controller-2]: started with pid [8057]
process[move_base-3]: started with pid [8059]
process[rtabmap/rtabmap-4]: started with pid [8080]
[ WARN] [1542330117.566937748, 18.350000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 18.35 timeout was 0.1.
[ INFO] [1542330117.740906179]: Starting node...
[ INFO] [1542330117.805757392]: Initializing nodelet with 4 worker threads.
[ INFO] [1542330118.173013753, 18.950000000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1542330118.173056643, 18.950000000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1542330118.173075467, 18.950000000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1542330118.173096575, 18.950000000]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1542330118.173183179, 18.950000000]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1542330118.173209524, 18.950000000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1542330118.173232869, 18.950000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1542330118.173276891, 18.950000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1542330118.174222924, 18.950000000]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1542330118.204534084, 18.980000000]: rtabmap: frame_id      = base_footprint
[ INFO] [1542330118.204565733, 18.980000000]: rtabmap: odom_frame_id = odom
[ INFO] [1542330118.204580600, 18.980000000]: rtabmap: map_frame_id  = map
[ INFO] [1542330118.204599958, 18.980000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1542330118.204661731, 18.980000000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1542330118.204682519, 18.980000000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1542330118.319060404, 19.100000000]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20"
[ INFO] [1542330118.328969787, 19.110000000]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1542330118.380641187, 19.160000000]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"
[ INFO] [1542330118.415043291, 19.190000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1542330118.415570744, 19.190000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1542330118.435039414, 19.210000000]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30"
[ INFO] [1542330118.468428643, 19.250000000]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1542330118.478911048, 19.260000000]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1542330118.491132131, 19.270000000]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1542330118.500105247, 19.280000000]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1542330118.507206907, 19.290000000]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0"
[ INFO] [1542330118.514311830, 19.290000000]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1542330118.517269221, 19.300000000]: Setting RTAB-Map parameter "Reg/Strategy"="0"
[ INFO] [1542330118.554066701, 19.330000000]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1542330118.659862321, 19.440000000]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1542330118.666340558, 19.450000000]: Setting RTAB-Map parameter "Vis/MinInliers"="15"
[ WARN] [1542330118.879951995, 19.660000000]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add <param name="Grid/FromDepth" type="string" value="false"/>
[ INFO] [1542330118.880579072, 19.660000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true.
[ INFO] [1542330119.033362718, 19.810000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1542330119.033626715, 19.810000000]: rtabmap: Deleted database "/home/teddyluo/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1542330119.033660173, 19.810000000]: rtabmap: Using database from "/home/teddyluo/.ros/rtabmap.db" (0 MB).
[ INFO] [1542330119.143858240, 19.920000000]: rtabmap: Database version = "0.17.7".
[ INFO] [1542330119.165086060, 19.950000000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1542330119.165118525, 19.950000000]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1542330119.165134270, 19.950000000]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1542330119.166034924, 19.950000000]: Setup depth callback
[ INFO] [1542330119.186623585, 19.970000000]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_raw,
   /camera/depth/image_raw,
   /camera/rgb/camera_info,
   /scan
[ INFO] [1542330119.192778803, 19.970000000]: rtabmap 0.17.7 started...
[ INFO] [1542330119.277182100, 20.050000000]: Using plugin "static_layer"
[ INFO] [1542330119.310669858, 20.090000000]: Requesting the map...
[ INFO] [1542330119.736943672, 20.510000000]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0493s, Maps update=0.0021s pub=0.0026s (local map=1, WM=1)
[ INFO] [1542330119.820052988, 20.600000000]: Resizing costmap to 421 X 421 at 0.050000 m/pix
[ INFO] [1542330119.920724246, 20.700000000]: Received a 421 X 421 map at 0.050000 m/pix
[ INFO] [1542330119.924697121, 20.700000000]: Using plugin "obstacle_layer"
[ INFO] [1542330119.926845050, 20.700000000]:     Subscribed to Topics: scan bump
[ INFO] [1542330119.976794360, 20.750000000]: Using plugin "inflation_layer"
[ INFO] [1542330120.030521094, 20.810000000]: Using plugin "obstacle_layer"
[ INFO] [1542330120.032465928, 20.810000000]:     Subscribed to Topics: scan bump
[ INFO] [1542330120.077668127, 20.850000000]: Using plugin "inflation_layer"
[ INFO] [1542330120.131249173, 20.910000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1542330120.133752484, 20.910000000]: Sim period is set to 0.20
[ WARN] [1542330120.138938770, 20.920000000]: Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead.
[ WARN] [1542330120.139401986, 20.920000000]: Parameter min_trans_vel is deprecated (and will not load properly). Use min_vel_trans instead.
[ WARN] [1542330120.140577509, 20.920000000]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [1542330120.141259021, 20.920000000]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ WARN] [1542330120.142930943, 20.920000000]: Parameter rot_stopped_vel is deprecated (and will not load properly). Use theta_stopped_vel instead.
[ INFO] [1542330120.712492932, 21.490000000]: rtabmap (2): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0288s, Maps update=0.0019s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542330121.118103294, 21.890000000]: Recovery behavior will clear layer obstacles
[ INFO] [1542330121.125384802, 21.900000000]: Recovery behavior will clear layer obstacles
[ INFO] [1542330121.174492959, 21.950000000]: odom received!
Warning: Invalid argument "/camera_depth_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
         at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[ERROR] [1542330121.175688578, 21.950000000]: TF Exception that should never happen for sensor frame: , cloud frame: /camera_depth_frame, Invalid argument "/camera_depth_frame" passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
Warning: Invalid argument "/camera_depth_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
         at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[ERROR] [1542330121.175853571, 21.950000000]: TF Exception that should never happen for sensor frame: , cloud frame: /camera_depth_frame, Invalid argument "/camera_depth_frame" passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
Warning: Invalid argument "/camera_depth_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
         at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp
[ERROR] [1542330121.175943270, 21.950000000]: TF Exception that should never happen for sensor frame: , cloud frame: /camera_depth_frame, Invalid argument "/camera_depth_frame" passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
Warning: Invalid argument "/camera_depth_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
         at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.18/src/buffer_core.cpp

I was quite puzzled by this error and did not know how to correct it. Many thanks.

Can you use rqt_console to track which node is publishing the error: [ERROR] [1542330121.175688578, 21.950000000]: TF Exception that should never happen for sensor frame: , cloud frame: /camera_depth_frame, Invalid argument "/camera_depth_frame" passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' You may look why there is a leading slash on the frame. What is the TF tree?

Rtabmap seems working correctly, it has been updated 2 times so far: [ INFO] [1542330120.712492932, 21.490000000]: rtabmap (2) ...

Hi, Mathieu, Many thanks for the response. The error message is shown below:

Node: /move_base
Time: 08:01:22.600000000 (1970-01-01)
Severity: Error
Published Topics: /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/NavfnROS/plan, /move_base/current_goal, /move_base/feedback, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/goal, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/result, /move_base/status, /navigation_velocity_smoother/raw_cmd_vel, /rosout

TF Exception that should never happen for sensor frame: , cloud frame: /camera_depth_frame, Invalid argument "/camera_depth_frame" passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 

Location:
/home/teddyluo/catkin_ws/src/navigation/costmap_2d/src/observation_buffer.cpp:ObservationBuffer::bufferCloud:180

----------------------------------------------------------------------------------------------------

I am new to ROS. I did not have experience of how to correct this error.

Look at the topics subscribed by move_base ($ rosnode info /move_base), then show the header of the topics. It seems there is a topic with a leading slash in the frame_id set. With tf2, topics should not have a leading slash in the header.frame_id.

I am not sure why you have this error though, as I tried the simulation example on a ROS kinetic computer and the simulation runs fine.

EDIT: just noticed that you rebuilt the navigation stack from source, what I tested was with the default binaries.

Hi, Mathieu, Many thanks for the quick response. Yes, I rebuild the navigation stack from source since I need to modify some files for a test. The topics subscribed by move_base is below:

$ rosnode info /move_base

--------------------------------------------------------------------------------
Node [/move_base]
Publications: 
 * /move_base/DWAPlannerROS/cost_cloud [sensor_msgs/PointCloud2]
 * /move_base/DWAPlannerROS/global_plan [nav_msgs/Path]
 * /move_base/DWAPlannerROS/local_plan [nav_msgs/Path]
 * /move_base/DWAPlannerROS/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/DWAPlannerROS/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/DWAPlannerROS/trajectory_cloud [sensor_msgs/PointCloud2]
 * /move_base/NavfnROS/plan [nav_msgs/Path]
 * /move_base/current_goal [geometry_msgs/PoseStamped]
 * /move_base/feedback [move_base_msgs/MoveBaseActionFeedback]
 * /move_base/global_costmap/costmap [nav_msgs/OccupancyGrid]
 * /move_base/global_costmap/costmap_updates [map_msgs/OccupancyGridUpdate]
 * /move_base/global_costmap/footprint [geometry_msgs/PolygonStamped]
 * /move_base/global_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/global_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/global_costmap/obstacle_layer/clearing_endpoints [sensor_msgs/PointCloud]
 * /move_base/global_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/global_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/global_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/global_costmap/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/global_costmap/static_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/global_costmap/static_layer/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/goal [move_base_msgs/MoveBaseActionGoal]
 * /move_base/local_costmap/costmap [nav_msgs/OccupancyGrid]
 * /move_base/local_costmap/costmap_updates [map_msgs/OccupancyGridUpdate]
 * /move_base/local_costmap/footprint [geometry_msgs/PolygonStamped]
 * /move_base/local_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/local_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/local_costmap/obstacle_layer/clearing_endpoints [sensor_msgs/PointCloud]
 * /move_base/local_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/local_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/local_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/local_costmap/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /move_base/parameter_updates [dynamic_reconfigure/Config]
 * /move_base/result [move_base_msgs/MoveBaseActionResult]
 * /move_base/status [actionlib_msgs/GoalStatusArray]
 * /navigation_velocity_smoother/raw_cmd_vel [geometry_msgs/Twist]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /clock [rosgraph_msgs/Clock]
 * /map [nav_msgs/OccupancyGrid]
 * /mobile_base/sensors/bumper_pointcloud [sensor_msgs/PointCloud2]
 * /move_base/cancel [unknown type]
 * /move_base/global_costmap/footprint [geometry_msgs/PolygonStamped]
 * /move_base/goal [move_base_msgs/MoveBaseActionGoal]
 * /move_base/local_costmap/footprint [geometry_msgs/PolygonStamped]
 * /move_base_simple/goal [unknown type]
 * /odom [nav_msgs/Odometry]
 * /scan [sensor_msgs/LaserScan]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Services: 
 * /move_base/DWAPlannerROS/set_parameters
 * /move_base/NavfnROS/make_plan
 * /move_base/clear_costmaps
 * /move_base/get_loggers
 * /move_base/global_costmap/inflation_layer/set_parameters
 * /move_base/global_costmap/obstacle_layer/set_parameters
 * /move_base/global_costmap/set_parameters
 * /move_base/global_costmap/static_layer/set_parameters
 * /move_base/local_costmap/inflation_layer/set_parameters
 * /move_base/local_costmap/obstacle_layer/set_parameters
 * /move_base/local_costmap/set_parameters
 * /move_base/make_plan
 * /move_base/set_logger_level
 * /move_base/set_parameters

contacting node http://localhost:34667/ ...
Pid: 16757
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /navigation_velocity_smoother/raw_cmd_vel
    * to: /mobile_base_nodelet_manager
    * direction: outbound
    * transport: TCPROS
 * topic: /move_base/goal
    * to: /move_base
    * direction: outbound
    * transport: INTRAPROCESS
 * topic: /clock
    * to: /gazebo (http://localhost:44513/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf
    * to: /gazebo (http://localhost:44513/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf
    * to: /robot_state_publisher (http://localhost:35003/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf
    * to: /rtabmap/rtabmap (http://localhost:41811/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf_static
    * to: /robot_state_publisher (http://localhost:35003/)
    * direction: inbound
    * transport: TCPROS
 * topic: /map
    * to: /rtabmap/rtabmap (http://localhost:41811/)
    * direction: inbound
    * transport: TCPROS
 * topic: /scan
    * to: /laserscan_nodelet_manager (http://localhost:46731/)
    * direction: inbound
    * transport: TCPROS
 * topic: /mobile_base/sensors/bumper_pointcloud
    * to: /mobile_base_nodelet_manager (http://localhost:34421/)
    * direction: inbound
    * transport: TCPROS
 * topic: /odom
    * to: /gazebo (http://localhost:44513/)
    * direction: inbound
    * transport: TCPROS
 * topic: /move_base/goal
    * to: /move_base (http://localhost:34667/)
    * direction: inbound
    * transport: INTRAPROCESS

And the header of the topics:

