{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/259","repository_url":"https://api.github.com/repos/introlab/rtabmap_ros","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/259/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/259/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/259/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/259","id":339052580,"node_id":"MDU6SXNzdWUzMzkwNTI1ODA=","number":259,"title":"Camera nodelet_manager process dies","user":{"login":"frushton","id":36356021,"node_id":"MDQ6VXNlcjM2MzU2MDIx","avatar_url":"https://avatars3.githubusercontent.com/u/36356021?v=4","gravatar_id":"","url":"https://api.github.com/users/frushton","html_url":"https://github.com/frushton","followers_url":"https://api.github.com/users/frushton/followers","following_url":"https://api.github.com/users/frushton/following{/other_user}","gists_url":"https://api.github.com/users/frushton/gists{/gist_id}","starred_url":"https://api.github.com/users/frushton/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/frushton/subscriptions","organizations_url":"https://api.github.com/users/frushton/orgs","repos_url":"https://api.github.com/users/frushton/repos","events_url":"https://api.github.com/users/frushton/events{/privacy}","received_events_url":"https://api.github.com/users/frushton/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-07-06T19:47:16Z","updated_at":"2018-09-27T03:14:11Z","closed_at":"2018-07-11T17:09:51Z","author_association":"NONE","body":"I am launching the demo_two_kinects.launch file, and rtabmapviz pops up and begins collecting data and showing the point cloud, but after about 20 seconds, the camera nodelet manager (always for camera 2) dies. Also, just before data starts being collected, I also get this error: \r\n\r\n[ERROR] (2018-07-06 12:25:20.213) OdometryF2M.cpp:200::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled.\r\n\r\nDoes anyone know what's going on here?\r\n\r\n``... logging to /home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/roslaunch-e4e-XPS-15-9560-9462.log\r\nChecking log directory for disk usage. This may take awhile.\r\nPress Ctrl-C to interrupt\r\nDone checking log file disk usage. Usage is <1GB.\r\n\r\nstarted roslaunch server http://e4e-XPS-15-9560:46391/\r\n\r\nSUMMARY\r\n========\r\n\r\nPARAMETERS\r\n * /camera1/camera1_nodelet_manager/num_worker_threads: 4\r\n * /camera1/depth_rectify_depth/interpolation: 0\r\n * /camera1/depth_registered_rectify_depth/interpolation: 0\r\n * /camera1/disparity_depth/max_range: 4.0\r\n * /camera1/disparity_depth/min_range: 0.5\r\n * /camera1/disparity_registered_hw/max_range: 4.0\r\n * /camera1/disparity_registered_hw/min_range: 0.5\r\n * /camera1/disparity_registered_sw/max_range: 4.0\r\n * /camera1/disparity_registered_sw/min_range: 0.5\r\n * /camera1/driver/data_skip: 0\r\n * /camera1/driver/debug: False\r\n * /camera1/driver/depth_camera_info_url: \r\n * /camera1/driver/depth_frame_id: camera1_depth_opt...\r\n * /camera1/driver/depth_registration: True\r\n * /camera1/driver/device_id: #1\r\n * /camera1/driver/diagnostics_max_frequency: 30.0\r\n * /camera1/driver/diagnostics_min_frequency: 30.0\r\n * /camera1/driver/diagnostics_tolerance: 0.05\r\n * /camera1/driver/diagnostics_window_time: 5.0\r\n * /camera1/driver/enable_depth_diagnostics: False\r\n * /camera1/driver/enable_ir_diagnostics: False\r\n * /camera1/driver/enable_rgb_diagnostics: False\r\n * /camera1/driver/rgb_camera_info_url: \r\n * /camera1/driver/rgb_frame_id: camera1_rgb_optic...\r\n * /camera2/camera2_nodelet_manager/num_worker_threads: 4\r\n * /camera2/depth_rectify_depth/interpolation: 0\r\n * /camera2/depth_registered_rectify_depth/interpolation: 0\r\n * /camera2/disparity_depth/max_range: 4.0\r\n * /camera2/disparity_depth/min_range: 0.5\r\n * /camera2/disparity_registered_hw/max_range: 4.0\r\n * /camera2/disparity_registered_hw/min_range: 0.5\r\n * /camera2/disparity_registered_sw/max_range: 4.0\r\n * /camera2/disparity_registered_sw/min_range: 0.5\r\n * /camera2/driver/data_skip: 0\r\n * /camera2/driver/debug: False\r\n * /camera2/driver/depth_camera_info_url: \r\n * /camera2/driver/depth_frame_id: camera2_depth_opt...\r\n * /camera2/driver/depth_registration: True\r\n * /camera2/driver/device_id: #2\r\n * /camera2/driver/diagnostics_max_frequency: 30.0\r\n * /camera2/driver/diagnostics_min_frequency: 30.0\r\n * /camera2/driver/diagnostics_tolerance: 0.05\r\n * /camera2/driver/diagnostics_window_time: 5.0\r\n * /camera2/driver/enable_depth_diagnostics: False\r\n * /camera2/driver/enable_ir_diagnostics: False\r\n * /camera2/driver/enable_rgb_diagnostics: False\r\n * /camera2/driver/rgb_camera_info_url: \r\n * /camera2/driver/rgb_frame_id: camera2_rgb_optic...