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leggedrobotics / open3d_slam

Pointcloud-based graph SLAM written in C++ using open3D library.
BSD 3-Clause "New" or "Revised" License
512 stars 51 forks source link

Odometry failed!!!!! #77

Open hcws opened 10 months ago

hcws commented 10 months ago

I run roslaunch open3d_slam_ros mapping_rosbag.launch

Bellow is logs:

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.745 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 99
reference size: 61

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: Skipping the refinement step, fitness: 1
Scan matching time elapsed: 0
preeIcp: 1.342 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.183381, 2.188113, -0.640971] ; q:[0.016853, 0.016699, -0.102181, 0.994483] ; rpy (deg):[1.726408, 2.100782, -11.701245]
postIcp: t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 51

t:[0.183381, 2.188113, -0.640971] ; q:[0.016853, 0.016699, -0.102181, 0.994483] ; rpy (deg):[1.726408, 2.100782, -11.701245]

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.23913
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.933 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 44
reference size: 41

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.24105
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 3.018 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 49
reference size: 24

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.24703
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.022 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 36

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.116 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 23

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.034 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 41

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.069 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 89

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.33559
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[9.311380, -4.186777, -0.597763] ; q:[-0.051485, -0.159464, -0.008617, 0.985823] ; rpy (deg):[-5.973606, -18.378523, -0.034356]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 3.175 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 38
reference size: 44

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.33727
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.873 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 98
reference size: 4

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.34375
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.788 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 54

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.00048
latest: 0.674 msec 
Fitness: 0
RMSE: 0.000480
Transform: 

requested: 1.39631
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 38

WARNING: odometry has failed!!!! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.69 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 43

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.42991
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.747 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 99
reference size: 50

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.4316
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 10.232 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 40
reference size: 58

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.43687
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.769 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 15

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.49929
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.638 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 39
reference size: 47

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.52786
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.909 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 77
reference size: 7

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.54126
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.431 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 76

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.631 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 40

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.60367
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 7.47 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 98
reference size: 23

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.62215
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.6 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 66

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.63031
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.735 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 28

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.66314
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.79 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 39

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.701 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 48

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.71527
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 3.585 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 82
reference size: 67

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.72203
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.692 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 36

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.72406
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.178 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 82

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.73423
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.71 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 44

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.76687
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.793 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 55

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.77815
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.586 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 6
reference size: 63

WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.81794
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
  going to attempt the scan to map refinement anyway 
terminate called after throwing an instance of 'std::runtime_error'
  what():  ScanToMapIcp::narrow cropped size is zero val: 0 is not gt than: 0
[mapping_node-1] process has died [pid 60925, exit code -6, cmd /home/ly/catkin_ws/devel/lib/open3d_slam_ros/mapping_node __name:=mapping_node __log:=/home/ly/.ros/log/a95c8554-aeae-11ee-8cca-f72c30a15056/mapping_node-1.log].
log file: /home/ly/.ros/log/a95c8554-aeae-11ee-8cca-f72c30a15056/mapping_node-1*.log

It can't build map,it's the result, this lidar Z axis is X axis and X is Z image

Is there someone meet this question?