$ rosmsg show /move_bash                                                                                                        1 ↵  09:53:20  2.24 L
Unable to load msg [/move_bash]: Cannot locate message [move_bash]: unknown package [] on search path [{'rosconsole': ['/opt/ros/kinetic/share/rosconsole/msg'], 'rocon_service_pair_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/rocon_service_pair_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_service_pair_msgs/msg'], 'astra_camera': ['/opt/ros/kinetic/share/astra_camera/msg'], 'rocon_python_comms': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_python_comms/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_python_comms/msg'], 'openni_description': ['/opt/ros/kinetic/share/openni_description/msg'], 'turbot_code': ['/home/teddyluo/turtlebot_ws/src/turbot_code/msg', '/home/teddyluo/turtlebot_ws/devel/share/turbot_code/msg'], 'rocon_gateway_utils': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/rocon_gateway_utils/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_gateway_utils/msg'], 'yocs_ar_marker_tracking': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_ar_marker_tracking/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_ar_marker_tracking/msg'], 'tf': ['/opt/ros/kinetic/share/tf/msg'], 'rqt_publisher': ['/opt/ros/kinetic/share/rqt_publisher/msg'], 'smach_ros': ['/opt/ros/kinetic/share/smach_ros/msg'], 'diagnostic_aggregator': ['/opt/ros/kinetic/share/diagnostic_aggregator/msg'], 'rosgraph': ['/opt/ros/kinetic/share/rosgraph/msg'], 'ecl_streams': ['/opt/ros/kinetic/share/ecl_streams/msg'], 'tf2_eigen': ['/opt/ros/kinetic/share/tf2_eigen/msg'], 'smach': ['/opt/ros/kinetic/share/smach/msg'], 'rocon_semantic_version': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_semantic_version/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_semantic_version/msg'], 'rosboost_cfg': ['/opt/ros/kinetic/share/rosboost_cfg/msg'], 'rqt_service_caller': ['/opt/ros/kinetic/share/rqt_service_caller/msg'], 'bringup': ['/home/teddyluo/catkin_ws/src/bringup/msg', '/home/teddyluo/catkin_ws/devel/share/bringup/msg'], 'freenect_camera': ['/opt/ros/kinetic/share/freenect_camera/msg'], 'concert_workflow_engine_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/concert_workflow_engine_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/concert_workflow_engine_msgs/msg'], 'warehouse_ros': ['/opt/ros/kinetic/share/warehouse_ros/msg'], 'yocs_velocity_smoother': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_velocity_smoother/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_velocity_smoother/msg'], 'rqt_pose_view': ['/opt/ros/kinetic/share/rqt_pose_view/msg'], 'create_gazebo_plugins': ['/home/teddyluo/turtlebot_ws/src/turtlebot_create_desktop/create_gazebo_plugins/msg', '/home/teddyluo/turtlebot_ws/devel/share/create_gazebo_plugins/msg'], 'pcl_conversions': ['/opt/ros/kinetic/share/pcl_conversions/msg'], 'rqt_image_view': ['/opt/ros/kinetic/share/rqt_image_view/msg'], 'rqt_console': ['/opt/ros/kinetic/share/rqt_console/msg'], 'rocon_remocon': ['/home/teddyluo/turtlebot_ws/src/rocon_qt_gui/rocon_remocon/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_remocon/msg'], 'ecl_sigslots': ['/opt/ros/kinetic/share/ecl_sigslots/msg'], 'rqt_gui': ['/opt/ros/kinetic/share/rqt_gui/msg'], 'qt_gui_py_common': ['/opt/ros/kinetic/share/qt_gui_py_common/msg'], 'eigen_conversions': ['/opt/ros/kinetic/share/eigen_conversions/msg'], 'diagnostic_common_diagnostics': ['/opt/ros/kinetic/share/diagnostic_common_diagnostics/msg'], 'rostopic': ['/opt/ros/kinetic/share/rostopic/msg'], 'visualization_msgs': ['/opt/ros/kinetic/share/visualization_msgs/msg'], 'message_generation': ['/opt/ros/kinetic/share/message_generation/msg'], 'kobuki_gazebo': ['/home/teddyluo/turtlebot_ws/src/kobuki_desktop/kobuki_gazebo/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_gazebo/msg'], 'polled_camera': ['/opt/ros/kinetic/share/polled_camera/msg'], 'ecl_threads': ['/opt/ros/kinetic/share/ecl_threads/msg'], 'urdf_tutorial': ['/opt/ros/kinetic/share/urdf_tutorial/msg'], 'kobuki_auto_docking': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_auto_docking/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_auto_docking/msg'], 'rospy': ['/opt/ros/kinetic/share/rospy/msg'], 'roscpp_tutorials': ['/opt/ros/kinetic/share/roscpp_tutorials/msg'], 'ecl_build': ['/opt/ros/kinetic/share/ecl_build/msg'], 'python_orocos_kdl': ['/opt/ros/kinetic/share/python_orocos_kdl/msg'], 'turtlebot_interactive_markers': ['/home/teddyluo/turtlebot_ws/src/turtlebot_interactions/turtlebot_interactive_markers/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_interactive_markers/msg'], 'kobuki_qtestsuite': ['/home/teddyluo/turtlebot_ws/src/kobuki_desktop/kobuki_qtestsuite/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_qtestsuite/msg'], 'rocon_python_utils': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_python_utils/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_python_utils/msg'], 'rosmsg': ['/opt/ros/kinetic/share/rosmsg/msg'], 'turtlebot_description': ['/home/teddyluo/turtlebot_ws/src/turtlebot/turtlebot_description/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_description/msg'], 'rocon_unreliable_experiments': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/experiments/rocon_unreliable_experiments/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_unreliable_experiments/msg'], 'roslib': ['/opt/ros/kinetic/share/roslib/msg'], 'turtlebot_rapps': ['/home/teddyluo/turtlebot_ws/src/turtlebot_apps/turtlebot_rapps/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_rapps/msg'], 'create_driver': ['/home/teddyluo/turtlebot_ws/src/turtlebot_create/create_driver/msg', '/home/teddyluo/turtlebot_ws/devel/share/create_driver/msg'], 'diagnostic_updater': ['/opt/ros/kinetic/share/diagnostic_updater/msg'], 'rgbd_launch': ['/opt/ros/kinetic/share/rgbd_launch/msg'], 'rqt_runtime_monitor': ['/opt/ros/kinetic/share/rqt_runtime_monitor/msg'], 'ecl_eigen': ['/opt/ros/kinetic/share/ecl_eigen/msg'], 'yocs_controllers': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_controllers/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_controllers/msg'], 'topic_tools': ['/opt/ros/kinetic/share/topic_tools/msg'], 'interactive_marker_tutorials': ['/opt/ros/kinetic/share/interactive_marker_tutorials/msg'], 'stage_ros': ['/opt/ros/kinetic/share/stage_ros/msg'], 'rqt_robot_steering': ['/opt/ros/kinetic/share/rqt_robot_steering/msg'], 'genpy': ['/opt/ros/kinetic/share/genpy/msg'], 'ar_track_alvar_msgs': ['/opt/ros/kinetic/share/ar_track_alvar_msgs/msg'], 'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/msg'], 'roscreate': ['/opt/ros/kinetic/share/roscreate/msg'], 'stdr_resources': ['/opt/ros/kinetic/share/stdr_resources/msg'], 'rqt_launch': ['/opt/ros/kinetic/share/rqt_launch/msg'], 'rocon_python_wifi': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_python_wifi/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_python_wifi/msg'], 'yocs_joyop': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_joyop/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_joyop/msg'], 'gazebo_ros': ['/opt/ros/kinetic/share/gazebo_ros/msg'], 'rospy_message_converter': ['/opt/ros/kinetic/share/rospy_message_converter/msg'], 'ecl_math': ['/opt/ros/kinetic/share/ecl_math/msg'], 'rplidar_ros': ['/home/teddyluo/turtlebot_ws/src/rplidar_ros/msg', '/home/teddyluo/turtlebot_ws/devel/share/rplidar_ros/msg'], 'rocon_hub_client': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/rocon_hub_client/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_hub_client/msg'], 'master_sync_fkie': ['/home/teddyluo/catkin_ws/src/multimaster_fkie/master_sync_fkie/msg', '/home/teddyluo/catkin_ws/devel/share/master_sync_fkie/msg'], 'ecl_linear_algebra': ['/opt/ros/kinetic/share/ecl_linear_algebra/msg'], 'stdr_robot': ['/opt/ros/kinetic/share/stdr_robot/msg'], 'stdr_msgs': ['/opt/ros/kinetic/share/stdr_msgs/msg'], 'multimaster_msgs_fkie': ['/home/teddyluo/catkin_ws/src/multimaster_fkie/multimaster_msgs_fkie/msg', '/home/teddyluo/catkin_ws/devel/share/multimaster_msgs_fkie/msg'], 'shape_msgs': ['/opt/ros/kinetic/share/shape_msgs/msg'], 'move_slow_and_clear': ['/home/teddyluo/catkin_ws/src/navigation/move_slow_and_clear/msg', '/home/teddyluo/catkin_ws/devel/share/move_slow_and_clear/msg'], 'pcl_ros': ['/opt/ros/kinetic/share/pcl_ros/msg'], 'turtlebot_follower': ['/home/teddyluo/turtlebot_ws/src/turtlebot_apps/turtlebot_follower/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_follower/msg'], 'kobuki_gazebo_plugins': ['/home/teddyluo/turtlebot_ws/src/kobuki_desktop/kobuki_gazebo_plugins/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_gazebo_plugins/msg'], 'kobuki_safety_controller': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_safety_controller/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_safety_controller/msg'], 'learning_joy': ['/home/teddyluo/catkin_ws/src/learning_joy/msg', '/home/teddyluo/catkin_ws/devel/share/learning_joy/msg'], 'rqt_moveit': ['/opt/ros/kinetic/share/rqt_moveit/msg'], 'freenect_launch': ['/opt/ros/kinetic/share/freenect_launch/msg'], 'gmapping': ['/home/teddyluo/catkin_ws/src/slam_gmapping/gmapping/msg', '/home/teddyluo/catkin_ws/devel/share/gmapping/msg'], 'world_canvas_server': ['/opt/ros/kinetic/share/world_canvas_server/msg'], 'rocon_bubble_icons': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_bubble_icons/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_bubble_icons/msg'], 'rqt_srv': ['/opt/ros/kinetic/share/rqt_srv/msg'], 'rqt_topic': ['/opt/ros/kinetic/share/rqt_topic/msg'], 'rqt_tf_tree': ['/opt/ros/kinetic/share/rqt_tf_tree/msg'], 'collada_parser': ['/opt/ros/kinetic/share/collada_parser/msg'], 'yocs_virtual_sensor': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_virtual_sensor/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_virtual_sensor/msg'], 'find_object_2d': ['/opt/ros/kinetic/share/find_object_2d/msg'], 'theora_image_transport': ['/opt/ros/kinetic/share/theora_image_transport/msg'], 'laptop_battery_monitor': ['/opt/ros/kinetic/share/laptop_battery_monitor/msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/msg'], 'mk': ['/opt/ros/kinetic/share/mk/msg'], 'unique_id': ['/opt/ros/kinetic/share/unique_id/msg'], 'rocon_launch': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_launch/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_launch/msg'], 'turtlebot_teleop': ['/home/teddyluo/turtlebot_ws/src/turtlebot/turtlebot_teleop/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_teleop/msg'], 'urdf': ['/opt/ros/kinetic/share/urdf/msg'], 'resource_retriever': ['/opt/ros/kinetic/share/resource_retriever/msg'], 'rqt_graph': ['/opt/ros/kinetic/share/rqt_graph/msg'], 'rotate_recovery': ['/home/teddyluo/catkin_ws/src/navigation/rotate_recovery/msg', '/home/teddyluo/catkin_ws/devel/share/rotate_recovery/msg'], 'fake_localization': ['/home/teddyluo/catkin_ws/src/navigation/fake_localization/msg', '/home/teddyluo/catkin_ws/devel/share/fake_localization/msg'], 'qt_gui': ['/opt/ros/kinetic/share/qt_gui/msg'], 'filters': ['/opt/ros/kinetic/share/filters/msg'], 'roscpp_serialization': ['/opt/ros/kinetic/share/roscpp_serialization/msg'], 'default_cfg_fkie': ['/home/teddyluo/catkin_ws/src/multimaster_fkie/default_cfg_fkie/msg', '/home/teddyluo/catkin_ws/devel/share/default_cfg_fkie/msg'], 'kobuki_driver': ['/home/teddyluo/turtlebot_ws/src/kobuki_core/kobuki_driver/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_driver/msg'], 'rqt_web': ['/opt/ros/kinetic/share/rqt_web/msg'], 'create_description': ['/home/teddyluo/turtlebot_ws/src/turtlebot_create/create_description/msg', '/home/teddyluo/turtlebot_ws/devel/share/create_description/msg'], 'costmap_2d': ['/home/teddyluo/catkin_ws/src/navigation/costmap_2d/msg', '/home/teddyluo/catkin_ws/devel/share/costmap_2d/msg'], 'beginner_tutorials': ['/home/teddyluo/catkin_ws/src/beginner_tutorials/msg', '/home/teddyluo/catkin_ws/devel/share/beginner_tutorials/msg'], 'stdr_parser': ['/opt/ros/kinetic/share/stdr_parser/msg'], 'rqt_action': ['/opt/ros/kinetic/share/rqt_action/msg'], 'rtabmap': ['/opt/ros/kinetic/share/rtabmap/msg'], 'diagnostic_msgs': ['/opt/ros/kinetic/share/diagnostic_msgs/msg'], 'rqt_robot_dashboard': ['/opt/ros/kinetic/share/rqt_robot_dashboard/msg'], 'pluginlib': ['/opt/ros/kinetic/share/pluginlib/msg'], 'kobuki_testsuite': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_testsuite/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_testsuite/msg'], 'rqt_msg': ['/opt/ros/kinetic/share/rqt_msg/msg'], 'sophus': ['/opt/ros/kinetic/share/sophus/msg'], 'node_manager_fkie': ['/home/teddyluo/catkin_ws/src/multimaster_fkie/node_manager_fkie/msg', '/home/teddyluo/catkin_ws/devel/share/node_manager_fkie/msg'], 'bond': ['/opt/ros/kinetic/share/bond/msg'], 'self_test': ['/opt/ros/kinetic/share/self_test/msg'], 'rospack': ['/opt/ros/kinetic/share/rospack/msg'], 'yocs_safety_controller': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_safety_controller/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_safety_controller/msg'], 'image_rotate': ['/opt/ros/kinetic/share/image_rotate/msg'], 'yocs_msgs': ['/home/teddyluo/turtlebot_ws/src/yocs_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_msgs/msg'], 'rviz_plugin_tutorials': ['/opt/ros/kinetic/share/rviz_plugin_tutorials/msg'], 'tf2_msgs': ['/opt/ros/kinetic/share/tf2_msgs/msg'], 'rviz': ['/opt/ros/kinetic/share/rviz/msg'], 'rocon_master_info': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_master_info/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_master_info/msg'], 'rocon_device_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/rocon_device_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_device_msgs/msg'], 'laser_filters': ['/opt/ros/kinetic/share/laser_filters/msg'], 'camera_calibration': ['/opt/ros/kinetic/share/camera_calibration/msg'], 'rocon_gateway': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/rocon_gateway/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_gateway/msg'], 'realsense_camera': ['/opt/ros/kinetic/share/realsense_camera/msg'], 'rosservice': ['/opt/ros/kinetic/share/rosservice/msg'], 'rocon_ebnf': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_ebnf/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_ebnf/msg'], 'turtle_tf': ['/opt/ros/kinetic/share/turtle_tf/msg'], 'tf2_geometry_msgs': ['/opt/ros/kinetic/share/tf2_geometry_msgs/msg'], 'depthimage_to_laserscan': ['/home/teddyluo/catkin_ws/src/depthimage_to_laserscan/msg', '/home/teddyluo/catkin_ws/devel/share/depthimage_to_laserscan/msg'], 'visualization_marker_tutorials': ['/opt/ros/kinetic/share/visualization_marker_tutorials/msg'], 'rosconsole_bridge': ['/opt/ros/kinetic/share/rosconsole_bridge/msg'], 'pluginlib_tutorials': ['/opt/ros/kinetic/share/pluginlib_tutorials/msg'], 'roslz4': ['/opt/ros/kinetic/share/roslz4/msg'], 'rqt_bag_plugins': ['/opt/ros/kinetic/share/rqt_bag_plugins/msg'], 'std_capabilities': ['/opt/ros/kinetic/share/std_capabilities/msg'], 'yocs_ar_pair_tracking': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_ar_pair_tracking/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_ar_pair_tracking/msg'], 'create_dashboard': ['/home/teddyluo/turtlebot_ws/src/turtlebot_create_desktop/create_dashboard/msg', '/home/teddyluo/turtlebot_ws/devel/share/create_dashboard/msg'], 'rqt_robot_monitor': ['/opt/ros/kinetic/share/rqt_robot_monitor/msg'], 'stereo_msgs': ['/opt/ros/kinetic/share/stereo_msgs/msg'], 'kobuki_capabilities': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_capabilities/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_capabilities/msg'], 'trajectory_msgs': ['/opt/ros/kinetic/share/trajectory_msgs/msg'], 'laser_assembler': ['/opt/ros/kinetic/share/laser_assembler/msg'], 'ecl_errors': ['/opt/ros/kinetic/share/ecl_errors/msg'], 'rocon_gateway_tests': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/rocon_gateway_tests/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_gateway_tests/msg'], 'libfreenect': ['/opt/ros/kinetic/share/libfreenect/msg'], 'kobuki_dashboard': ['/home/teddyluo/turtlebot_ws/src/kobuki_desktop/kobuki_dashboard/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_dashboard/msg'], 'tf2': ['/opt/ros/kinetic/share/tf2/msg'], 'world_canvas_utils': ['/opt/ros/kinetic/share/world_canvas_utils/msg'], 'yocs_rapps': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_rapps/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_rapps/msg'], 'image_publisher': ['/opt/ros/kinetic/share/image_publisher/msg'], 'rostest': ['/opt/ros/kinetic/share/rostest/msg'], 'ecl_time': ['/opt/ros/kinetic/share/ecl_time/msg'], 'tf_conversions': ['/opt/ros/kinetic/share/tf_conversions/msg'], 'cpp_common': ['/opt/ros/kinetic/share/cpp_common/msg'], 'nodelet': ['/opt/ros/kinetic/share/nodelet/msg'], 'dynamic_reconfigure': ['/opt/ros/kinetic/share/dynamic_reconfigure/msg'], 'compressed_image_transport': ['/opt/ros/kinetic/share/compressed_image_transport/msg'], 'zeroconf_msgs': ['/opt/ros/kinetic/share/zeroconf_msgs/msg'], 'octomap_msgs': ['/opt/ros/kinetic/share/octomap_msgs/msg'], 'ecl_mobile_robot': ['/opt/ros/kinetic/share/ecl_mobile_robot/msg'], 'qt_dotgraph': ['/opt/ros/kinetic/share/qt_dotgraph/msg'], 'openni2_launch': ['/opt/ros/kinetic/share/openni2_launch/msg'], 'rosbag_storage': ['/opt/ros/kinetic/share/rosbag_storage/msg'], 'ecl_utilities': ['/opt/ros/kinetic/share/ecl_utilities/msg'], 'ecl_concepts': ['/opt/ros/kinetic/share/ecl_concepts/msg'], 'rocon_app_manager': ['/home/teddyluo/turtlebot_ws/src/rocon_app_platform/rocon_app_manager/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_app_manager/msg'], 'joy': ['/opt/ros/kinetic/share/joy/msg'], 'tf2_kdl': ['/opt/ros/kinetic/share/tf2_kdl/msg'], 'kdl_parser': ['/opt/ros/kinetic/share/kdl_parser/msg'], 'turtlebot_le2i': ['/home/teddyluo/catkin_ws/src/rplidar-turtlebot2/turtlebot_le2i/msg', '/home/teddyluo/catkin_ws/devel/share/turtlebot_le2i/msg'], 'collada_urdf': ['/opt/ros/kinetic/share/collada_urdf/msg'], 'uuid_msgs': ['/opt/ros/kinetic/share/uuid_msgs/msg'], 'rosmake': ['/opt/ros/kinetic/share/rosmake/msg'], 'yocs_waypoint_provider': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_waypoint_provider/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_waypoint_provider/msg'], 'ecl_type_traits': ['/opt/ros/kinetic/share/ecl_type_traits/msg'], 'media_export': ['/opt/ros/kinetic/share/media_export/msg'], 'tf2_tools': ['/opt/ros/kinetic/share/tf2_tools/msg'], 'actionlib': ['/opt/ros/kinetic/share/actionlib/msg'], 'rocon_app_utilities': ['/home/teddyluo/turtlebot_ws/src/rocon_app_platform/rocon_app_utilities/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_app_utilities/msg'], 