\r\n * /rosdistro: kinetic\r\n * /rosversion: 1.12.13\r\n * /rtabmap/rgbd_odometry/Odom/FillInfoData: true\r\n * /rtabmap/rgbd_odometry/Odom/Strategy: 0\r\n * /rtabmap/rgbd_odometry/OdomF2M/MaxSize: 1000\r\n * /rtabmap/rgbd_odometry/Vis/CorGuessWinSize: 0\r\n * /rtabmap/rgbd_odometry/Vis/CorNNType: 3\r\n * /rtabmap/rgbd_odometry/Vis/EstimationType: 0\r\n * /rtabmap/rgbd_odometry/Vis/FeatureType: 6\r\n * /rtabmap/rgbd_odometry/Vis/InlierDistance: 0.02\r\n * /rtabmap/rgbd_odometry/Vis/MaxDepth: 4.0\r\n * /rtabmap/rgbd_odometry/Vis/MinInliers: 20\r\n * /rtabmap/rgbd_odometry/frame_id: base_link\r\n * /rtabmap/rgbd_odometry/rgbd_cameras: 2\r\n * /rtabmap/rgbd_odometry/subscribe_rgbd: True\r\n * /rtabmap/rgbd_odometry/wait_for_transform: True\r\n * /rtabmap/rtabmap/Grid/FromDepth: false\r\n * /rtabmap/rtabmap/Vis/EstimationType: 0\r\n * /rtabmap/rtabmap/Vis/InlierDistance: 0.02\r\n * /rtabmap/rtabmap/Vis/MinInliers: 10\r\n * /rtabmap/rtabmap/frame_id: base_link\r\n * /rtabmap/rtabmap/gen_scan: True\r\n * /rtabmap/rtabmap/map_negative_poses_ignored: False\r\n * /rtabmap/rtabmap/map_negative_scan_empty_ray_tracing: False\r\n * /rtabmap/rtabmap/rgbd_cameras: 2\r\n * /rtabmap/rtabmap/subscribe_depth: False\r\n * /rtabmap/rtabmap/subscribe_rgbd: True\r\n * /rtabmap/rtabmap/wait_for_transform: True\r\n * /rtabmap/rtabmapviz/frame_id: base_link\r\n * /rtabmap/rtabmapviz/rgbd_cameras: 2\r\n * /rtabmap/rtabmapviz/subscribe_depth: False\r\n * /rtabmap/rtabmapviz/subscribe_odom_info: True\r\n * /rtabmap/rtabmapviz/subscribe_rgbd: True\r\n * /rtabmap/rtabmapviz/wait_for_transform: True\r\n\r\nNODES\r\n  /camera2/\r\n    camera2_nodelet_manager (nodelet/nodelet)\r\n    depth_metric (nodelet/nodelet)\r\n    depth_metric_rect (nodelet/nodelet)\r\n    depth_points (nodelet/nodelet)\r\n    depth_rectify_depth (nodelet/nodelet)\r\n    depth_registered_hw_metric_rect (nodelet/nodelet)\r\n    depth_registered_metric (nodelet/nodelet)\r\n    depth_registered_rectify_depth (nodelet/nodelet)\r\n    depth_registered_sw_metric_rect (nodelet/nodelet)\r\n    disparity_depth (nodelet/nodelet)\r\n    disparity_registered_hw (nodelet/nodelet)\r\n    disparity_registered_sw (nodelet/nodelet)\r\n    driver (nodelet/nodelet)\r\n    ir_rectify_ir (nodelet/nodelet)\r\n    points_xyzrgb_hw_registered (nodelet/nodelet)\r\n    points_xyzrgb_sw_registered (nodelet/nodelet)\r\n    register_depth_rgb (nodelet/nodelet)\r\n    rgb_debayer (nodelet/nodelet)\r\n    rgb_rectify_color (nodelet/nodelet)\r\n    rgb_rectify_mono (nodelet/nodelet)\r\n    rgbd_sync (nodelet/nodelet)\r\n  /camera1/\r\n    camera1_nodelet_manager (nodelet/nodelet)\r\n    depth_metric (nodelet/nodelet)\r\n    depth_metric_rect (nodelet/nodelet)\r\n    depth_points (nodelet/nodelet)\r\n    depth_rectify_depth (nodelet/nodelet)\r\n    depth_registered_hw_metric_rect (nodelet/nodelet)\r\n    depth_registered_metric (nodelet/nodelet)\r\n    depth_registered_rectify_depth (nodelet/nodelet)\r\n    depth_registered_sw_metric_rect (nodelet/nodelet)\r\n    disparity_depth (nodelet/nodelet)\r\n    disparity_registered_hw (nodelet/nodelet)\r\n    disparity_registered_sw (nodelet/nodelet)\r\n    driver (nodelet/nodelet)\r\n    ir_rectify_ir (nodelet/nodelet)\r\n    points_xyzrgb_hw_registered (nodelet/nodelet)\r\n    points_xyzrgb_sw_registered (nodelet/nodelet)\r\n    register_depth_rgb (nodelet/nodelet)\r\n    rgb_debayer (nodelet/nodelet)\r\n    rgb_rectify_color (nodelet/nodelet)\r\n    rgb_rectify_mono (nodelet/nodelet)\r\n    rgbd_sync (nodelet/nodelet)\r\n  /rtabmap/\r\n    rgbd_odometry (rtabmap_ros/rgbd_odometry)\r\n    rtabmap (rtabmap_ros/rtabmap)\r\n    rtabmapviz (rtabmap_ros/rtabmapviz)\r\n  /\r\n    base_to_camera1_tf (tf/static_transform_publisher)\r\n    base_to_camera2_tf (tf/static_transform_publisher)\r\n    camera1_base_link (tf2_ros/static_transform_publisher)\r\n    camera1_base_link1 (tf2_ros/static_transform_publisher)\r\n    camera1_base_link2 (tf2_ros/static_transform_publisher)\r\n    camera1_base_link3 (tf2_ros/static_transform_publisher)\r\n    camera2_base_link (tf2_ros/static_transform_publisher)\r\n    camera2_base_link1 (tf2_ros/static_transform_publisher)\r\n    camera2_base_link2 (tf2_ros/static_transform_publisher)\r\n    camera2_base_link3 (tf2_ros/static_transform_publisher)\r\n\r\nauto-starting new master\r\nprocess[master]: started with pid [9472]\r\nROS_MASTER_URI=http://localhost:11311\r\n\r\nsetting /run_id to 4f3975f8-8152-11e8-b98f-02429def565d\r\nprocess[rosout-1]: started with pid [9485]\r\nstarted core service [/rosout]\r\nprocess[camera1/camera1_nodelet_manager-2]: started with pid [9502]\r\nprocess[camera1/driver-3]: started with pid [9503]\r\nprocess[camera1/rgb_debayer-4]: started with pid [9504]\r\nprocess[camera1/rgb_rectify_mono-5]: started with pid [9510]\r\nprocess[camera1/rgb_rectify_color-6]: started with pid [9519]\r\nprocess[camera1/ir_rectify_ir-7]: started with pid [9534]\r\nprocess[camera1/depth_rectify_depth-8]: started with pid [9555]\r\n[ INFO] [1530905115.806371040]: Initializing nodelet with 4 worker threads.