'base_local_planner': ['/home/teddyluo/catkin_ws/src/navigation/base_local_planner/msg', '/home/teddyluo/catkin_ws/devel/share/base_local_planner/msg'], 'world_canvas_msgs': ['/opt/ros/kinetic/share/world_canvas_msgs/msg'], 'roslisp': ['/opt/ros/kinetic/share/roslisp/msg'], 'gazebo_msgs': ['/opt/ros/kinetic/share/gazebo_msgs/msg'], 'yocs_cmd_vel_mux': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_cmd_vel_mux/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_cmd_vel_mux/msg'], 'rocon': ['/home/teddyluo/turtlebot_ws/src/rocon/msg'], 'rqt_py_common': ['/opt/ros/kinetic/share/rqt_py_common/msg'], 'rocon_icons': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_icons/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_icons/msg'], 'compressed_depth_image_transport': ['/opt/ros/kinetic/share/compressed_depth_image_transport/msg'], 'turtlebot_dashboard': ['/home/teddyluo/turtlebot_ws/src/turtlebot_interactions/turtlebot_dashboard/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_dashboard/msg'], 'rocon_test': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/rocon_test/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_test/msg'], 'kobuki_dock_drive': ['/home/teddyluo/turtlebot_ws/src/kobuki_core/kobuki_dock_drive/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_dock_drive/msg'], 'kobuki_keyop': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_keyop/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_keyop/msg'], 'urdf_parser_plugin': ['/opt/ros/kinetic/share/urdf_parser_plugin/msg'], 'kobuki_rviz_launchers': ['/home/teddyluo/turtlebot_ws/src/kobuki_desktop/kobuki_rviz_launchers/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_rviz_launchers/msg'], 'orocos_kdl': ['/opt/ros/kinetic/share/orocos_kdl/msg'], 'rosbag_migration_rule': ['/opt/ros/kinetic/share/rosbag_migration_rule/msg'], 'carrot_planner': ['/home/teddyluo/catkin_ws/src/navigation/carrot_planner/msg', '/home/teddyluo/catkin_ws/devel/share/carrot_planner/msg'], 'nodelet_topic_tools': ['/opt/ros/kinetic/share/nodelet_topic_tools/msg'], 'nodelet_tutorial_math': ['/opt/ros/kinetic/share/nodelet_tutorial_math/msg'], 'ecl_exceptions': ['/opt/ros/kinetic/share/ecl_exceptions/msg'], 'rosparam': ['/opt/ros/kinetic/share/rosparam/msg'], 'geneus': ['/opt/ros/kinetic/share/geneus/msg'], 'bfl': ['/opt/ros/kinetic/share/bfl/msg'], 'astra_launch': ['/opt/ros/kinetic/share/astra_launch/msg'], 'roswtf': ['/opt/ros/kinetic/share/roswtf/msg'], 'geometric_shapes': ['/opt/ros/kinetic/share/geometric_shapes/msg'], 'map_server': ['/home/teddyluo/catkin_ws/src/navigation/map_server/msg', '/home/teddyluo/catkin_ws/devel/share/map_server/msg'], 'ecl_containers': ['/opt/ros/kinetic/share/ecl_containers/msg'], 'ecl_license': ['/opt/ros/kinetic/share/ecl_license/msg'], 'turtlebot_msgs': ['/home/teddyluo/turtlebot_ws/src/turtlebot_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_msgs/msg'], 'rqt_rviz': ['/opt/ros/kinetic/share/rqt_rviz/msg'], 'rosgraph_msgs': ['/opt/ros/kinetic/share/rosgraph_msgs/msg'], 'ecl_mpl': ['/opt/ros/kinetic/share/ecl_mpl/msg'], 'xacro': ['/opt/ros/kinetic/share/xacro/msg'], 'xmlrpcpp': ['/opt/ros/kinetic/share/xmlrpcpp/msg'], 'turtlebot_actions': ['/home/teddyluo/turtlebot_ws/src/turtlebot_apps/turtlebot_actions/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_actions/msg'], 'gl_dependency': ['/opt/ros/kinetic/share/gl_dependency/msg'], 'ar_track_alvar': ['/opt/ros/kinetic/share/ar_track_alvar/msg'], 'kobuki_controller_tutorial': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_controller_tutorial/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_controller_tutorial/msg'], 'master_discovery_fkie': ['/home/teddyluo/catkin_ws/src/multimaster_fkie/master_discovery_fkie/msg', '/home/teddyluo/catkin_ws/devel/share/master_discovery_fkie/msg'], 'rosnode': ['/opt/ros/kinetic/share/rosnode/msg'], 'rocon_apps': ['/home/teddyluo/turtlebot_ws/src/rocon_app_platform/rocon_apps/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_apps/msg'], 'global_planner': ['/home/teddyluo/catkin_ws/src/navigation/global_planner/msg', '/home/teddyluo/catkin_ws/devel/share/global_planner/msg'], 'depth_image_proc': ['/opt/ros/kinetic/share/depth_image_proc/msg'], 'python_qt_binding': ['/opt/ros/kinetic/share/python_qt_binding/msg'], 'kobuki_bumper2pc': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_bumper2pc/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_bumper2pc/msg'], 'clear_costmap_recovery': ['/home/teddyluo/catkin_ws/src/navigation/clear_costmap_recovery/msg', '/home/teddyluo/catkin_ws/devel/share/clear_costmap_recovery/msg'], 'rqt_gui_cpp': ['/opt/ros/kinetic/share/rqt_gui_cpp/msg'], 'openni_launch': ['/opt/ros/kinetic/share/openni_launch/msg'], 'roscpp_traits': ['/opt/ros/kinetic/share/roscpp_traits/msg'], 'smach_msgs': ['/opt/ros/kinetic/share/smach_msgs/msg'], 'gazebo_dev': ['/opt/ros/kinetic/share/gazebo_dev/msg'], 'yocs_diff_drive_pose_controller': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_diff_drive_pose_controller/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_diff_drive_pose_controller/msg'], 'turtlebot_navigation': ['/home/teddyluo/turtlebot_ws/src/turtlebot_apps/turtlebot_navigation/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_navigation/msg'], 'actionlib_tutorials': ['/opt/ros/kinetic/share/actionlib_tutorials/msg'], 'kdl_conversions': ['/opt/ros/kinetic/share/kdl_conversions/msg'], 'kinect2_calibration': ['/home/teddyluo/catkin_ws/src/iai_kinect2/kinect2_calibration/msg', '/home/teddyluo/catkin_ws/devel/share/kinect2_calibration/msg'], 'ecl_geometry': ['/opt/ros/kinetic/share/ecl_geometry/msg'], 'turtle_actionlib': ['/opt/ros/kinetic/share/turtle_actionlib/msg'], 'bondcpp': ['/opt/ros/kinetic/share/bondcpp/msg'], 'gateway_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/gateway_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/gateway_msgs/msg'], 'ecl_converters': ['/opt/ros/kinetic/share/ecl_converters/msg'], 'turtlesim': ['/opt/ros/kinetic/share/turtlesim/msg'], 'diagnostic_analysis': ['/opt/ros/kinetic/share/diagnostic_analysis/msg'], 'interactive_markers': ['/opt/ros/kinetic/share/interactive_markers/msg'], 'rocon_gateway_graph': ['/home/teddyluo/turtlebot_ws/src/rocon_qt_gui/rocon_gateway_graph/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_gateway_graph/msg'], 'robot_pose_publisher': ['/opt/ros/kinetic/share/robot_pose_publisher/msg'], 'kinect2_viewer': ['/home/teddyluo/catkin_ws/src/iai_kinect2/kinect2_viewer/msg', '/home/teddyluo/catkin_ws/devel/share/kinect2_viewer/msg'], 'rqt_reconfigure': ['/opt/ros/kinetic/share/rqt_reconfigure/msg'], 'rocon_python_redis': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_python_redis/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_python_redis/msg'], 'freenect_stack': ['/opt/ros/kinetic/share/freenect_stack/msg'], 'message_runtime': ['/opt/ros/kinetic/share/message_runtime/msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/msg'], 'rocon_app_manager_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/rocon_app_manager_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_app_manager_msgs/msg'], 'angles': ['/opt/ros/kinetic/share/angles/msg'], 'libg2o': ['/opt/ros/kinetic/share/libg2o/msg'], 'tf2_bullet': ['/opt/ros/kinetic/share/tf2_bullet/msg'], 'rocon_hub': ['/home/teddyluo/turtlebot_ws/src/rocon_multimaster/rocon_hub/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_hub/msg'], 'yocs_waypoints_navi': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_waypoints_navi/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_waypoints_navi/msg'], 'joint_state_publisher': ['/opt/ros/kinetic/share/joint_state_publisher/msg'], 'stereo_image_proc': ['/opt/ros/kinetic/share/stereo_image_proc/msg'], 'kobuki_description': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_description/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_description/msg'], 'turtlebot_stdr': ['/home/teddyluo/turtlebot_ws/src/turtlebot_simulator/turtlebot_stdr/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_stdr/msg'], 'ecl_formatters': ['/opt/ros/kinetic/share/ecl_formatters/msg'], 'class_loader': ['/opt/ros/kinetic/share/class_loader/msg'], 'kobuki_ftdi': ['/home/teddyluo/turtlebot_ws/src/kobuki_core/kobuki_ftdi/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_ftdi/msg'], 'concert_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/concert_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/concert_msgs/msg'], 'nav_msgs': ['/opt/ros/kinetic/share/nav_msgs/msg'], 'ecl_command_line': ['/opt/ros/kinetic/share/ecl_command_line/msg'], 'tf2_ros': ['/opt/ros/kinetic/share/tf2_ros/msg'], 'librviz_tutorial': ['/opt/ros/kinetic/share/librviz_tutorial/msg'], 'yocs_ar_pair_approach': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_ar_pair_approach/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_ar_pair_approach/msg'], 'yocs_navi_toolkit': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_navi_toolkit/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_navi_toolkit/msg'], 'image_geometry': ['/opt/ros/kinetic/share/image_geometry/msg'], 'image_transport': ['/opt/ros/kinetic/share/image_transport/msg'], 'librealsense': ['/opt/ros/kinetic/share/librealsense/msg'], 'turtlebot_bringup': ['/home/teddyluo/turtlebot_ws/src/turtlebot/turtlebot_bringup/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_bringup/msg'], 'roslaunch': ['/opt/ros/kinetic/share/roslaunch/msg'], 'rqt_logger_level': ['/opt/ros/kinetic/share/rqt_logger_level/msg'], 'kobuki_random_walker': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_random_walker/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_random_walker/msg'], 'openslam_gmapping': ['/opt/ros/kinetic/share/openslam_gmapping/msg'], 'tf2_sensor_msgs': ['/opt/ros/kinetic/share/tf2_sensor_msgs/msg'], 'ecl_config': ['/opt/ros/kinetic/share/ecl_config/msg'], 'catkin': ['/opt/ros/kinetic/share/catkin/msg'], 'yocs_navigator': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_navigator/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_navigator/msg'], 'image_view': ['/opt/ros/kinetic/share/image_view/msg'], 'rqt_py_console': ['/opt/ros/kinetic/share/rqt_py_console/msg'], 'pointcloud_to_laserscan': ['/home/teddyluo/catkin_ws/src/pointcloud_to_laserscan/msg', '/home/teddyluo/catkin_ws/devel/share/pointcloud_to_laserscan/msg'], 'navfn': ['/home/teddyluo/catkin_ws/src/navigation/navfn/msg', '/home/teddyluo/catkin_ws/devel/share/navfn/msg'], 'dwa_local_planner': ['/home/teddyluo/catkin_ws/src/navigation/dwa_local_planner/msg', '/home/teddyluo/catkin_ws/devel/share/dwa_local_planner/msg'], 'smclib': ['/opt/ros/kinetic/share/smclib/msg'], 'ecl_devices': ['/opt/ros/kinetic/share/ecl_devices/msg'], 'capabilities': ['/opt/ros/kinetic/share/capabilities/msg'], 'rosbuild': ['/opt/ros/kinetic/share/rosbuild/msg'], 'qt_gui_cpp': ['/opt/ros/kinetic/share/qt_gui_cpp/msg'], 'roslang': ['/opt/ros/kinetic/share/roslang/msg'], 'genlisp': ['/opt/ros/kinetic/share/genlisp/msg'], 'robot_state_publisher': ['/opt/ros/kinetic/share/robot_state_publisher/msg'], 'opencv3': ['/opt/ros/kinetic/share/opencv3/msg'], 'concert_service_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/concert_service_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/concert_service_msgs/msg'], 'rqt_top': ['/opt/ros/kinetic/share/rqt_top/msg'], 'move_base': ['/home/teddyluo/catkin_ws/src/navigation/move_base/msg', '/home/teddyluo/catkin_ws/devel/share/move_base/msg'], 'genmsg': ['/opt/ros/kinetic/share/genmsg/msg'], 'turtle_tf2': ['/opt/ros/kinetic/share/turtle_tf2/msg'], 'rosmaster': ['/opt/ros/kinetic/share/rosmaster/msg'], 'actionlib_msgs': ['/opt/ros/kinetic/share/actionlib_msgs/msg'], 'webkit_dependency': ['/opt/ros/kinetic/share/webkit_dependency/msg'], 'rocon_std_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/rocon_std_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_std_msgs/msg'], 'laser_geometry': ['/opt/ros/kinetic/share/laser_geometry/msg'], 'kinect2_bridge': ['/home/teddyluo/catkin_ws/src/iai_kinect2/kinect2_bridge/msg', '/home/teddyluo/catkin_ws/devel/share/kinect2_bridge/msg'], 'gencpp': ['/opt/ros/kinetic/share/gencpp/msg'], 'rqt_bag': ['/opt/ros/kinetic/share/rqt_bag/msg'], 'rocon_interactions': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_interactions/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_interactions/msg'], 'rosout': ['/opt/ros/kinetic/share/rosout/msg'], 'camera_calibration_parsers': ['/opt/ros/kinetic/share/camera_calibration_parsers/msg'], 'turtlebot_capabilities': ['/home/teddyluo/turtlebot_ws/src/turtlebot/turtlebot_capabilities/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_capabilities/msg'], 'ros_environment': ['/opt/ros/kinetic/share/ros_environment/msg'], 'qwt_dependency': ['/opt/ros/kinetic/share/qwt_dependency/msg'], 'rostime': ['/opt/ros/kinetic/share/rostime/msg'], 'rqt_nav_view': ['/opt/ros/kinetic/share/rqt_nav_view/msg'], 'roslint': ['/opt/ros/kinetic/share/roslint/msg'], 'ecl_time_lite': ['/opt/ros/kinetic/share/ecl_time_lite/msg'], 'rosunit': ['/opt/ros/kinetic/share/rosunit/msg'], 'kobuki_node': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_node/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_node/msg'], 'move_base_msgs': ['/opt/ros/kinetic/share/move_base_msgs/msg'], 'stage': ['/opt/ros/kinetic/share/stage/msg'], 'rocon_qt_listener': ['/home/teddyluo/turtlebot_ws/src/rocon_qt_gui/rocon_qt_listener/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_qt_listener/msg'], 'camera_info_manager': ['/opt/ros/kinetic/share/camera_info_manager/msg'], 'turtlebot_calibration': ['/home/teddyluo/turtlebot_ws/src/turtlebot_apps/turtlebot_calibration/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_calibration/msg'], 'robot_setup_tf': ['/home/teddyluo/catkin_ws/src/robot_setup_tf/msg', '/home/teddyluo/catkin_ws/devel/share/robot_setup_tf/msg'], 'rocon_uri': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_uri/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_uri/msg'], 'yocs_keyop': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_keyop/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_keyop/msg'], 'yocs_math_toolkit': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_math_toolkit/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_math_toolkit/msg'], 'pcl_msgs': ['/opt/ros/kinetic/share/pcl_msgs/msg'], 'usb_cam': ['/home/teddyluo/catkin_ws/src/usb_cam/msg', '/home/teddyluo/catkin_ws/devel/share/usb_cam/msg'], 'turtlebot_gazebo': ['/home/teddyluo/turtlebot_ws/src/turtlebot_simulator/turtlebot_gazebo/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_gazebo/msg'], 'rviz_python_tutorial': ['/opt/ros/kinetic/share/rviz_python_tutorial/msg'], 'rosbash': ['/opt/ros/kinetic/share/rosbash/msg'], 'rqt_dep': ['/opt/ros/kinetic/share/rqt_dep/msg'], 'scheduler_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/scheduler_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/scheduler_msgs/msg'], 'rqt_plot': ['/opt/ros/kinetic/share/rqt_plot/msg'], 'control_msgs': ['/opt/ros/kinetic/share/control_msgs/msg'], 'kobuki_msgs': ['/home/teddyluo/turtlebot_ws/src/kobuki_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_msgs/msg'], 'rqt_wrapper': ['/opt/ros/kinetic/share/rqt_wrapper/msg'], 'rqt_shell': ['/opt/ros/kinetic/share/rqt_shell/msg'], 'openni_camera': ['/opt/ros/kinetic/share/openni_camera/msg'], 'stdr_gui': ['/opt/ros/kinetic/share/stdr_gui/msg'], 'cv_bridge': ['/opt/ros/kinetic/share/cv_bridge/msg'], 'rocon_interaction_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/rocon_interaction_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_interaction_msgs/msg'], 'turtlebot_rviz_launchers': ['/home/teddyluo/turtlebot_ws/src/turtlebot_interactions/turtlebot_rviz_launchers/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_rviz_launchers/msg'], 'std_srvs': ['/opt/ros/kinetic/share/std_srvs/msg'], 'yocs_localization_manager': ['/home/teddyluo/turtlebot_ws/src/yujin_ocs/yocs_localization_manager/msg', '/home/teddyluo/turtlebot_ws/devel/share/yocs_localization_manager/msg'], 'octomap': ['/opt/ros/kinetic/share/octomap/msg'], 'amcl': ['/home/teddyluo/catkin_ws/src/navigation/amcl/msg', '/home/teddyluo/catkin_ws/devel/share/amcl/msg'], 'bondpy': ['/opt/ros/kinetic/share/bondpy/msg'], 'tf2_py': ['/opt/ros/kinetic/share/tf2_py/msg'], 'rtabmap_ros': ['/home/teddyluo/catkin_ws/src/rtabmap_ros/msg', '/home/teddyluo/catkin_ws/devel/share/rtabmap_ros/msg'], 'cmake_modules': ['/opt/ros/kinetic/share/cmake_modules/msg'], 'nav_core': ['/home/teddyluo/catkin_ws/src/navigation/nav_core/msg', '/home/teddyluo/catkin_ws/devel/share/nav_core/msg'], 'openni2_camera': ['/opt/ros/kinetic/share/openni2_camera/msg'], 'create_node': ['/home/teddyluo/turtlebot_ws/src/turtlebot_create/create_node/msg', '/home/teddyluo/turtlebot_ws/devel/share/create_node/msg'], 'rocon_console': ['/home/teddyluo/turtlebot_ws/src/rocon_tools/rocon_console/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_console/msg'], 'robot_pose_ekf': ['/opt/ros/kinetic/share/robot_pose_ekf/msg'], 'image_proc': ['/opt/ros/kinetic/share/image_proc/msg'], 'roscpp': ['/opt/ros/kinetic/share/roscpp/msg'], 'rocon_qt_master_info': ['/home/teddyluo/turtlebot_ws/src/rocon_qt_gui/rocon_qt_master_info/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_qt_master_info/msg'], 'zeroconf_avahi': ['/opt/ros/kinetic/share/zeroconf_avahi/msg'], 'kobuki_rapps': ['/home/teddyluo/turtlebot_ws/src/kobuki/kobuki_rapps/msg', '/home/teddyluo/turtlebot_ws/devel/share/kobuki_rapps/msg'], 'rocon_tutorial_msgs': ['/home/teddyluo/turtlebot_ws/src/rocon_msgs/rocon_tutorial_msgs/msg', '/home/teddyluo/turtlebot_ws/devel/share/rocon_tutorial_msgs/msg'], 'turtlebot_stage': ['/home/teddyluo/turtlebot_ws/src/turtlebot_simulator/turtlebot_stage/msg', '/home/teddyluo/turtlebot_ws/devel/share/turtlebot_stage/msg'], 'rosclean': ['/opt/ros/kinetic/share/rosclean/msg'], 'kinect2_registration': ['/home/teddyluo/catkin_ws/src/iai_kinect2/kinect2_registration/msg', '/home/teddyluo/catkin_ws/devel/share/kinect2_registration/msg'], 'stdr_server': ['/opt/ros/kinetic/share/stdr_server/msg'], 'message_filters': ['/opt/ros/kinetic/share/message_filters/msg'], 'eigen_stl_containers': ['/opt/ros/kinetic/share/eigen_stl_containers/msg'], 'rospy_tutorials': ['/opt/ros/kinetic/share/rospy_tutorials/msg'], 'random_numbers': ['/opt/ros/kinetic/share/random_numbers/msg'], 'gazebo_plugins': ['/opt/ros/kinetic/share/gazebo_plugins/msg'], 'rqt_gui_py': ['/opt/ros/kinetic/share/rqt_gui_py/msg'], 'voxel_grid': ['/home/teddyluo/catkin_ws/src/navigation/voxel_grid/msg', '/home/teddyluo/catkin_ws/devel/share/voxel_grid/msg'], 'map_msgs': ['/opt/ros/kinetic/share/map_msgs/msg'], 'gennodejs': ['/opt/ros/kinetic/share/gennodejs/msg', '/home/teddyluo/turtlebot_ws/devel/share/gennodejs/msg'], 'rosbag': ['/opt/ros/kinetic/share/rosbag/msg']}]