\r\nprocess[camera1/depth_metric_rect-9]: started with pid [9572]\r\nprocess[camera1/depth_metric-10]: started with pid [9607]\r\nprocess[camera1/depth_points-11]: started with pid [9615]\r\nprocess[camera1/register_depth_rgb-12]: started with pid [9630]\r\nprocess[camera1/points_xyzrgb_sw_registered-13]: started with pid [9638]\r\nprocess[camera1/depth_registered_sw_metric_rect-14]: started with pid [9646]\r\nprocess[camera1/depth_registered_rectify_depth-15]: started with pid [9650]\r\nprocess[camera1/points_xyzrgb_hw_registered-16]: started with pid [9666]\r\nprocess[camera1/depth_registered_hw_metric_rect-17]: started with pid [9678]\r\nprocess[camera1/depth_registered_metric-18]: started with pid [9689]\r\nprocess[camera1/disparity_depth-19]: started with pid [9691]\r\nprocess[camera1/disparity_registered_sw-20]: started with pid [9714]\r\nprocess[camera1/disparity_registered_hw-21]: started with pid [9737]\r\nprocess[camera1_base_link-22]: started with pid [9752]\r\nprocess[camera1_base_link1-23]: started with pid [9776]\r\nprocess[camera1_base_link2-24]: started with pid [9792]\r\nprocess[camera1_base_link3-25]: started with pid [9802]\r\nprocess[camera2/camera2_nodelet_manager-26]: started with pid [9817]\r\nprocess[camera2/driver-27]: started with pid [9826]\r\nprocess[camera2/rgb_debayer-28]: started with pid [9840]\r\nprocess[camera2/rgb_rectify_mono-29]: started with pid [9849]\r\nprocess[camera2/rgb_rectify_color-30]: started with pid [9862]\r\nprocess[camera2/ir_rectify_ir-31]: started with pid [9867]\r\nprocess[camera2/depth_rectify_depth-32]: started with pid [9877]\r\nprocess[camera2/depth_metric_rect-33]: started with pid [9891]\r\nprocess[camera2/depth_metric-34]: started with pid [9904]\r\nprocess[camera2/depth_points-35]: started with pid [9919]\r\nprocess[camera2/register_depth_rgb-36]: started with pid [9925]\r\nprocess[camera2/points_xyzrgb_sw_registered-37]: started with pid [9937]\r\nprocess[camera2/depth_registered_sw_metric_rect-38]: started with pid [9945]\r\nprocess[camera2/depth_registered_rectify_depth-39]: started with pid [9953]\r\nprocess[camera2/points_xyzrgb_hw_registered-40]: started with pid [9968]\r\nprocess[camera2/depth_registered_hw_metric_rect-41]: started with pid [9977]\r\nprocess[camera2/depth_registered_metric-42]: started with pid [9990]\r\nprocess[camera2/disparity_depth-43]: started with pid [9996]\r\nprocess[camera2/disparity_registered_sw-44]: started with pid [10006]\r\n[ INFO] [1530905116.029252147]: Initializing nodelet with 4 worker threads.\r\nprocess[camera2/disparity_registered_hw-45]: started with pid [10026]\r\nprocess[camera2_base_link-46]: started with pid [10045]\r\nprocess[camera2_base_link1-47]: started with pid [10049]\r\nprocess[camera2_base_link2-48]: started with pid [10061]\r\nprocess[camera2_base_link3-49]: started with pid [10075]\r\nprocess[base_to_camera1_tf-50]: started with pid [10086]\r\nprocess[base_to_camera2_tf-51]: started with pid [10098]\r\nprocess[camera1/rgbd_sync-52]: started with pid [10117]\r\nprocess[camera2/rgbd_sync-53]: started with pid [10128]\r\nprocess[rtabmap/rgbd_odometry-54]: started with pid [10146]\r\nprocess[rtabmap/rtabmap-55]: started with pid [10169]\r\nprocess[rtabmap/rtabmapviz-56]: started with pid [10191]\r\n[ INFO] [1530905116.369385747]: Starting node...\r\n[ INFO] [1530905116.393112921]: Number devices connected: 2\r\n[ INFO] [1530905116.393158929]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361812237040A'\r\n[ INFO] [1530905116.393183890]: 2. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00363716224036B'\r\n[ INFO] [1530905116.394539977]: Searching for device with index = 2\r\n[ INFO] [1530905116.409477124]: Initializing nodelet with 8 worker threads.\r\n[ INFO] [1530905116.429696217]: Initializing nodelet with 8 worker threads.\r\n[ INFO] [1530905116.456143242]: Starting node...