Looking forward to hearing from you.

For the header of the topic, I had more this in mind: $ rostopic echo /scan/header

Hi, Mathieu, Many thanks for your kind help. Please see the output of this command:

> rostopic echo /scan/header 
seq: 362
stamp: 
  secs: 45
  nsecs: 730000000
frame_id: "/camera_depth_frame"
---
seq: 363
stamp: 
  secs: 45
  nsecs: 830000000
frame_id: "/camera_depth_frame"
---
seq: 364
stamp: 
  secs: 45
  nsecs: 930000000
frame_id: "/camera_depth_frame"
---
seq: 365
stamp: 
  secs: 46
  nsecs:  30000000
frame_id: "/camera_depth_frame"
---

There is the leading slash, how the node publishing scan topic is configured? It should set frame_id to"camera_depth_frame" (without the slash)

Hi, Mathieu, Can you tell me how to correct it? I did not make any changes in the rtabmap_ros package folder, as well as the turtlebot_gazebo ros package folder. The commands I typed in were:

# terminal 1:
roscore
# terminal 2:
roslaunch turtlebot_gazebo turtlebot_world.launch
# terminal 3:
roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true

Many thanks.

Hi, Mathieu, Many thanks for the helpful comment. After modifying the file suggested by you, I successfully launch the rtabmap_ros under simulation. However, a new problem comes: the cost map is quite strange. Please see the screenshot below:

screenshot of RTAB-Map - 1

screenshot of RTAB-Map - 2

The output of the terminal that runs the rtabmap-ros command (roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true ) is listed below:

> roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true

... logging to /home/teddyluo/.ros/log/e0f288c8-ec5e-11e8-b064-54e1ad1bc0ad/roslaunch-teddyluo-laptop-6905.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://localhost:42775/

SUMMARY
========

PARAMETERS
 * /move_base/DWAPlannerROS/acc_lim_theta: 2.0
 * /move_base/DWAPlannerROS/acc_lim_x: 1.0
 * /move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base/DWAPlannerROS/global_frame_id: odom
 * /move_base/DWAPlannerROS/goal_distance_bias: 24.0
 * /move_base/DWAPlannerROS/max_rot_vel: 5.0
 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base/DWAPlannerROS/max_trans_vel: 0.5
 * /move_base/DWAPlannerROS/max_vel_x: 0.5
 * /move_base/DWAPlannerROS/max_vel_y: 0.0
 * /move_base/DWAPlannerROS/min_rot_vel: 0.4
 * /move_base/DWAPlannerROS/min_trans_vel: 0.1
 * /move_base/DWAPlannerROS/min_vel_x: 0.0
 * /move_base/DWAPlannerROS/min_vel_y: 0.0
 * /move_base/DWAPlannerROS/occdist_scale: 0.5
 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/DWAPlannerROS/path_distance_bias: 64.0
 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /move_base/DWAPlannerROS/publish_traj_pc: True
 * /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
 * /move_base/DWAPlannerROS/scaling_speed: 0.25
 * /move_base/DWAPlannerROS/sim_time: 1.0
 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
 * /move_base/DWAPlannerROS/vtheta_samples: 20
 * /move_base/DWAPlannerROS/vx_samples: 6
 * /move_base/DWAPlannerROS/vy_samples: 1
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
 * /move_base/GlobalPlanner/allow_unknown: True
 * /move_base/GlobalPlanner/cost_factor: 3.0
 * /move_base/GlobalPlanner/default_tolerance: 0.0
 * /move_base/GlobalPlanner/lethal_cost: 253
 * /move_base/GlobalPlanner/neutral_cost: 50
 * /move_base/GlobalPlanner/old_navfn_behavior: False
 * /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
 * /move_base/GlobalPlanner/planner_window_x: 0.0
 * /move_base/GlobalPlanner/planner_window_y: 0.0
 * /move_base/GlobalPlanner/publish_potential: True
 * /move_base/GlobalPlanner/publish_scale: 100
 * /move_base/GlobalPlanner/use_dijkstra: True
 * /move_base/GlobalPlanner/use_grid_path: False
 * /move_base/GlobalPlanner/use_quadratic: True
 * /move_base/NavfnROS/allow_unknown: False
 * /move_base/NavfnROS/default_tolerance: 0.0
 * /move_base/NavfnROS/planner_window_x: 0.0
 * /move_base/NavfnROS/planner_window_y: 0.0
 * /move_base/NavfnROS/visualize_potential: False
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/controller_frequency: 5.0
 * /move_base/controller_patience: 3.0
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/global_costmap/inflation_layer/enabled: True
 * /move_base/global_costmap/inflation_layer/inflation_radius: 0.1
 * /move_base/global_costmap/map_type: voxel
 * /move_base/global_costmap/max_obstacle_height: 0.6
 * /move_base/global_costmap/obstacle_layer/bump/clearing: False
 * /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
 * /move_base/global_costmap/obstacle_layer/bump/marking: True
 * /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /move_base/global_costmap/obstacle_layer/combination_method: 1
 * /move_base/global_costmap/obstacle_layer/enabled: True
 * /move_base/global_costmap/obstacle_layer/mark_threshold: 0
 * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
 * /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
 * /move_base/global_costmap/obstacle_layer/origin_z: 0.0
 * /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
 * /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
 * /move_base/global_costmap/obstacle_layer/scan/clearing: True
 * /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
 * /move_base/global_costmap/obstacle_layer/scan/marking: True
 * /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
 * /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
 * /move_base/global_costmap/obstacle_layer/scan/topic: scan
 * /move_base/global_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
 * /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
 * /move_base/global_costmap/obstacle_layer/z_voxels: 2
 * /move_base/global_costmap/plugins: [{'type': 'costma...
 * /move_base/global_costmap/publish_frequency: 0.5
 * /move_base/global_costmap/robot_base_frame: base_footprint
 * /move_base/global_costmap/robot_radius: 0.2
 * /move_base/global_costmap/static_layer/enabled: True
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 1.0
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 4.0
 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/local_costmap/inflation_layer/enabled: True
 * /move_base/local_costmap/inflation_layer/inflation_radius: 0.1
 * /move_base/local_costmap/map_type: voxel
 * /move_base/local_costmap/max_obstacle_height: 0.6
 * /move_base/local_costmap/obstacle_layer/bump/clearing: False
 * /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
 * /move_base/local_costmap/obstacle_layer/bump/marking: True
 * /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /move_base/local_costmap/obstacle_layer/combination_method: 1
 * /move_base/local_costmap/obstacle_layer/enabled: True
 * /move_base/local_costmap/obstacle_layer/mark_threshold: 0
 * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
 * /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
 * /move_base/local_costmap/obstacle_layer/origin_z: 0.0
 * /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
 * /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
 * /move_base/local_costmap/obstacle_layer/scan/clearing: True
 * /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
 * /move_base/local_costmap/obstacle_layer/scan/marking: True
 * /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
 * /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
 * /move_base/local_costmap/obstacle_layer/scan/topic: scan
 * /move_base/local_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
 * /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
 * /move_base/local_costmap/obstacle_layer/z_voxels: 2
 * /move_base/local_costmap/plugins: [{'type': 'costma...
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_footprint
 * /move_base/local_costmap/robot_radius: 0.2
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_layer/enabled: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 5.0
 * /move_base/local_costmap/width: 4.0
 * /move_base/oscillation_distance: 0.2
 * /move_base/oscillation_timeout: 10.0
 * /move_base/planner_frequency: 1.0
 * /move_base/planner_patience: 5.0
 * /move_base/shutdown_costmaps: False
 * /navigation_velocity_smoother/accel_lim_v: 1.0
 * /navigation_velocity_smoother/accel_lim_w: 2.0
 * /navigation_velocity_smoother/decel_factor: 1.5
 * /navigation_velocity_smoother/frequency: 20.0
 * /navigation_velocity_smoother/robot_feedback: 2
 * /navigation_velocity_smoother/speed_lim_v: 0.8
 * /navigation_velocity_smoother/speed_lim_w: 5.4
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rtabmap/rtabmap/GridGlobal/MinSize: 20
 * /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
 * /rtabmap/rtabmap/Kp/MaxDepth: 4.0
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.30
 * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
 * /rtabmap/rtabmap/RGBD/ProximityBySpace: true
 * /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0
 * /rtabmap/rtabmap/Reg/Force3DoF: true
 * /rtabmap/rtabmap/Reg/Strategy: 0
 * /rtabmap/rtabmap/Rtabmap/TimeThr: 700
 * /rtabmap/rtabmap/Vis/InlierDistance: 0.1
 * /rtabmap/rtabmap/Vis/MinInliers: 15
 * /rtabmap/rtabmap/database_path: rtabmap.db
 * /rtabmap/rtabmap/frame_id: base_footprint
 * /rtabmap/rtabmap/map_negative_poses_ignored: True
 * /rtabmap/rtabmap/odom_frame_id: odom
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: True
 * /rtabmap/rtabmap/use_action_for_goal: True
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
  /
    kobuki_safety_controller (nodelet/nodelet)
    move_base (move_base/move_base)
    navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[navigation_velocity_smoother-1]: started with pid [6945]
process[kobuki_safety_controller-2]: started with pid [6946]
process[move_base-3]: started with pid [6948]
process[rtabmap/rtabmap-4]: started with pid [6968]
[ WARN] [1542675322.821303709, 7.150000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 7.15 timeout was 0.1.
[ INFO] [1542675322.985964613]: Starting node...
[ INFO] [1542675323.061891477]: Initializing nodelet with 4 worker threads.
[ INFO] [1542675323.576041494, 7.900000000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1542675323.576170088, 7.900000000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1542675323.576605196, 7.900000000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1542675323.576682150, 7.900000000]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1542675323.576953976, 7.900000000]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1542675323.577020953, 7.900000000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1542675323.577073828, 7.900000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1542675323.577130721, 7.900000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1542675323.595852991, 7.920000000]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1542675323.649846504, 7.970000000]: rtabmap: frame_id      = base_footprint
[ INFO] [1542675323.649881285, 7.970000000]: rtabmap: odom_frame_id = odom
[ INFO] [1542675323.649901655, 7.970000000]: rtabmap: map_frame_id  = map
[ INFO] [1542675323.649924512, 7.970000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1542675323.649947530, 7.970000000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1542675323.649964869, 7.970000000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1542675323.768075961, 8.090000000]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20"
[ INFO] [1542675323.778115583, 8.100000000]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1542675323.827764881, 8.150000000]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"
[ INFO] [1542675323.860304045, 8.180000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1542675323.860729709, 8.180000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1542675323.879338863, 8.200000000]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30"
[ INFO] [1542675323.911934381, 8.240000000]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1542675323.922724411, 8.250000000]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1542675323.935748036, 8.260000000]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1542675323.944212178, 8.270000000]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1542675323.952948282, 8.280000000]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0"
[ INFO] [1542675323.957800747, 8.280000000]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1542675323.959684072, 8.280000000]: Setting RTAB-Map parameter "Reg/Strategy"="0"
[ INFO] [1542675323.997713496, 8.320000000]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1542675324.103178017, 8.430000000]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1542675324.108838645, 8.430000000]: Setting RTAB-Map parameter "Vis/MinInliers"="15"
[ WARN] [1542675324.323691431, 8.650000000]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add <param name="Grid/FromDepth" type="string" value="false"/>
[ INFO] [1542675324.324327165, 8.650000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true.
[ INFO] [1542675324.476548207, 8.800000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1542675324.476801342, 8.800000000]: rtabmap: Deleted database "/home/teddyluo/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1542675324.476834839, 8.800000000]: rtabmap: Using database from "/home/teddyluo/.ros/rtabmap.db" (0 MB).
[ INFO] [1542675324.588573254, 8.910000000]: rtabmap: Database version = "0.17.7".
[ INFO] [1542675324.609314918, 8.930000000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1542675324.609346877, 8.930000000]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1542675324.609363132, 8.930000000]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1542675324.610334554, 8.940000000]: Setup depth callback
[ INFO] [1542675324.631900333, 8.960000000]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_raw,
   /camera/depth/image_raw,
   /camera/rgb/camera_info,
   /scan
[ INFO] [1542675324.637202916, 8.960000000]: rtabmap 0.17.7 started...
[ INFO] [1542675324.703445856, 9.030000000]: Using plugin "static_layer"
[ INFO] [1542675324.737671631, 9.060000000]: Requesting the map...
[ INFO] [1542675325.095521550, 9.420000000]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0533s, Maps update=0.0016s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675325.142367937, 9.470000000]: Resizing costmap to 421 X 421 at 0.050000 m/pix
[ INFO] [1542675325.242810580, 9.570000000]: Received a 421 X 421 map at 0.050000 m/pix
[ INFO] [1542675325.248099927, 9.570000000]: Using plugin "obstacle_layer"
[ INFO] [1542675325.251647283, 9.570000000]:     Subscribed to Topics: scan bump
[ INFO] [1542675325.297249845, 9.620000000]: Using plugin "inflation_layer"
[ INFO] [1542675325.358500212, 9.680000000]: Using plugin "obstacle_layer"
[ INFO] [1542675325.360468785, 9.680000000]:     Subscribed to Topics: scan bump
[ INFO] [1542675325.407499807, 9.730000000]: Using plugin "inflation_layer"
[ INFO] [1542675325.466441734, 9.790000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1542675325.469053586, 9.790000000]: Sim period is set to 0.20
[ WARN] [1542675325.474831917, 9.800000000]: Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead.
[ WARN] [1542675325.475224225, 9.800000000]: Parameter min_trans_vel is deprecated (and will not load properly). Use min_vel_trans instead.
[ WARN] [1542675325.475616414, 9.800000000]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [1542675325.476014651, 9.800000000]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ WARN] [1542675325.476788911, 9.800000000]: Parameter rot_stopped_vel is deprecated (and will not load properly). Use theta_stopped_vel instead.
[ INFO] [1542675326.137815630, 10.460000000]: rtabmap (2): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0730s, Maps update=0.0022s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675326.454578605, 10.770000000]: Recovery behavior will clear layer obstacles
[ INFO] [1542675326.464300789, 10.780000000]: Recovery behavior will clear layer obstacles
[ INFO] [1542675326.530948922, 10.850000000]: odom received!
[ INFO] [1542675327.132343344, 11.450000000]: rtabmap (3): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0286s, Maps update=0.0019s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675328.172067707, 12.480000000]: rtabmap (4): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0545s, Maps update=0.0028s pub=0.0015s (local map=1, WM=1)
[ INFO] [1542675329.191245552, 13.510000000]: rtabmap (5): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0540s, Maps update=0.0023s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675330.193801321, 14.500000000]: rtabmap (6): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0573s, Maps update=0.0002s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675331.190368086, 15.500000000]: rtabmap (7): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0248s, Maps update=0.0015s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675332.223008456, 16.530000000]: rtabmap (8): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0494s, Maps update=0.0040s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675333.293476135, 17.600000000]: rtabmap (9): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0438s, Maps update=0.0021s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675334.311568811, 18.620000000]: rtabmap (10): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0287s, Maps update=0.0019s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675335.322857365, 19.630000000]: rtabmap (11): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0367s, Maps update=0.0042s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675336.354703611, 20.660000000]: rtabmap (12): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0418s, Maps update=0.0017s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675337.469906879, 21.770000000]: rtabmap (13): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0501s, Maps update=0.0028s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675338.483655515, 22.780000000]: rtabmap (14): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0255s, Maps update=0.0019s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675339.567496915, 23.860000000]: rtabmap (15): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0542s, Maps update=0.0046s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675340.580922715, 24.870000000]: rtabmap (16): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0218s, Maps update=0.0017s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675341.645728906, 25.930000000]: rtabmap (17): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0512s, Maps update=0.0020s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675342.665757962, 26.950000000]: rtabmap (18): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0357s, Maps update=0.0030s pub=0.0014s (local map=1, WM=1)
[ INFO] [1542675343.694421709, 27.980000000]: rtabmap (19): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0491s, Maps update=0.0044s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675344.698967638, 28.980000000]: rtabmap (20): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0524s, Maps update=0.0019s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675345.756383956, 30.040000000]: rtabmap (21): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0534s, Maps update=0.0020s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675346.753673445, 31.030000000]: rtabmap (22): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0399s, Maps update=0.0034s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675347.761856204, 32.040000000]: rtabmap (23): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0441s, Maps update=0.0032s pub=0.0030s (local map=1, WM=1)
[ INFO] [1542675348.763406560, 33.040000000]: rtabmap (24): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0247s, Maps update=0.0016s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675349.821783960, 34.100000000]: rtabmap (25): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0372s, Maps update=0.0034s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675350.829686028, 35.110000000]: rtabmap (26): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0369s, Maps update=0.0023s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675351.849595197, 36.130000000]: rtabmap (27): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0432s, Maps update=0.0024s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675352.916788540, 37.180000000]: rtabmap (28): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0484s, Maps update=0.0025s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675353.895731216, 38.170000000]: rtabmap (29): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0332s, Maps update=0.0024s pub=0.0038s (local map=1, WM=1)
[ INFO] [1542675354.963539280, 39.240000000]: rtabmap (30): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0341s, Maps update=0.0048s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675355.968242454, 40.240000000]: rtabmap (31): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0409s, Maps update=0.0042s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675356.969964830, 41.230000000]: rtabmap (32): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0333s, Maps update=0.0028s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675358.004063916, 42.270000000]: rtabmap (33): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0304s, Maps update=0.0026s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675359.015696278, 43.280000000]: rtabmap (34): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0239s, Maps update=0.0016s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675360.043438506, 44.300000000]: rtabmap (35): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0299s, Maps update=0.0019s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675361.077400710, 45.340000000]: rtabmap (36): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0270s, Maps update=0.0017s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675362.141197559, 46.410000000]: rtabmap (37): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0260s, Maps update=0.0023s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675363.214788942, 47.480000000]: rtabmap (38): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0481s, Maps update=0.0042s pub=0.0018s (local map=1, WM=1)
[ INFO] [1542675364.221838106, 48.490000000]: rtabmap (39): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0532s, Maps update=0.0033s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675365.286647449, 49.550000000]: rtabmap (40): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0467s, Maps update=0.0002s pub=0.0026s (local map=1, WM=1)
[ INFO] [1542675366.358634903, 50.610000000]: rtabmap (41): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0343s, Maps update=0.0034s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675367.415329569, 51.670000000]: rtabmap (42): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0406s, Maps update=0.0001s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675368.402197340, 52.670000000]: rtabmap (43): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0185s, Maps update=0.0017s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675369.456204438, 53.720000000]: rtabmap (44): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0171s, Maps update=0.0011s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675370.474676582, 54.740000000]: rtabmap (45): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0275s, Maps update=0.0017s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675371.503773867, 55.760000000]: rtabmap (46): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0384s, Maps update=0.0025s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675372.505424525, 56.760000000]: rtabmap (47): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0296s, Maps update=0.0019s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675373.546888038, 57.800000000]: rtabmap (48): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0400s, Maps update=0.0035s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675374.573706203, 58.830000000]: rtabmap (49): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0353s, Maps update=0.0026s pub=0.0015s (local map=1, WM=1)
[ INFO] [1542675375.613196718, 59.870000000]: rtabmap (50): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0238s, Maps update=0.0012s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675376.714186944, 60.960000000]: rtabmap (51): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0430s, Maps update=0.0018s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675377.790145402, 62.030000000]: rtabmap (52): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0323s, Maps update=0.0017s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675378.845513954, 63.090000000]: rtabmap (53): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0274s, Maps update=0.0017s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675379.907967799, 64.150000000]: rtabmap (54): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0301s, Maps update=0.0018s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675380.942822036, 65.180000000]: rtabmap (55): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0319s, Maps update=0.0001s pub=0.0015s (local map=1, WM=1)
[ INFO] [1542675381.962594614, 66.200000000]: rtabmap (56): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0218s, Maps update=0.0017s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675383.097206699, 67.330000000]: rtabmap (57): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0687s, Maps update=0.0012s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675384.137945602, 68.370000000]: rtabmap (58): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0318s, Maps update=0.0020s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675385.142196952, 69.380000000]: rtabmap (59): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0211s, Maps update=0.0013s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675386.222663899, 70.460000000]: rtabmap (60): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0360s, Maps update=0.0035s pub=0.0017s (local map=1, WM=1)
[ INFO] [1542675387.221861016, 71.450000000]: rtabmap (61): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0211s, Maps update=0.0014s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675388.272015690, 72.500000000]: rtabmap (62): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0333s, Maps update=0.0018s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675389.338907223, 73.570000000]: rtabmap (63): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0207s, Maps update=0.0017s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675390.374704747, 74.610000000]: rtabmap (64): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0223s, Maps update=0.0017s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675391.404945672, 75.640000000]: rtabmap (65): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0271s, Maps update=0.0022s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675392.455266782, 76.690000000]: rtabmap (66): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0258s, Maps update=0.0019s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675393.493115233, 77.720000000]: rtabmap (67): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0224s, Maps update=0.0013s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675394.571479319, 78.800000000]: rtabmap (68): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0198s, Maps update=0.0015s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675395.658437006, 79.870000000]: rtabmap (69): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0267s, Maps update=0.0016s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675396.706187366, 80.920000000]: rtabmap (70): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0305s, Maps update=0.0020s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675397.709293853, 81.920000000]: rtabmap (71): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0257s, Maps update=0.0019s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675398.751490734, 82.940000000]: rtabmap (72): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0421s, Maps update=0.0057s pub=0.0017s (local map=1, WM=1)
[ INFO] [1542675399.752928716, 83.960000000]: rtabmap (73): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0341s, Maps update=0.0045s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675400.761285382, 84.970000000]: rtabmap (74): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0345s, Maps update=0.0023s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675401.752922587, 85.950000000]: rtabmap (75): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0296s, Maps update=0.0015s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675402.798035090, 87.000000000]: rtabmap (76): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0336s, Maps update=0.0016s pub=0.0019s (local map=1, WM=1)
[ INFO] [1542675403.859671738, 88.050000000]: rtabmap (77): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0253s, Maps update=0.0017s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675404.936382295, 89.130000000]: rtabmap (78): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0387s, Maps update=0.0070s pub=0.0015s (local map=1, WM=1)
[ INFO] [1542675405.922359279, 90.110000000]: rtabmap (79): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0277s, Maps update=0.0020s pub=0.0014s (local map=1, WM=1)
[ INFO] [1542675406.953199784, 91.140000000]: rtabmap (80): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0292s, Maps update=0.0023s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675407.977091537, 92.160000000]: rtabmap (81): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0392s, Maps update=0.0092s pub=0.0015s (local map=1, WM=1)
[ INFO] [1542675408.962590844, 93.130000000]: rtabmap (82): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0195s, Maps update=0.0014s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675410.006572963, 94.160000000]: rtabmap (83): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0328s, Maps update=0.0018s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675411.074372355, 95.230000000]: rtabmap (84): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0251s, Maps update=0.0019s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675412.097975233, 96.260000000]: rtabmap (85): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0299s, Maps update=0.0030s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675413.121439539, 97.280000000]: rtabmap (86): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0299s, Maps update=0.0021s pub=0.0014s (local map=1, WM=1)
[ INFO] [1542675414.167423838, 98.320000000]: rtabmap (87): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0320s, Maps update=0.0029s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675415.257344293, 99.400000000]: rtabmap (88): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0370s, Maps update=0.0031s pub=0.0019s (local map=1, WM=1)
[ INFO] [1542675416.281159862, 100.430000000]: rtabmap (89): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0308s, Maps update=0.0020s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675417.311340407, 101.460000000]: rtabmap (90): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0212s, Maps update=0.0016s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675418.376481899, 102.530000000]: rtabmap (91): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0240s, Maps update=0.0005s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675419.453204378, 103.600000000]: rtabmap (92): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0200s, Maps update=0.0015s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675420.580996967, 104.720000000]: rtabmap (93): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0457s, Maps update=0.0025s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675421.598487240, 105.730000000]: rtabmap (94): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0325s, Maps update=0.0019s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675422.609646998, 106.750000000]: rtabmap (95): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0264s, Maps update=0.0031s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675423.656597928, 107.780000000]: rtabmap (96): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0280s, Maps update=0.0018s pub=0.0017s (local map=1, WM=1)
[ INFO] [1542675424.733091668, 108.860000000]: rtabmap (97): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0336s, Maps update=0.0021s pub=0.0015s (local map=1, WM=1)
[ INFO] [1542675425.760484662, 109.880000000]: rtabmap (98): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0340s, Maps update=0.0026s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675426.809319249, 110.920000000]: rtabmap (99): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0246s, Maps update=0.0018s pub=0.0014s (local map=1, WM=1)
[ INFO] [1542675427.813614952, 111.930000000]: rtabmap (100): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0336s, Maps update=0.0024s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675428.913095746, 113.020000000]: rtabmap (101): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0247s, Maps update=0.0025s pub=0.0033s (local map=1, WM=1)
[ INFO] [1542675429.907775126, 114.020000000]: rtabmap (102): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0326s, Maps update=0.0023s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675430.963159766, 115.060000000]: rtabmap (103): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0258s, Maps update=0.0015s pub=0.0023s (local map=1, WM=1)
[ INFO] [1542675432.032707474, 116.120000000]: rtabmap (104): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0240s, Maps update=0.0003s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675433.075943938, 117.170000000]: rtabmap (105): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0319s, Maps update=0.0016s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675434.087033353, 118.180000000]: rtabmap (106): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0213s, Maps update=0.0003s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675435.109728770, 119.210000000]: rtabmap (107): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0209s, Maps update=0.0015s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675436.154175181, 120.250000000]: rtabmap (108): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0382s, Maps update=0.0006s pub=0.0114s (local map=1, WM=1)
[ INFO] [1542675437.177402557, 121.270000000]: rtabmap (109): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0217s, Maps update=0.0018s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675438.234674874, 122.340000000]: rtabmap (110): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0267s, Maps update=0.0016s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675439.243428864, 123.350000000]: rtabmap (111): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0283s, Maps update=0.0024s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675440.329415588, 124.430000000]: rtabmap (112): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0179s, Maps update=0.0013s pub=0.0005s (local map=1, WM=1)
[ INFO] [1542675441.380227707, 125.470000000]: rtabmap (113): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0298s, Maps update=0.0021s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675442.414960175, 126.500000000]: rtabmap (114): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0388s, Maps update=0.0041s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675443.458246588, 127.560000000]: rtabmap (115): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0304s, Maps update=0.0029s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675444.482643040, 128.580000000]: rtabmap (116): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0267s, Maps update=0.0028s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675445.503691761, 129.600000000]: rtabmap (117): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0304s, Maps update=0.0017s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675446.569854679, 130.660000000]: rtabmap (118): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0393s, Maps update=0.0006s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675447.623580345, 131.690000000]: rtabmap (119): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0525s, Maps update=0.0046s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675448.605295057, 132.670000000]: rtabmap (120): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0227s, Maps update=0.0019s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675449.663510328, 133.730000000]: rtabmap (121): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0241s, Maps update=0.0018s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675450.682387023, 134.750000000]: rtabmap (122): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0412s, Maps update=0.0009s pub=0.0018s (local map=1, WM=1)