\r\n[ INFO] [1530905116.570378918]: Number devices connected: 2\r\n[ INFO] [1530905116.570444126]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361812237040A'\r\n[ INFO] [1530905116.570466931]: 2. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00363716224036B'\r\n[ INFO] [1530905116.575196685]: Searching for device with index = 1\r\n[ INFO] [1530905116.604193117]: rtabmapviz: Using configuration from \"/home/e4e/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini\"\r\n[ INFO] [1530905116.767130033]: Starting a 3s RGB and Depth stream flush.\r\n[ INFO] [1530905116.767201337]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'B00363716224036B'\r\n[ INFO] [1530905116.768099544]: Odometry: frame_id               = base_link\r\n[ INFO] [1530905116.768130209]: Odometry: odom_frame_id          = odom\r\n[ INFO] [1530905116.768148195]: Odometry: publish_tf             = true\r\n[ INFO] [1530905116.768164027]: Odometry: wait_for_transform     = true\r\n[ INFO] [1530905116.768192525]: Odometry: wait_for_transform_duration  = 0.100000\r\n[ INFO] [1530905116.768227205]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000\r\n[ INFO] [1530905116.768244022]: Odometry: ground_truth_frame_id  = \r\n[ INFO] [1530905116.768264470]: Odometry: ground_truth_base_frame_id = base_link\r\n[ INFO] [1530905116.768279727]: Odometry: config_path            = \r\n[ INFO] [1530905116.768292880]: Odometry: publish_null_when_lost = true\r\n[ INFO] [1530905116.768305453]: Odometry: guess_frame_id         = \r\n[ INFO] [1530905116.768320518]: Odometry: guess_min_translation  = 0.000000\r\n[ INFO] [1530905116.768333736]: Odometry: guess_min_rotation     = 0.000000\r\n[ INFO] [1530905116.835447898]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000\r\n[ INFO] [1530905116.835473310]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000\r\n[ INFO] [1530905116.835483941]: /rtabmap/rtabmap(maps): map_cleanup                = true\r\n[ INFO] [1530905116.835493685]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false\r\n[ INFO] [1530905116.835501402]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = false\r\n[ INFO] [1530905116.835509783]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true\r\n[ INFO] [1530905116.835519082]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false\r\n[ INFO] [1530905116.835527341]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2\r\n[ INFO] [1530905116.888390982]: rtabmap: frame_id      = base_link\r\n[ INFO] [1530905116.888419508]: rtabmap: map_frame_id  = map\r\n[ INFO] [1530905116.888438058]: rtabmap: tf_delay      = 0.050000\r\n[ INFO] [1530905116.888453631]: rtabmap: tf_tolerance  = 0.100000\r\n[ INFO] [1530905116.888469357]: rtabmap: odom_sensor_sync   = false\r\n[ INFO] [1530905116.907666769]: Starting a 3s RGB and Depth stream flush.\r\n[ INFO] [1530905116.907738047]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00361812237040A'\r\n[ INFO] [1530905117.004334364]: Setting odometry parameter \"Odom/FillInfoData\"=\"true\"\r\n[ INFO] [1530905117.097086638]: Setting odometry parameter \"Odom/Strategy\"=\"0\"\r\n[ INFO] [1530905117.122285981]: Setting odometry parameter \"OdomF2M/MaxSize\"=\"1000\"\r\n[ WARN] [1530905117.153224113]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.\r\n[ INFO] [1530905117.180580251]: rgb_frame_id = 'camera1_rgb_optical_frame' \r\n[ INFO] [1530905117.180640068]: depth_frame_id = 'camera1_depth_optical_frame' \r\n[ INFO] [1530905117.187357198]: Setting RTAB-Map parameter \"Grid/FromDepth\"=\"false\"\r\n[ WARN] [1530905117.217694912]: Camera calibration file /home/e4e/.ros/camera_info/rgb_A00361812237040A.yaml not found.\r\n[ WARN] [1530905117.217769382]: Using default parameters for RGB camera calibration.\r\n[ WARN] [1530905117.217816757]: Camera calibration file /home/e4e/.ros/camera_info/depth_A00361812237040A.yaml not found.\r\n[ WARN] [1530905117.217858218]: Using default parameters for IR camera calibration.\r\n[ WARN] [1530905117.281669454]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.\r\n[ INFO] [1530905117.304517933]: rgb_frame_id = 'camera2_rgb_optical_frame' \r\n[ INFO] [1530905117.304610612]: depth_frame_id = 'camera2_depth_optical_frame' \r\n[ WARN] [1530905117.337335411]: Camera calibration file /home/e4e/.ros/camera_info/rgb_B00363716224036B.yaml not found.\r\n[ WARN] [1530905117.337404871]: Using default parameters for RGB camera calibration.\r\n[ WARN] [1530905117.337455790]: Camera calibration file /home/e4e/.ros/camera_info/depth_B00363716224036B.yaml not found.\r\n[ WARN] [1530905117.337483403]: Using default parameters for IR camera calibration.