[ INFO] [1542675451.705105547, 135.760000000]: rtabmap (123): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0419s, Maps update=0.0042s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675452.740678167, 136.800000000]: rtabmap (124): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0360s, Maps update=0.0027s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675453.757179180, 137.800000000]: rtabmap (125): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0221s, Maps update=0.0021s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675454.808018449, 138.860000000]: rtabmap (126): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0227s, Maps update=0.0015s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675455.877018624, 139.930000000]: rtabmap (127): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0255s, Maps update=0.0018s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675456.927015920, 140.980000000]: rtabmap (128): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0236s, Maps update=0.0018s pub=0.0018s (local map=1, WM=1)
[ INFO] [1542675457.926192709, 141.980000000]: rtabmap (129): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0279s, Maps update=0.0024s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675459.035973660, 143.060000000]: rtabmap (130): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0304s, Maps update=0.0015s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675460.027165305, 144.070000000]: rtabmap (131): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0230s, Maps update=0.0019s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675461.106167840, 145.130000000]: rtabmap (132): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0381s, Maps update=0.0025s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675462.132166651, 146.170000000]: rtabmap (133): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0191s, Maps update=0.0021s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675463.175155149, 147.200000000]: rtabmap (134): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0230s, Maps update=0.0016s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675464.202304196, 148.230000000]: rtabmap (135): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0357s, Maps update=0.0029s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675465.217755919, 149.250000000]: rtabmap (136): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0296s, Maps update=0.0035s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675466.232694508, 150.250000000]: rtabmap (137): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0304s, Maps update=0.0044s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675467.263784219, 151.290000000]: rtabmap (138): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0274s, Maps update=0.0022s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675468.303158255, 152.320000000]: rtabmap (139): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0329s, Maps update=0.0033s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675469.363433730, 153.370000000]: rtabmap (140): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0670s, Maps update=0.0005s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675470.336635986, 154.330000000]: rtabmap (141): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0226s, Maps update=0.0023s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675471.387607711, 155.380000000]: rtabmap (142): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0278s, Maps update=0.0045s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675472.434566293, 156.430000000]: rtabmap (143): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0308s, Maps update=0.0029s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675473.466033057, 157.460000000]: rtabmap (144): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0298s, Maps update=0.0029s pub=0.0020s (local map=1, WM=1)
[ INFO] [1542675474.522850392, 158.520000000]: rtabmap (145): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0372s, Maps update=0.0023s pub=0.0014s (local map=1, WM=1)
[ INFO] [1542675475.534714135, 159.530000000]: rtabmap (146): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0309s, Maps update=0.0017s pub=0.0007s (local map=1, WM=1)
[ INFO] [1542675476.605168820, 160.600000000]: rtabmap (147): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0359s, Maps update=0.0088s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675477.663803084, 161.650000000]: rtabmap (148): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0275s, Maps update=0.0005s pub=0.0011s (local map=1, WM=1)
[ INFO] [1542675478.761327616, 162.750000000]: rtabmap (149): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0323s, Maps update=0.0018s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675479.767868704, 163.750000000]: rtabmap (150): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0249s, Maps update=0.0013s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675480.824868088, 164.810000000]: rtabmap (151): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0316s, Maps update=0.0005s pub=0.0012s (local map=1, WM=1)
[ INFO] [1542675481.930620593, 165.910000000]: rtabmap (152): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0369s, Maps update=0.0022s pub=0.0013s (local map=1, WM=1)
[ INFO] [1542675482.984849304, 166.950000000]: rtabmap (153): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0360s, Maps update=0.0030s pub=0.0009s (local map=1, WM=1)
[ INFO] [1542675484.030081548, 167.990000000]: rtabmap (154): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0321s, Maps update=0.0019s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675485.064855720, 169.030000000]: rtabmap (155): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0242s, Maps update=0.0018s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675486.178065099, 170.130000000]: rtabmap (156): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0273s, Maps update=0.0020s pub=0.0005s (local map=1, WM=1)
[ INFO] [1542675487.170508207, 171.130000000]: rtabmap (157): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0272s, Maps update=0.0017s pub=0.0010s (local map=1, WM=1)
[ INFO] [1542675488.223224372, 172.180000000]: rtabmap (158): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0258s, Maps update=0.0018s pub=0.0019s (local map=1, WM=1)
[ INFO] [1542675489.301301427, 173.250000000]: rtabmap (159): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0636s, Maps update=0.0019s pub=0.0016s (local map=1, WM=1)
[ INFO] [1542675490.284398980, 174.230000000]: rtabmap (160): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0255s, Maps update=0.0019s pub=0.0006s (local map=1, WM=1)
[ INFO] [1542675491.288077150, 175.240000000]: rtabmap (161): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0261s, Maps update=0.0014s pub=0.0005s (local map=1, WM=1)
[ INFO] [1542675492.336569811, 176.280000000]: rtabmap (162): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0396s, Maps update=0.0061s pub=0.0028s (local map=1, WM=1)
[ INFO] [1542675493.368483962, 177.310000000]: rtabmap (163): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0270s, Maps update=0.0017s pub=0.0008s (local map=1, WM=1)
[ INFO] [1542675494.434085940, 178.380000000]: rtabmap (164): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0263s, Maps update=0.0018s pub=0.0014s (local map=2, WM=2)
[ INFO] [1542675495.527557601, 179.460000000]: rtabmap (165): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0378s, Maps update=0.0017s pub=0.0006s (local map=2, WM=2)
[ WARN] (2018-11-20 08:58:16.513) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=166).
[ INFO] [1542675496.516462921, 180.450000000]: rtabmap (166): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0179s, Maps update=0.0011s pub=0.0007s (local map=3, WM=3)
[ INFO] [1542675497.657325819, 181.580000000]: rtabmap (167): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0332s, Maps update=0.0089s pub=0.0012s (local map=4, WM=4)
[ INFO] [1542675498.765599944, 182.690000000]: rtabmap (168): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0575s, Maps update=0.0103s pub=0.0010s (local map=5, WM=5)
[ INFO] [1542675499.781280615, 183.710000000]: rtabmap (169): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0647s, Maps update=0.0106s pub=0.0007s (local map=6, WM=6)
[ INFO] [1542675500.770639224, 184.690000000]: rtabmap (170): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0605s, Maps update=0.0077s pub=0.0007s (local map=6, WM=6)
[ WARN] (2018-11-20 08:58:21.750) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=171).
[ INFO] [1542675501.756697926, 185.680000000]: rtabmap (171): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0333s, Maps update=0.0039s pub=0.0011s (local map=7, WM=7)
[ WARN] (2018-11-20 08:58:22.746) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=172).
[ INFO] [1542675502.749913969, 186.680000000]: rtabmap (172): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0196s, Maps update=0.0013s pub=0.0010s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:23.820) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=173).
[ INFO] [1542675503.823421786, 187.740000000]: rtabmap (173): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0322s, Maps update=0.0008s pub=0.0008s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:24.882) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=174).
[ INFO] [1542675504.886207480, 188.810000000]: rtabmap (174): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0268s, Maps update=0.0010s pub=0.0013s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:25.885) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=175).
[ INFO] [1542675505.888408553, 189.810000000]: rtabmap (175): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0286s, Maps update=0.0009s pub=0.0008s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:26.887) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=176).
[ INFO] [1542675506.890085470, 190.810000000]: rtabmap (176): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0326s, Maps update=0.0009s pub=0.0009s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:27.949) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=177).
[ INFO] [1542675507.953370147, 191.880000000]: rtabmap (177): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0241s, Maps update=0.0009s pub=0.0022s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:28.991) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=178).
[ INFO] [1542675508.994272229, 192.910000000]: rtabmap (178): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0209s, Maps update=0.0007s pub=0.0008s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:30.018) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=179).
[ INFO] [1542675510.020394677, 193.940000000]: rtabmap (179): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0217s, Maps update=0.0007s pub=0.0007s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:31.088) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=180).
[ INFO] [1542675511.091206923, 195.010000000]: rtabmap (180): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0176s, Maps update=0.0007s pub=0.0008s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:32.098) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=181).
[ INFO] [1542675512.102207344, 196.020000000]: rtabmap (181): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0324s, Maps update=0.0017s pub=0.0010s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:33.147) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=182).
[ INFO] [1542675513.150143454, 197.060000000]: rtabmap (182): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0202s, Maps update=0.0008s pub=0.0007s (local map=8, WM=8)
[ WARN] (2018-11-20 08:58:34.236) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=183).
[ INFO] [1542675514.239302910, 198.140000000]: rtabmap (183): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0364s, Maps update=0.0010s pub=0.0008s (local map=9, WM=9)
[ INFO] [1542675515.261950752, 199.160000000]: rtabmap (184): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0402s, Maps update=0.0006s pub=0.0010s (local map=10, WM=10)
[ INFO] [1542675516.351859725, 200.250000000]: rtabmap (185): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0512s, Maps update=0.0060s pub=0.0007s (local map=11, WM=11)
[ INFO] [1542675517.350409143, 201.250000000]: rtabmap (186): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0337s, Maps update=0.0072s pub=0.0010s (local map=12, WM=12)
[ INFO] [1542675518.392270790, 202.290000000]: rtabmap (187): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0367s, Maps update=0.0065s pub=0.0009s (local map=13, WM=13)
[ INFO] [1542675519.459511348, 203.350000000]: rtabmap (188): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0353s, Maps update=0.0048s pub=0.0007s (local map=14, WM=14)
[ INFO] [1542675520.466414294, 204.360000000]: rtabmap (189): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0396s, Maps update=0.0041s pub=0.0008s (local map=15, WM=15)
[ INFO] [1542675521.528241123, 205.410000000]: rtabmap (190): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0542s, Maps update=0.0076s pub=0.0019s (local map=16, WM=16)
[ INFO] [1542675522.552457136, 206.440000000]: rtabmap (191): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0507s, Maps update=0.0042s pub=0.0017s (local map=17, WM=17)
[ INFO] [1542675523.610748976, 207.490000000]: rtabmap (192): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0395s, Maps update=0.0033s pub=0.0013s (local map=18, WM=18)
[ INFO] [1542675524.687806131, 208.570000000]: rtabmap (193): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0365s, Maps update=0.0035s pub=0.0007s (local map=18, WM=18)
[ INFO] [1542675525.732641899, 209.620000000]: rtabmap (194): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0516s, Maps update=0.0094s pub=0.0008s (local map=19, WM=19)
[ INFO] [1542675526.817179632, 210.700000000]: rtabmap (195): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0503s, Maps update=0.0123s pub=0.0014s (local map=20, WM=20)
[ INFO] [1542675527.830341161, 211.710000000]: rtabmap (196): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0461s, Maps update=0.0104s pub=0.0011s (local map=21, WM=21)
[ WARN] (2018-11-20 08:58:48.914) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 197: Not enough inliers 0/15 (matches=11) between 186 and 197
[ INFO] [1542675528.926922141, 212.810000000]: rtabmap (197): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0495s, Maps update=0.0092s pub=0.0014s (local map=22, WM=22)
[ INFO] [1542675529.922899705, 213.810000000]: rtabmap (198): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0521s, Maps update=0.0073s pub=0.0006s (local map=23, WM=23)
[ INFO] [1542675530.993247662, 214.870000000]: rtabmap (199): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0646s, Maps update=0.0097s pub=0.0013s (local map=24, WM=24)
[ WARN] (2018-11-20 08:58:51.990) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 199: Not enough inliers 0/15 (matches=9) between 186 and 199
[ INFO] [1542675532.006260939, 215.880000000]: rtabmap (200): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0745s, Maps update=0.0114s pub=0.0007s (local map=24, WM=24)
[ INFO] [1542675533.038538681, 216.910000000]: rtabmap (201): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0611s, Maps update=0.0116s pub=0.0008s (local map=25, WM=25)
[ INFO] [1542675534.065310377, 217.940000000]: rtabmap (202): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0677s, Maps update=0.0095s pub=0.0006s (local map=26, WM=26)
[ INFO] [1542675535.098455051, 218.970000000]: rtabmap (203): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0560s, Maps update=0.0095s pub=0.0011s (local map=27, WM=27)
[ INFO] [1542675536.127653293, 219.990000000]: rtabmap (204): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0734s, Maps update=0.0096s pub=0.0006s (local map=27, WM=27)
[ WARN] (2018-11-20 08:58:57.147) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 203: Not enough inliers 0/15 (matches=13) between 186 and 203
[ INFO] [1542675537.157369683, 221.030000000]: rtabmap (205): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0578s, Maps update=0.0075s pub=0.0007s (local map=27, WM=27)
[ WARN] (2018-11-20 08:58:58.227) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 203: Not enough inliers 0/15 (matches=12) between 186 and 203
[ INFO] [1542675538.242503198, 222.110000000]: rtabmap (206): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0523s, Maps update=0.0093s pub=0.0032s (local map=27, WM=27)
[ WARN] (2018-11-20 08:58:59.262) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 203: Not enough inliers 0/15 (matches=12) between 186 and 203
[ INFO] [1542675539.272027661, 223.140000000]: rtabmap (207): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0778s, Maps update=0.0077s pub=0.0007s (local map=27, WM=27)
[ WARN] (2018-11-20 08:59:00.352) Rtabmap.cpp:2019::process() Rejected loop closure 192 -> 208: Not enough inliers 14/15 (matches=20) between 192 and 208
[ INFO] [1542675540.364455846, 224.220000000]: rtabmap (208): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0969s, Maps update=0.0091s pub=0.0006s (local map=28, WM=28)
[ INFO] [1542675541.318206054, 225.180000000]: rtabmap (209): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0435s, Maps update=0.0046s pub=0.0014s (local map=29, WM=29)
[ WARN] (2018-11-20 08:59:02.346) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 210: Not enough inliers 0/15 (matches=13) between 186 and 210
[ INFO] [1542675542.360473419, 226.220000000]: rtabmap (210): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0774s, Maps update=0.0098s pub=0.0006s (local map=30, WM=30)
[ WARN] (2018-11-20 08:59:03.470) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 211: Not enough inliers 0/15 (matches=8) between 186 and 211
[ INFO] [1542675543.491589003, 227.340000000]: rtabmap (211): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0854s, Maps update=0.0160s pub=0.0007s (local map=31, WM=31)
[ WARN] (2018-11-20 08:59:04.484) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 212: Not enough inliers 0/15 (matches=9) between 186 and 212
[ INFO] [1542675544.506453648, 228.360000000]: rtabmap (212): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1005s, Maps update=0.0154s pub=0.0012s (local map=32, WM=32)
[ WARN] (2018-11-20 08:59:05.548) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 213: Not enough inliers 0/15 (matches=8) between 186 and 213
[ INFO] [1542675545.566629586, 229.410000000]: rtabmap (213): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0900s, Maps update=0.0132s pub=0.0013s (local map=33, WM=33)
[ WARN] (2018-11-20 08:59:06.534) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 214: Not enough inliers 0/15 (matches=10) between 186 and 214
[ INFO] [1542675546.546316850, 230.390000000]: rtabmap (214): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0816s, Maps update=0.0083s pub=0.0007s (local map=34, WM=34)
[ WARN] (2018-11-20 08:59:07.546) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 215: Not enough inliers 0/15 (matches=6) between 186 and 215
[ INFO] [1542675547.566219396, 231.410000000]: rtabmap (215): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0922s, Maps update=0.0153s pub=0.0009s (local map=35, WM=35)
[ WARN] (2018-11-20 08:59:08.507) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 216: Not enough inliers 0/15 (matches=9) between 186 and 216
[ INFO] [1542675548.517632394, 232.360000000]: rtabmap (216): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0537s, Maps update=0.0071s pub=0.0005s (local map=36, WM=36)
[ WARN] (2018-11-20 08:59:09.594) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 217: Not enough inliers 0/15 (matches=5) between 186 and 217
[ INFO] [1542675549.618482343, 233.460000000]: rtabmap (217): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0871s, Maps update=0.0159s pub=0.0033s (local map=37, WM=37)
[ INFO] [1542675550.637880671, 234.470000000]: rtabmap (218): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0518s, Maps update=0.0094s pub=0.0007s (local map=38, WM=38)
[ INFO] [1542675551.713593957, 235.550000000]: rtabmap (219): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0418s, Maps update=0.0115s pub=0.0010s (local map=39, WM=39)
[ INFO] [1542675552.748669939, 236.580000000]: rtabmap (220): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0567s, Maps update=0.0108s pub=0.0009s (local map=40, WM=40)
[ INFO] [1542675553.817696950, 237.650000000]: rtabmap (221): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0594s, Maps update=0.0100s pub=0.0030s (local map=41, WM=41)
[ INFO] [1542675554.871799120, 238.700000000]: rtabmap (222): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0924s, Maps update=0.0057s pub=0.0011s (local map=42, WM=42)
[ INFO] [1542675555.885034556, 239.720000000]: rtabmap (223): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0676s, Maps update=0.0067s pub=0.0007s (local map=43, WM=43)
[ WARN] (2018-11-20 08:59:16.926) Rtabmap.cpp:2019::process() Rejected loop closure 192 -> 224: Not enough inliers 0/15 (matches=6) between 192 and 224
[ INFO] [1542675556.943740310, 240.770000000]: rtabmap (224): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0889s, Maps update=0.0104s pub=0.0025s (local map=44, WM=44)
[ WARN] (2018-11-20 08:59:17.951) Rtabmap.cpp:2019::process() Rejected loop closure 192 -> 225: Not enough inliers 0/15 (matches=7) between 192 and 225
[ INFO] [1542675557.963341670, 241.780000000]: rtabmap (225): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0794s, Maps update=0.0078s pub=0.0009s (local map=45, WM=45)
[ INFO] [1542675558.977047039, 242.800000000]: rtabmap (226): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0244s, Maps update=0.0009s pub=0.0006s (local map=46, WM=46)
[ WARN] (2018-11-20 08:59:19.990) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=227).
[ INFO] [1542675559.994543206, 243.810000000]: rtabmap (227): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0213s, Maps update=0.0009s pub=0.0007s (local map=46, WM=46)
[ WARN] (2018-11-20 08:59:21.011) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=228).
[ INFO] [1542675561.015840916, 244.820000000]: rtabmap (228): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0195s, Maps update=0.0010s pub=0.0010s (local map=47, WM=47)
[ WARN] (2018-11-20 08:59:22.031) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=229).
[ INFO] [1542675562.034397784, 245.840000000]: rtabmap (229): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0190s, Maps update=0.0008s pub=0.0007s (local map=48, WM=48)
[ WARN] (2018-11-20 08:59:23.043) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=230).
[ INFO] [1542675563.048499066, 246.860000000]: rtabmap (230): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0306s, Maps update=0.0012s pub=0.0016s (local map=49, WM=49)
[ WARN] (2018-11-20 08:59:24.056) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 231: Not enough inliers 0/15 (matches=7) between 186 and 231
[ INFO] [1542675564.062208331, 247.870000000]: rtabmap (231): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0397s, Maps update=0.0035s pub=0.0006s (local map=50, WM=50)
[ WARN] (2018-11-20 08:59:25.121) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 232: Not enough inliers 0/15 (matches=8) between 186 and 232
[ INFO] [1542675565.132812892, 248.940000000]: rtabmap (232): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0529s, Maps update=0.0049s pub=0.0030s (local map=51, WM=51)
[ WARN] (2018-11-20 08:59:26.167) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 233: Not enough inliers 0/15 (matches=9) between 186 and 233
[ INFO] [1542675566.176843773, 249.980000000]: rtabmap (233): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0508s, Maps update=0.0048s pub=0.0015s (local map=52, WM=52)
[ WARN] (2018-11-20 08:59:27.163) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 234: Not enough inliers 0/15 (matches=8) between 186 and 234
[ INFO] [1542675567.177971651, 250.980000000]: rtabmap (234): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0504s, Maps update=0.0090s pub=0.0011s (local map=53, WM=53)
[ WARN] (2018-11-20 08:59:28.240) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 235: Not enough inliers 0/15 (matches=8) between 186 and 235
[ INFO] [1542675568.254682605, 252.050000000]: rtabmap (235): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0573s, Maps update=0.0066s pub=0.0009s (local map=54, WM=54)
[ WARN] (2018-11-20 08:59:29.296) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 236: Not enough inliers 0/15 (matches=9) between 186 and 236
[ INFO] [1542675569.304940616, 253.100000000]: rtabmap (236): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0422s, Maps update=0.0051s pub=0.0007s (local map=55, WM=55)
[ WARN] (2018-11-20 08:59:30.382) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 237: Not enough inliers 0/15 (matches=8) between 186 and 237
[ INFO] [1542675570.395639484, 254.190000000]: rtabmap (237): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0565s, Maps update=0.0101s pub=0.0010s (local map=56, WM=56)
[ WARN] (2018-11-20 08:59:31.455) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 238: Not enough inliers 0/15 (matches=8) between 186 and 238
[ INFO] [1542675571.469646462, 255.270000000]: rtabmap (238): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0511s, Maps update=0.0091s pub=0.0023s (local map=57, WM=57)
[ WARN] (2018-11-20 08:59:32.530) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 239: Not enough inliers 0/15 (matches=8) between 186 and 239
[ INFO] [1542675572.542975826, 256.340000000]: rtabmap (239): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0835s, Maps update=0.0079s pub=0.0008s (local map=58, WM=58)
[ WARN] (2018-11-20 08:59:33.573) Rtabmap.cpp:2019::process() Rejected loop closure 189 -> 239: Not enough inliers 0/15 (matches=13) between 189 and 239
[ INFO] [1542675573.598138172, 257.390000000]: rtabmap (240): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0938s, Maps update=0.0184s pub=0.0010s (local map=58, WM=58)
[ WARN] (2018-11-20 08:59:34.618) Rtabmap.cpp:2019::process() Rejected loop closure 189 -> 239: Not enough inliers 0/15 (matches=13) between 189 and 239
[ INFO] [1542675574.638607634, 258.420000000]: rtabmap (241): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0898s, Maps update=0.0158s pub=0.0007s (local map=58, WM=58)
[ WARN] (2018-11-20 08:59:35.615) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 242: Not enough inliers 0/15 (matches=8) between 186 and 242
[ INFO] [1542675575.625249718, 259.410000000]: rtabmap (242): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0597s, Maps update=0.0070s pub=0.0006s (local map=58, WM=58)
[ WARN] (2018-11-20 08:59:36.668) Rtabmap.cpp:2019::process() Rejected loop closure 189 -> 239: Not enough inliers 0/15 (matches=12) between 189 and 239
[ INFO] [1542675576.679679320, 260.470000000]: rtabmap (243): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0546s, Maps update=0.0070s pub=0.0010s (local map=58, WM=58)
[ INFO] [1542675577.689208642, 261.470000000]: rtabmap (244): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0519s, Maps update=0.0096s pub=0.0006s (local map=58, WM=58)
[ INFO] [1542675578.729014009, 262.510000000]: rtabmap (245): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0480s, Maps update=0.0093s pub=0.0008s (local map=58, WM=58)
[ INFO] [1542675579.747990895, 263.530000000]: rtabmap (246): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0479s, Maps update=0.0099s pub=0.0011s (local map=58, WM=58)
[ INFO] [1542675580.781577852, 264.560000000]: rtabmap (247): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0720s, Maps update=0.0077s pub=0.0010s (local map=58, WM=58)
[ INFO] [1542675581.755611618, 265.530000000]: rtabmap (248): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0460s, Maps update=0.0102s pub=0.0009s (local map=58, WM=58)
[ INFO] [1542675582.789607552, 266.560000000]: rtabmap (249): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0528s, Maps update=0.0110s pub=0.0009s (local map=58, WM=58)
[ INFO] [1542675583.896654645, 267.670000000]: rtabmap (250): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0781s, Maps update=0.0106s pub=0.0006s (local map=58, WM=58)
[ WARN] (2018-11-20 08:59:44.905) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 251: Not enough inliers 0/15 (matches=8) between 186 and 251
[ INFO] [1542675584.919758409, 268.700000000]: rtabmap (251): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0603s, Maps update=0.0077s pub=0.0011s (local map=58, WM=58)
[ INFO] [1542675585.963192774, 269.740000000]: rtabmap (252): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0483s, Maps update=0.0114s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675586.987606596, 270.760000000]: rtabmap (253): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0501s, Maps update=0.0082s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675588.019108181, 271.790000000]: rtabmap (254): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0511s, Maps update=0.0099s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675589.093774350, 272.860000000]: rtabmap (255): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0527s, Maps update=0.0092s pub=0.0008s (local map=58, WM=58)
[ INFO] [1542675590.144486346, 273.910000000]: rtabmap (256): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0408s, Maps update=0.0103s pub=0.0010s (local map=58, WM=58)
[ INFO] [1542675591.249718024, 275.020000000]: rtabmap (257): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0502s, Maps update=0.0182s pub=0.0006s (local map=58, WM=58)
[ INFO] [1542675592.301305743, 276.070000000]: rtabmap (258): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0502s, Maps update=0.0132s pub=0.0022s (local map=58, WM=58)
[ INFO] [1542675593.325437278, 277.080000000]: rtabmap (259): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0497s, Maps update=0.0104s pub=0.0017s (local map=58, WM=58)
[ WARN] (2018-11-20 08:59:54.345) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 260: Not enough inliers 0/15 (matches=8) between 186 and 260
[ INFO] [1542675594.356314902, 278.110000000]: rtabmap (260): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0501s, Maps update=0.0057s pub=0.0008s (local map=58, WM=58)
[ INFO] [1542675595.400438614, 279.150000000]: rtabmap (261): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0633s, Maps update=0.0080s pub=0.0009s (local map=58, WM=58)
[ INFO] [1542675596.423682334, 280.160000000]: rtabmap (262): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0602s, Maps update=0.0081s pub=0.0010s (local map=58, WM=58)
[ INFO] [1542675597.522091023, 281.270000000]: rtabmap (263): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0624s, Maps update=0.0099s pub=0.0009s (local map=58, WM=58)
[ INFO] [1542675598.569836447, 282.320000000]: rtabmap (264): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0569s, Maps update=0.0151s pub=0.0008s (local map=58, WM=58)
[ INFO] [1542675599.561471382, 283.310000000]: rtabmap (265): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0459s, Maps update=0.0119s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675600.598969804, 284.340000000]: rtabmap (266): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0610s, Maps update=0.0088s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675601.608944639, 285.350000000]: rtabmap (267): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0532s, Maps update=0.0160s pub=0.0010s (local map=58, WM=58)
[ INFO] [1542675602.651788744, 286.380000000]: rtabmap (268): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0528s, Maps update=0.0101s pub=0.0008s (local map=58, WM=58)
[ INFO] [1542675603.674852769, 287.410000000]: rtabmap (269): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0620s, Maps update=0.0101s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675604.759613821, 288.480000000]: rtabmap (270): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0613s, Maps update=0.0093s pub=0.0007s (local map=58, WM=58)
[ INFO] [1542675605.772583146, 289.480000000]: rtabmap (271): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0517s, Maps update=0.0077s pub=0.0006s (local map=58, WM=58)
[ INFO] [1542675606.782491175, 290.490000000]: rtabmap (272): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0460s, Maps update=0.0096s pub=0.0008s (local map=58, WM=58)
[ INFO] [1542675607.838179650, 291.550000000]: rtabmap (273): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0476s, Maps update=0.0114s pub=0.0006s (local map=58, WM=58)
[ WARN] (2018-11-20 09:00:08.913) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 274: Not enough inliers 0/15 (matches=10) between 186 and 274
[ INFO] [1542675608.932176924, 292.640000000]: rtabmap (274): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0817s, Maps update=0.0113s pub=0.0012s (local map=58, WM=58)
[ INFO] [1542675610.016284771, 293.720000000]: rtabmap (275): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0926s, Maps update=0.0179s pub=0.0012s (local map=58, WM=58)
[ WARN] (2018-11-20 09:00:11.060) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 276: Not enough inliers 0/15 (matches=9) between 186 and 276
[ INFO] [1542675611.069328955, 294.780000000]: rtabmap (276): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0911s, Maps update=0.0023s pub=0.0014s (local map=58, WM=58)
^C[rtabmap/rtabmap-4] killing on exit
[move_base-3] killing on exit
[kobuki_safety_controller-2] killing on exit
[navigation_velocity_smoother-1] killing on exit

The waring mesages mainly include:

[ WARN] [1542675322.821303709, 7.150000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 7.15 timeout was 0.1.

[ WARN] [1542675324.323691431, 8.650000000]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add <param name="Grid/FromDepth" type="string" value="false"/>

[ WARN] [1542675325.474831917, 9.800000000]: Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead.
[ WARN] [1542675325.475224225, 9.800000000]: Parameter min_trans_vel is deprecated (and will not load properly). Use min_vel_trans instead.
[ WARN] [1542675325.475616414, 9.800000000]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [1542675325.476014651, 9.800000000]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ WARN] [1542675325.476788911, 9.800000000]: Parameter rot_stopped_vel is deprecated (and will not load properly). Use theta_stopped_vel instead.

[ WARN] (2018-11-20 08:58:16.513) OccupancyGrid.cpp:357::createLocalMap() Cannot create local map, scan is empty (node=166).

[ WARN] (2018-11-20 08:58:51.990) Rtabmap.cpp:2019::process() Rejected loop closure 186 -> 199: Not enough inliers 0/15 (matches=9) between 186 and 199

It seems that there are still some problems with the settings, especially the tf. What should I do next? Many thanks.

The occupancy grid you get is fine. It is because in this map there are not a lot of walls, so the scan hits nothing if there are no objects in front of the robot. The ray tracing works only if the scan hits something, otherwise you will see "holes" of unknown cells like in your screenshot.

You can ignore most warnings. For "OccupancyGrid.cpp:357::createLocalMap() Cannot create local map", this happens when the scan hits nothing, so no map is created. In this demo, we should move a little the robot in front of objects so that a map can be created. For "Rtabmap.cpp:2019::process() Rejected loop closure", this indicates that a loop closure has been rejected. You can ignore it, unless ALL loop closures are rejected (if so there could be a problem of configuration).

cheers, Mathieu

Hi, I am a new beginner of using ros.

I have some question with putting launch file into which folder.

I put the demo_turtlebot_mapping.launch and kinect2sensor.launch into /opt/ros/kinetic/share/depthimage_to_laserscan/launch .

I have installed the iai_kinect2 in catkin_ws and I can do the handmapping with kinect V2 now.

I run the command

roscore(terminal 1)

roslaunch turtlebot_bringup minimal.launch (terminal 2) `ips@ips-UX310UAK:~$ roslaunch turtlebot_bringup minimal.launch ... logging to /home/ips/.ros/log/de19a614-1e53-11e9-b52f-f48c509f2202/roslaunch-ips-UX310UAK-14898.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order xacro.py is deprecated; please use xacro instead started roslaunch server http://ips-UX310UAK:33205/

SUMMARY

PARAMETERS

/bumper2pointcloud/pointcloud_radius: 0.24
/cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
/diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
/diagnostic_aggregator/analyzers/input_ports/path: Input Ports
/diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
/diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
/diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
/diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
/diagnostic_aggregator/analyzers/kobuki/path: Kobuki
/diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
/diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
/diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
/diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
/diagnostic_aggregator/analyzers/power/path: Power System
/diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
/diagnostic_aggregator/analyzers/power/timeout: 5.0
/diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
/diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
/diagnostic_aggregator/analyzers/sensors/path: Sensors
/diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
/diagnostic_aggregator/analyzers/sensors/timeout: 5.0
/diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
/diagnostic_aggregator/base_path:
/diagnostic_aggregator/pub_rate: 1.0
/mobile_base/base_frame: base_footprint
/mobile_base/battery_capacity: 16.5
/mobile_base/battery_dangerous: 13.2
/mobile_base/battery_low: 14.0
/mobile_base/cmd_vel_timeout: 0.6
/mobile_base/device_port: /dev/kobuki
/mobile_base/odom_frame: odom
/mobile_base/publish_tf: True
/mobile_base/use_imu_heading: True
/mobile_base/wheel_left_joint_name: wheel_left_joint
/mobile_base/wheel_right_joint_name: wheel_right_joint
/robot/name: turtlebot
/robot/type: turtlebot
/robot_description: <?xml version="1....
/robot_state_publisher/publish_frequency: 5.0
/rosdistro: kinetic
/rosversion: 1.12.14
/turtlebot_laptop_battery/acpipath: /sys/class/power...
/use_sim_time: False

NODES / bumper2pointcloud (nodelet/nodelet) cmd_vel_mux (nodelet/nodelet) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) mobile_base (nodelet/nodelet) mobile_base_nodelet_manager (nodelet/nodelet) robot_state_publisher (robot_state_publisher/robot_state_publisher) turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

ROS_MASTER_URI=http://192.168.50.237:11311

process[robot_state_publisher-1]: started with pid [14918] process[diagnostic_aggregator-2]: started with pid [14919] process[mobile_base_nodelet_manager-3]: started with pid [14920] process[mobile_base-4]: started with pid [14934] process[bumper2pointcloud-5]: started with pid [14943] process[cmd_vel_mux-6]: started with pid [14965] process[turtlebot_laptop_battery-7]: started with pid [14975] [ERROR] [1548168289.776849983]: Kobuki : malformed sub-payload detected. [149][170][95 AA 55 4D 01 0F 78 C4 00 s] [ERROR] [1548168297.693111917]: Kobuki : Timed out while waiting for serial data stream [/mobile_base]. [ERROR] [1548168300.976642553]: Kobuki : malformed sub-payload detected. [137][170][89 AA 55 4D 01 0F 4C F0 00 00 ] [ERROR] [1548168301.675311745]: Kobuki : malformed sub-payload detected. [247][170][F7 AA 55 53 01 0F 08 F3 00 00 00 58 ] [ERROR] [1548168310.798158177]: Kobuki : malformed sub-payload detected. [177][170][B1 AA 55 4D 01 0F ] [ERROR] [1548168317.665163433]: Kobuki : malformed sub-payload detected. [43][170][2B AA 55 4D 01 0F 9C 31 00 00 00 58 01 ] [ERROR] [1548168319.960387246]: Kobuki : malformed sub-payload detected. [82][170][52 AA 55 53 01 0F 98 3A 00 00 ]

roslaunch depthimage_to_laserscan demo_turtlebot_mapping.launch (terminal 3) `ips@ips-UX310UAK:~$ roslaunch depthimage_to_laserscan demo_turtlebot_mapping.launch ... logging to /home/ips/.ros/log/aaca8720-1e57-11e9-b52f-f48c509f2202/roslaunch-ips-UX310UAK-2802.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://ips-UX310UAK:42327/

SUMMARY

PARAMETERS

/depthimage_to_laserscan/output_frame_id: base_link
/depthimage_to_laserscan/range_min: 0.45
/depthimage_to_laserscan/scan_height: 10
/kinect2_bridge/base_name: kinect2
/kinect2_bridge/base_name_tf: kinect2
/kinect2_bridge/bilateral_filter: True
/kinect2_bridge/calibpath: /home/ips/catkin...
/kinect2_bridge/depth_device: -1
/kinect2_bridge/depth_method: cuda
/kinect2_bridge/edge_aware_filter: True
/kinect2_bridge/fps_limit: -1.0
/kinect2_bridge/jpeg_quality: 90
/kinect2_bridge/max_depth: 12.0
/kinect2_bridge/min_depth: 0.1
/kinect2_bridge/png_level: 1
/kinect2_bridge/publish_tf: True
/kinect2_bridge/queue_size: 5
/kinect2_bridge/reg_device: -1
/kinect2_bridge/reg_method: default
/kinect2_bridge/sensor:
/kinect2_bridge/use_png: False
/kinect2_bridge/worker_threads: 4
/kinect2_points_xyzrgb_hd/queue_size: 5
/kinect2_points_xyzrgb_qhd/queue_size: 5
/kinect2_points_xyzrgb_sd/queue_size: 5
/move_base/DWAPlannerROS/acc_lim_theta: 2.0
/move_base/DWAPlannerROS/acc_lim_x: 1.0
/move_base/DWAPlannerROS/acc_lim_y: 0.0
/move_base/DWAPlannerROS/forward_point_distance: 0.325
/move_base/DWAPlannerROS/global_frame_id: odom
/move_base/DWAPlannerROS/goal_distance_bias: 24.0
/move_base/DWAPlannerROS/max_rot_vel: 5.0
/move_base/DWAPlannerROS/max_scaling_factor: 0.2
/move_base/DWAPlannerROS/max_trans_vel: 0.5
/move_base/DWAPlannerROS/max_vel_x: 0.5
/move_base/DWAPlannerROS/max_vel_y: 0.0
/move_base/DWAPlannerROS/min_rot_vel: 0.4
/move_base/DWAPlannerROS/min_trans_vel: 0.1
/move_base/DWAPlannerROS/min_vel_x: 0.0
/move_base/DWAPlannerROS/min_vel_y: 0.0
/move_base/DWAPlannerROS/occdist_scale: 0.5
/move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
/move_base/DWAPlannerROS/path_distance_bias: 64.0
/move_base/DWAPlannerROS/publish_cost_grid_pc: True
/move_base/DWAPlannerROS/publish_traj_pc: True
/move_base/DWAPlannerROS/rot_stopped_vel: 0.4
/move_base/DWAPlannerROS/scaling_speed: 0.25
/move_base/DWAPlannerROS/sim_time: 1.0
/move_base/DWAPlannerROS/stop_time_buffer: 0.2
/move_base/DWAPlannerROS/trans_stopped_vel: 0.1
/move_base/DWAPlannerROS/vtheta_samples: 20
/move_base/DWAPlannerROS/vx_samples: 6
/move_base/DWAPlannerROS/vy_samples: 1
/move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
/move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
/move_base/GlobalPlanner/allow_unknown: True
/move_base/GlobalPlanner/cost_factor: 3.0
/move_base/GlobalPlanner/default_tolerance: 0.0
/move_base/GlobalPlanner/lethal_cost: 253
/move_base/GlobalPlanner/neutral_cost: 50
/move_base/GlobalPlanner/old_navfn_behavior: False
/move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
/move_base/GlobalPlanner/planner_window_x: 0.0
/move_base/GlobalPlanner/planner_window_y: 0.0
/move_base/GlobalPlanner/publish_potential: True
/move_base/GlobalPlanner/publish_scale: 100
/move_base/GlobalPlanner/use_dijkstra: True
/move_base/GlobalPlanner/use_grid_path: False
/move_base/GlobalPlanner/use_quadratic: True
/move_base/NavfnROS/allow_unknown: False
/move_base/NavfnROS/default_tolerance: 0.0
/move_base/NavfnROS/planner_window_x: 0.0
/move_base/NavfnROS/planner_window_y: 0.0
/move_base/NavfnROS/visualize_potential: False
/move_base/base_global_planner: navfn/NavfnROS
/move_base/base_local_planner: dwa_local_planner...
/move_base/controller_frequency: 5.0
/move_base/controller_patience: 3.0
/move_base/global_costmap/global_frame: map
/move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
/move_base/global_costmap/inflation_layer/enabled: True
/move_base/global_costmap/inflation_layer/inflation_radius: 0.5
/move_base/global_costmap/map_type: voxel
/move_base/global_costmap/max_obstacle_height: 0.6
/move_base/global_costmap/obstacle_layer/bump/clearing: False
/move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
/move_base/global_costmap/obstacle_layer/bump/marking: True
/move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
/move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
/move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
/move_base/global_costmap/obstacle_layer/combination_method: 1
/move_base/global_costmap/obstacle_layer/enabled: True
/move_base/global_costmap/obstacle_layer/mark_threshold: 0
/move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
/move_base/global_costmap/obstacle_layer/observation_sources: scan bump
/move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
/move_base/global_costmap/obstacle_layer/origin_z: 0.0
/move_base/global_costmap/obstacle_layer/publish_voxel_map: False
/move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
/move_base/global_costmap/obstacle_layer/scan/clearing: True
/move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
/move_base/global_costmap/obstacle_layer/scan/marking: True
/move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
/move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
/move_base/global_costmap/obstacle_layer/scan/topic: scan
/move_base/global_costmap/obstacle_layer/track_unknown_space: True
/move_base/global_costmap/obstacle_layer/unknown_threshold: 15
/move_base/global_costmap/obstacle_layer/z_resolution: 0.2
/move_base/global_costmap/obstacle_layer/z_voxels: 2
/move_base/global_costmap/plugins: [{'type': 'costma...
/move_base/global_costmap/publish_frequency: 0.5
/move_base/global_costmap/robot_base_frame: base_footprint
/move_base/global_costmap/robot_radius: 0.2
/move_base/global_costmap/static_layer/enabled: True
/move_base/global_costmap/static_map: True
/move_base/global_costmap/transform_tolerance: 0.5
/move_base/global_costmap/update_frequency: 1.0
/move_base/local_costmap/global_frame: odom
/move_base/local_costmap/height: 4.0
/move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
/move_base/local_costmap/inflation_layer/enabled: True
/move_base/local_costmap/inflation_layer/inflation_radius: 0.5
/move_base/local_costmap/map_type: voxel
/move_base/local_costmap/max_obstacle_height: 0.6
/move_base/local_costmap/obstacle_layer/bump/clearing: False
/move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
/move_base/local_costmap/obstacle_layer/bump/marking: True
/move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
/move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
/move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
/move_base/local_costmap/obstacle_layer/combination_method: 1
/move_base/local_costmap/obstacle_layer/enabled: True
/move_base/local_costmap/obstacle_layer/mark_threshold: 0
/move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
/move_base/local_costmap/obstacle_layer/observation_sources: scan bump
/move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
/move_base/local_costmap/obstacle_layer/origin_z: 0.0
/move_base/local_costmap/obstacle_layer/publish_voxel_map: False
/move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
/move_base/local_costmap/obstacle_layer/scan/clearing: True
/move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
/move_base/local_costmap/obstacle_layer/scan/marking: True
/move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
/move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25
/move_base/local_costmap/obstacle_layer/scan/topic: scan
/move_base/local_costmap/obstacle_layer/track_unknown_space: True
/move_base/local_costmap/obstacle_layer/unknown_threshold: 15
/move_base/local_costmap/obstacle_layer/z_resolution: 0.2
/move_base/local_costmap/obstacle_layer/z_voxels: 2
/move_base/local_costmap/plugins: [{'type': 'costma...
/move_base/local_costmap/publish_frequency: 2.0
/move_base/local_costmap/resolution: 0.05
/move_base/local_costmap/robot_base_frame: base_footprint
/move_base/local_costmap/robot_radius: 0.2
/move_base/local_costmap/rolling_window: True
/move_base/local_costmap/static_layer/enabled: True
/move_base/local_costmap/static_map: False
/move_base/local_costmap/transform_tolerance: 0.5
/move_base/local_costmap/update_frequency: 5.0
/move_base/local_costmap/width: 4.0
/move_base/oscillation_distance: 0.2
/move_base/oscillation_timeout: 10.0
/move_base/planner_frequency: 1.0
/move_base/planner_patience: 5.0
/move_base/shutdown_costmaps: False
/navigation_velocity_smoother/accel_lim_v: 1.0
/navigation_velocity_smoother/accel_lim_w: 2.0
/navigation_velocity_smoother/decel_factor: 1.5
/navigation_velocity_smoother/frequency: 20.0
/navigation_velocity_smoother/robot_feedback: 2
/navigation_velocity_smoother/speed_lim_v: 0.8
/navigation_velocity_smoother/speed_lim_w: 5.4
/rosdistro: kinetic
/rosversion: 1.12.14
/rtabmap/rgbd_odometry/Reg/Force3DoF: true
/rtabmap/rgbd_odometry/Vis/InlierDistance: 0.05
/rtabmap/rgbd_odometry/frame_id: base_footprint
/rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
/rtabmap/rtabmap/GridGlobal/MinSize: 20
/rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
/rtabmap/rtabmap/Kp/MaxDepth: 4.0
/rtabmap/rtabmap/Mem/IncrementalMemory: true
/rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
/rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.30
/rtabmap/rtabmap/Optimizer/Slam2D: true
/rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
/rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
/rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
/rtabmap/rtabmap/RGBD/ProximityBySpace: true
/rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0
/rtabmap/rtabmap/Reg/Force3DoF: true
/rtabmap/rtabmap/Reg/Strategy: 0
/rtabmap/rtabmap/Rtabmap/TimeThr: 700
/rtabmap/rtabmap/Vis/InlierDistance: 0.1
/rtabmap/rtabmap/Vis/MinInliers: 15
/rtabmap/rtabmap/database_path: rtabmap.db
/rtabmap/rtabmap/frame_id: base_footprint
/rtabmap/rtabmap/map_negative_poses_ignored: True
/rtabmap/rtabmap/proj_max_height: 2.0
/rtabmap/rtabmap/subscribe_depth: True
/rtabmap/rtabmap/subscribe_scan: True
/rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) / base_link1 (tf/static_transform_publisher) depthimage_to_laserscan (nodelet/nodelet) kinect2 (nodelet/nodelet) kinect2_bridge (nodelet/nodelet) kinect2_points_xyzrgb_hd (nodelet/nodelet) kinect2_points_xyzrgb_qhd (nodelet/nodelet) kinect2_points_xyzrgb_sd (nodelet/nodelet) kobuki_safety_controller (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://192.168.50.237:11311

process[base_link1-1]: started with pid [2819] process[kinect2-2]: started with pid [2820] process[kinect2_bridge-3]: started with pid [2829] process[kinect2_points_xyzrgb_sd-4]: started with pid [2833] [ INFO] [1548169838.799700931]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1548169838.804938232]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_qhd-5]: started with pid [2845] process[kinect2_points_xyzrgb_hd-6]: started with pid [2857] process[depthimage_to_laserscan-7]: started with pid [2873] process[navigation_velocity_smoother-8]: started with pid [2884] process[kobuki_safety_controller-9]: started with pid [2886] process[move_base-10]: started with pid [2920] process[rtabmap/rtabmap-11]: started with pid [2922] process[rtabmap/rgbd_odometry-12]: started with pid [2935] [ INFO] [1548169838.913795206]: Initializing nodelet with 4 worker threads. [ INFO] [1548169838.937209342]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1548169839.062752463]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/ips/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: cuda depth_device: -1 reg_method: default reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 5 bilateral_filter: true edge_aware_filter: true publish_tf: true base_name_tf: kinect2 worker_threads: 4 [ERROR] [1548169839.062876273]: [Kinect2Bridge::initPipeline] Cuda depth processing is not available! [ERROR] [1548169839.062923021]: [Kinect2Bridge::start] Initialization failed! [FATAL] [1548169839.134730820]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [kinect2_bridge-3] process has died [pid 2829, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 name:=kinect2_bridge __log:=/home/ips/.ros/log/aaca8720-1e57-11e9-b52f-f48c509f2202/kinect2_bridge-3.log]. log file: /home/ips/.ros/log/aaca8720-1e57-11e9-b52f-f48c509f2202/kinect2_bridge-3*.log [kinect2_bridge-3] restarting process process[kinect2_bridge-3]: started with pid [3627] [ INFO] [1548169839.472558929]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1548169839.519654988]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/ips/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: cuda depth_device: -1 reg_method: default reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 5 bilateral_filter: true edge_aware_filter: true publish_tf: true base_name_tf: kinect2 worker_threads: 4 [ERROR] [1548169839.519753539]: [Kinect2Bridge::initPipeline] Cuda depth processing is not available! [ERROR] [1548169839.519799951]: [Kinect2Bridge::start] Initialization failed! [FATAL] [1548169839.580013737]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [kinect2_bridge-3] process has died [pid 3627, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 name:=kinect2_bridge __log:=/home/ips/.ros/log/aaca8720-1e57-11e9-b52f-f48c509f2202/kinect2_bridge-3.log]. log file: /home/ips/.ros/log/aaca8720-1e57-11e9-b52f-f48c509f2202/kinect2_bridge-3*.log ` When I type the third command turtlebot keep making bringup sound !

Am I do something wrong?

You don't need to place the launch files in a particular directory, as you can launch them from anywhere directly ($ roslaunch my_launch_file.launch). Can you link the launch files used? If some are customs, copy/paste their content here inside a code block. Show the rqt_graph after everything is launched on the robot. Show also the Tf tree created by $ rosrun tf view_frames.

cheers, Mathieu

I saw #229 and the mapping tutorial mention before.

Here is my rqt_graph after launching bringup minimal.launch and demo_turtlebot_mapping.launch rosgraph

and the frames frames.pdf

All thanks

The kinect2_bridge is not connected to anything. Looking at demo_turtlebot_mapping.launch, you should remap the input image topics: $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info

Verify that those topics are published: $ rostopic hz /kinect2/qhd/image_color_rect /kinect2/qhd/image_depth_rect /kinect2/qhd/camera_info

introlab / rtabmap_ros

Autonomous Navigation with Turtlebot and Kinect2 #286

SUMMARY

SUMMARY