\r\n[ INFO] [1530905117.533250109]: Setting odometry parameter \"Vis/CorGuessWinSize\"=\"0\"\r\n[ INFO] [1530905117.537091699]: Setting odometry parameter \"Vis/CorNNType\"=\"3\"\r\n[ INFO] [1530905117.547551369]: /camera1/rgbd_sync: approx_sync = true\r\n[ INFO] [1530905117.547611592]: /camera1/rgbd_sync: queue_size  = 10\r\n[ INFO] [1530905117.547665710]: /camera1/rgbd_sync: depth_scale = 1.000000\r\n[ INFO] [1530905117.555199188]: Setting odometry parameter \"Vis/EstimationType\"=\"0\"\r\n[ INFO] [1530905117.557184044]: Setting odometry parameter \"Vis/FeatureType\"=\"6\"\r\n[ INFO] [1530905117.582672302]: Setting odometry parameter \"Vis/InlierDistance\"=\"0.02\"\r\n[ INFO] [1530905117.589307819]: Setting odometry parameter \"Vis/MaxDepth\"=\"4.0\"\r\n[ INFO] [1530905117.603016288]: Setting odometry parameter \"Vis/MinInliers\"=\"20\"\r\n[ INFO] [1530905117.623576642]: Reading parameters from the ROS server...\r\n[ INFO] [1530905117.629764269]: \r\n/camera1/rgbd_sync subscribed to (approx sync):\r\n   /camera1/rgb/image_rect_color,\r\n   /camera1/depth_registered/image_raw,\r\n   /camera1/rgb/camera_info,\r\n   /camera1/depth_registered/camera_info\r\n[ INFO] [1530905117.659638848]: /camera2/rgbd_sync: approx_sync = true\r\n[ INFO] [1530905117.659685848]: /camera2/rgbd_sync: queue_size  = 10\r\n[ INFO] [1530905117.659730849]: /camera2/rgbd_sync: depth_scale = 1.000000\r\n[ INFO] [1530905117.760331872]: \r\n/camera2/rgbd_sync subscribed to (approx sync):\r\n   /camera2/rgb/image_rect_color,\r\n   /camera2/depth_registered/image_raw,\r\n   /camera2/rgb/camera_info,\r\n   /camera2/depth_registered/camera_info\r\n[ INFO] [1530905117.930930918]: RGBDOdometry: approx_sync    = true\r\n[ INFO] [1530905117.930965103]: RGBDOdometry: queue_size     = 5\r\n[ INFO] [1530905117.930984453]: RGBDOdometry: subscribe_rgbd = true\r\n[ INFO] [1530905117.931002679]: RGBDOdometry: rgbd_cameras   = 2\r\n[ INFO] [1530905117.955360334]: \r\n/rtabmap/rgbd_odometry subscribed to (approx sync):\r\n   /camera1/rgbd_image,\r\n   /camera2/rgbd_image\r\n[ INFO] [1530905118.116011713]: Parameters read = 0\r\n[ INFO] [1530905118.353705724]: Setting RTAB-Map parameter \"Vis/EstimationType\"=\"0\"\r\n[ INFO] [1530905118.357509374]: /rtabmap/rtabmapviz: queue_size    = 10\r\n[ INFO] [1530905118.357533567]: /rtabmap/rtabmapviz: rgbd_cameras = 2\r\n[ INFO] [1530905118.357546944]: /rtabmap/rtabmapviz: approx_sync   = true\r\n[ INFO] [1530905118.357576870]: Setup rgbd2 callback\r\n[ INFO] [1530905118.365731593]: Setting RTAB-Map parameter \"Vis/InlierDistance\"=\"0.02\"\r\n[ INFO] [1530905118.372556162]: Setting RTAB-Map parameter \"Vis/MinInliers\"=\"10\"\r\n[ INFO] [1530905118.405486323]: \r\n/rtabmap/rtabmapviz subscribed to (approx sync):\r\n   /rtabmap/odom,\r\n   /camera1/rgbd_image,\r\n   /camera2/rgbd_image,\r\n   /rtabmap/odom_info\r\n[ INFO] [1530905118.405564115]: rtabmapviz started.\r\n[ INFO] [1530905118.640713538]: RTAB-Map detection rate = 1.000000 Hz\r\n[ INFO] [1530905118.641326077]: rtabmap: Deleted database \"/home/e4e/.ros/rtabmap.db\" (--delete_db_on_start or -d are set).\r\n[ INFO] [1530905118.641351838]: rtabmap: Using database from \"/home/e4e/.ros/rtabmap.db\" (0 MB).\r\n[ INFO] [1530905118.843568779]: rtabmap: Database version = \"0.17.0\".\r\n[ INFO] [1530905118.897268975]: /rtabmap/rtabmap: queue_size    = 10\r\n[ INFO] [1530905118.897353368]: /rtabmap/rtabmap: rgbd_cameras = 2\r\n[ INFO] [1530905118.897391503]: /rtabmap/rtabmap: approx_sync   = true\r\n[ INFO] [1530905118.897590604]: Setup rgbd2 callback\r\n[ INFO] [1530905118.922119217]: \r\n/rtabmap/rtabmap subscribed to (approx sync):\r\n   /rtabmap/odom,\r\n   /camera1/rgbd_image,\r\n   /camera2/rgbd_image\r\n[ INFO] [1530905118.937401017]: rtabmap 0.17.0 started...\r\n[ INFO] [1530905119.768186859]: Stopping device RGB and Depth stream flush.\r\n[ INFO] [1530905119.908729836]: Stopping device RGB and Depth stream flush.\r\n[ERROR] (2018-07-06 12:25:20.213) OdometryF2M.cpp:200::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled.\r\n[ INFO] [1530905120.255021080]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.041639s\r\n[ INFO] [1530905120.405770084]: Odom: quality=579, std dev=0.002335m|0.002335rad, update time=0.080769s\r\n[ INFO] [1530905120.415173016]: rtabmap (1): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1563s, Maps update=0.0020s pub=0.0001s (local map=1, WM=1)\r\n[ INFO] [1530905120.524357587]: Odom: quality=599, std dev=0.002239m|0.002239rad, update time=0.071453s\r\n[ INFO] [1530905120.620728238]: Odom: quality=592, std dev=0.002252m|0.002252rad, update time=0.061904s\r\n[ INFO] [1530905120.679812185]: Odom: quality=578, std dev=0.002077m|0.002077rad, update time=0.034448s\r\n[ INFO] [1530905120.752977618]: Odom: quality=560, std dev=0.002072m|0.002072rad, update time=0.043864s\r\n[ INFO] [1530905120.820567359]: Odom: quality=567, std dev=0.002000m|0.002000rad, update time=0.043443s\r\n[ INFO] [1530905120.868817882]: Odom: quality=555, std dev=0.001949m|0.001949rad, update time=0.044060s\r\n[ INFO] [1530905120.936182140]: Odom: quality=551, std dev=0.001953m|0.001953rad, update time=0.047011s\r\n[ INFO] [1530905121.000903737]: Odom: quality=554, std dev=0.002062m|0.002062rad, update time=0.047689s\r\n[ INFO] [1530905121.071571575]: Odom: quality=563, std dev=0.002145m|0.002145rad, update time=0.054591s\r\n[ INFO] [1530905121.137507388]: Odom: quality=545, std dev=0.002101m|0.002101rad, update time=0.045099s\r\n[ INFO] [1530905121.205051987]: Odom: quality=527, std dev=0.002208m|0.002208rad, update time=0.047857s\r\n[ INFO] [1530905121.272394286]: Odom: quality=464, std dev=0.002721m|0.002721rad, update time=0.042749s\r\n[ INFO] [1530905121.376896052]: Odom: quality=424, std dev=0.003049m|0.003049rad, update time=0.063187s\r\n[ INFO] [1530905121.380352315]: rtabmap (2): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1148s, Maps update=0.0013s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1530905121.462268184]: Odom: quality=222, std dev=0.004494m|0.004494rad, update time=0.061196s\r\n[ INFO] [1530905121.561245905]: Odom: quality=361, std dev=0.005323m|0.005323rad, update time=0.065859s\r\n[ INFO] [1530905121.641563147]: Odom: quality=165, std dev=0.005157m|0.005157rad, update time=0.059364s\r\n[ INFO] [1530905121.721072777]: Odom: quality=401, std dev=0.003433m|0.003433rad, update time=0.043983s\r\n[ INFO] [1530905121.787015485]: Odom: quality=190, std dev=0.010346m|0.010346rad, update time=0.047690s\r\n[ INFO] [1530905121.844605309]: Odom: quality=442, std dev=0.006249m|0.006249rad, update time=0.055219s\r\n[ INFO] [1530905121.904686754]: Odom: quality=277, std dev=0.005877m|0.005877rad, update time=0.045442s\r\n[ INFO] [1530905121.954917744]: Odom: quality=225, std dev=0.007404m|0.007404rad, update time=0.047772s\r\n[ INFO] [1530905122.006781143]: Odom: quality=162, std dev=0.011407m|0.011407rad, update time=0.047021s\r\n[ INFO] [1530905122.074944225]: Odom: quality=322, std dev=0.005201m|0.005201rad, update time=0.045564s\r\n[ INFO] [1530905122.158022770]: Odom: quality=202, std dev=0.005852m|0.005852rad, update time=0.048923s\r\n[ INFO] [1530905122.200928173]: Odom: quality=244, std dev=0.006419m|0.006419rad, update time=0.038918s\r\n[ INFO] [1530905122.271373753]: Odom: quality=412, std dev=0.006852m|0.006852rad, update time=0.038189s\r\n[ INFO] [1530905122.388778875]: Odom: quality=251, std dev=0.004375m|0.004375rad, update time=0.083711s\r\n[ INFO] [1530905122.394274415]: rtabmap (3): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1222s, Maps update=0.0013s pub=0.0000s (local map=2, WM=2)\r\n[ INFO] [1530905122.516069511]: Odom: quality=135, std dev=0.008428m|0.008428rad, update time=0.077431s\r\n[ INFO] [1530905122.603865403]: Odom: quality=332, std dev=0.006126m|0.006126rad, update time=0.055391s\r\n[ INFO] [1530905122.658936969]: Odom: quality=172, std dev=0.006537m|0.006537rad, update time=0.045571s\r\n[ INFO] [1530905122.723617267]: Odom: quality=205, std dev=0.006292m|0.006292rad, update time=0.042296s\r\n[ INFO] [1530905122.795261603]: Odom: quality=294, std dev=0.006120m|0.006120rad, update time=0.046211s\r\n[ INFO] [1530905122.859909772]: Odom: quality=122, std dev=0.010762m|0.010762rad, update time=0.042710s\r\n[ INFO] [1530905122.938290720]: Odom: quality=268, std dev=0.006186m|0.006186rad, update time=0.045202s\r\n[ INFO] [1530905123.006155754]: Odom: quality=143, std dev=0.006619m|0.006619rad, update time=0.037058s\r\n[ INFO] [1530905123.072630175]: Odom: quality=272, std dev=0.005740m|0.005740rad, update time=0.043550s\r\n[ INFO] [1530905123.160113689]: Odom: quality=268, std dev=0.004443m|0.004443rad, update time=0.047024s\r\n[ INFO] [1530905123.216832307]: Odom: quality=248, std dev=0.009852m|0.009852rad, update time=0.039744s\r\n[ INFO] [1530905123.290362011]: Odom: quality=297, std dev=0.008451m|0.008451rad, update time=0.051970s\r\n[ INFO] [1530905123.338874533]: Odom: quality=124, std dev=0.007461m|0.007461rad, update time=0.047066s\r\n[ INFO] [1530905123.457981024]: Odom: quality=289, std dev=0.004576m|0.004576rad, update time=0.062914s\r\n[ INFO] [1530905123.459401290]: rtabmap (4): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1263s, Maps update=0.0018s pub=0.0000s (local map=3, WM=3)\r\n[ INFO] [1530905123.574326269]: Odom: quality=142, std dev=0.005184m|0.005184rad, update time=0.096632s\r\n[ INFO] [1530905123.638983260]: Odom: quality=202, std dev=0.005275m|0.005275rad, update time=0.052072s\r\n[ INFO] [1530905123.715851265]: Odom: quality=260, std dev=0.004568m|0.004568rad, update time=0.047400s\r\n[ INFO] [1530905123.804990707]: Odom: quality=217, std dev=0.007717m|0.007717rad, update time=0.048505s\r\n[ INFO] [1530905123.871045449]: Odom: quality=276, std dev=0.007173m|0.007173rad, update time=0.048404s\r\n[ INFO] [1530905123.936878246]: Odom: quality=396, std dev=0.005707m|0.005707rad, update time=0.044708s\r\n[ INFO] [1530905123.988475489]: Odom: quality=214, std dev=0.010189m|0.010189rad, update time=0.050388s\r\n[ INFO] [1530905124.044116404]: Odom: quality=391, std dev=0.008272m|0.008272rad, update time=0.043765s\r\n[ INFO] [1530905124.105116863]: Odom: quality=232, std dev=0.011067m|0.011067rad, update time=0.048552s\r\n[ INFO] [1530905124.170420716]: Odom: quality=346, std dev=0.006995m|0.006995rad, update time=0.047139s\r\n[ INFO] [1530905124.232706634]: Odom: quality=190, std dev=0.014347m|0.014347rad, update time=0.055619s\r\n[ INFO] [1530905124.299944665]: Odom: quality=197, std dev=0.013899m|0.013899rad, update time=0.041736s\r\n[ INFO] [1530905124.359610429]: Odom: quality=267, std dev=0.011406m|0.011406rad, update time=0.046554s\r\n[ INFO] [1530905124.494881138]: Odom: quality=154, std dev=0.013222m|0.013222rad, update time=0.086638s\r\n[ INFO] [1530905124.508708236]: rtabmap (5): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1558s, Maps update=0.0018s pub=0.0000s (local map=4, WM=4)\r\n[ INFO] [1530905124.595353307]: Odom: quality=230, std dev=0.010059m|0.010059rad, update time=0.062272s\r\n[ INFO] [1530905124.706409911]: Odom: quality=268, std dev=0.008710m|0.008710rad, update time=0.047697s\r\n[ INFO] [1530905124.772118339]: Odom: quality=395, std dev=0.007026m|0.007026rad, update time=0.045647s\r\n[ INFO] [1530905124.829117019]: Odom: quality=348, std dev=0.008220m|0.008220rad, update time=0.051561s\r\n[ INFO] [1530905124.890376955]: Odom: quality=287, std dev=0.012228m|0.012228rad, update time=0.047719s\r\n[ INFO] [1530905124.956887049]: Odom: quality=277, std dev=0.010447m|0.010447rad, update time=0.048283s\r\n[ INFO] [1530905125.026565924]: Odom: quality=193, std dev=0.011995m|0.011995rad, update time=0.045485s\r\n[ INFO] [1530905125.095502275]: Odom: quality=274, std dev=0.009957m|0.009957rad, update time=0.042411s\r\n[ INFO] [1530905125.159799416]: Odom: quality=229, std dev=0.010901m|0.010901rad, update time=0.042416s\r\n[ INFO] [1530905125.224673557]: Odom: quality=282, std dev=0.010000m|0.010000rad, update time=0.047248s\r\n[ INFO] [1530905125.283898453]: Odom: quality=205, std dev=0.010605m|0.010605rad, update time=0.040415s\r\n[ INFO] [1530905125.355043323]: Odom: quality=319, std dev=0.007793m|0.007793rad, update time=0.054001s\r\n[ INFO] [1530905125.426289739]: Odom: quality=226, std dev=0.009698m|0.009698rad, update time=0.046007s\r\n[ INFO] [1530905125.551128321]: Odom: quality=195, std dev=0.015939m|0.015939rad, update time=0.091673s\r\n[ INFO] [1530905125.592113099]: rtabmap (6): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1719s, Maps update=0.0016s pub=0.0000s (local map=5, WM=5)\r\n[ INFO] [1530905125.638463846]: Odom: quality=179, std dev=0.016379m|0.016379rad, update time=0.064720s\r\n[ INFO] [1530905125.734009023]: Odom: quality=162, std dev=0.019407m|0.019407rad, update time=0.094239s\r\n[ INFO] [1530905125.797086340]: Odom: quality=76, std dev=0.021083m|0.021083rad, update time=0.043684s\r\n[ INFO] [1530905125.864153003]: Odom: quality=288, std dev=0.007717m|0.007717rad, update time=0.046743s\r\n[ INFO] [1530905125.940996206]: Odom: quality=219, std dev=0.008832m|0.008832rad, update time=0.048373s\r\n[ INFO] [1530905125.990784444]: Odom: quality=314, std dev=0.007993m|0.007993rad, update time=0.044284s\r\n[ INFO] [1530905126.041304078]: Odom: quality=276, std dev=0.009208m|0.009208rad, update time=0.048119s\r\n[ INFO] [1530905126.092875911]: Odom: quality=258, std dev=0.009902m|0.009902rad, update time=0.047298s\r\n[ INFO] [1530905126.161209758]: Odom: quality=334, std dev=0.011686m|0.011686rad, update time=0.048098s\r\n[ INFO] [1530905126.258869700]: Odom: quality=277, std dev=0.010212m|0.010212rad, update time=0.061423s\r\n[ INFO] [1530905126.310870399]: Odom: quality=258, std dev=0.010421m|0.010421rad, update time=0.044432s\r\n[ INFO] [1530905126.393004881]: Odom: quality=279, std dev=0.009002m|0.009002rad, update time=0.056778s\r\n[ INFO] [1530905126.459264650]: Odom: quality=369, std dev=0.010337m|0.010337rad, update time=0.045773s\r\n[ INFO] [1530905126.537325375]: rtabmap (7): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0852s, Maps update=0.0013s pub=0.0000s (local map=6, WM=6)\r\n[ INFO] [1530905126.590179802]: Odom: quality=403, std dev=0.008714m|0.008714rad, update time=0.063777s\r\n[ INFO] [1530905126.706891529]: Odom: quality=186, std dev=0.010996m|0.010996rad, update time=0.078811s\r\n[ INFO] [1530905126.775729064]: Odom: quality=335, std dev=0.010603m|0.010603rad, update time=0.048089s\r\n[ INFO] [1530905126.860064651]: Odom: quality=135, std dev=0.011193m|0.011193rad, update time=0.067144s\r\n[ INFO] [1530905126.926735650]: Odom: quality=298, std dev=0.008593m|0.008593rad, update time=0.048305s\r\n[ INFO] [1530905126.991717515]: Odom: quality=262, std dev=0.008894m|0.008894rad, update time=0.034677s\r\n[ INFO] [1530905127.058672779]: Odom: quality=317, std dev=0.008084m|0.008084rad, update time=0.060648s\r\n[ INFO] [1530905127.109414180]: Odom: quality=292, std dev=0.008495m|0.008495rad, update time=0.047737s\r\n[ INFO] [1530905127.161510346]: Odom: quality=246, std dev=0.009013m|0.009013rad, update time=0.048270s\r\n[ INFO] [1530905127.230103851]: Odom: quality=195, std dev=0.011030m|0.011030rad, update time=0.054402s\r\n[ INFO] [1530905127.292593219]: Odom: quality=336, std dev=0.008949m|0.008949rad, update time=0.047211s\r\n[ INFO] [1530905127.359037480]: Odom: quality=310, std dev=0.008747m|0.008747rad, update time=0.049500s\r\n[ INFO] [1530905127.435867953]: Odom: quality=295, std dev=0.010346m|0.010346rad, update time=0.046789s\r\n[ INFO] [1530905127.497082478]: Odom: quality=279, std dev=0.008957m|0.008957rad, update time=0.050377s\r\n[ INFO] [1530905127.626037370]: Odom: quality=338, std dev=0.009308m|0.009308rad, update time=0.072195s\r\n[ INFO] [1530905127.636082829]: rtabmap (8): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1447s, Maps update=0.0017s pub=0.0000s (local map=7, WM=7)\r\n[ INFO] [1530905127.714440355]: Odom: quality=273, std dev=0.009839m|0.009839rad, update time=0.065066s\r\n[ INFO] [1530905127.832743930]: Odom: quality=349, std dev=0.009657m|0.009657rad, update time=0.058483s\r\n[ INFO] [1530905127.893360382]: Odom: quality=260, std dev=0.009851m|0.009851rad, update time=0.040249s\r\n[ INFO] [1530905127.942118220]: Odom: quality=279, std dev=0.014109m|0.014109rad, update time=0.037116s\r\n[ INFO] [1530905128.030780166]: Odom: quality=208, std dev=0.012975m|0.012975rad, update time=0.060735s\r\n[ INFO] [1530905128.082617155]: Odom: quality=131, std dev=0.013344m|0.013344rad, update time=0.043492s\r\n[ INFO] [1530905128.143728662]: Odom: quality=241, std dev=0.010766m|0.010766rad, update time=0.047700s\r\n[ INFO] [1530905128.216922272]: Odom: quality=194, std dev=0.013253m|0.013253rad, update time=0.047514s\r\n[ INFO] [1530905128.293661526]: Odom: quality=289, std dev=0.008675m|0.008675rad, update time=0.043075s\r\n[ INFO] [1530905128.354384816]: Odom: quality=287, std dev=0.010099m|0.010099rad, update time=0.040966s\r\n[ INFO] [1530905128.420222370]: Odom: quality=206, std dev=0.011785m|0.011785rad, update time=0.039604s\r\n[ INFO] [1530905128.503084483]: Odom: quality=361, std dev=0.009610m|0.009610rad, update time=0.044191s\r\n[ INFO] [1530905128.634107465]: Odom: quality=311, std dev=0.010345m|0.010345rad, update time=0.104247s\r\n[ INFO] [1530905128.634417749]: rtabmap (9): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1322s, Maps update=0.0012s pub=0.0000s (local map=8, WM=8)\r\n[ INFO] [1530905128.714066919]: Odom: quality=273, std dev=0.011453m|0.011453rad, update time=0.059482s\r\n[ INFO] [1530905128.820466980]: Odom: quality=267, std dev=0.009716m|0.009716rad, update time=0.062337s\r\n[ INFO] [1530905128.905485135]: Odom: quality=277, std dev=0.009849m|0.009849rad, update time=0.052377s\r\n[ INFO] [1530905128.971328856]: Odom: quality=232, std dev=0.011515m|0.011515rad, update time=0.049940s\r\n[ INFO] [1530905129.043065994]: Odom: quality=331, std dev=0.011772m|0.011772rad, update time=0.050556s\r\n[ INFO] [1530905129.092357067]: Odom: quality=268, std dev=0.013342m|0.013342rad, update time=0.047059s\r\n[ INFO] [1530905129.158818532]: Odom: quality=227, std dev=0.012650m|0.012650rad, update time=0.045625s\r\n[ INFO] [1530905129.220953840]: Odom: quality=273, std dev=0.011888m|0.011888rad, update time=0.047806s\r\n[ INFO] [1530905129.285835116]: Odom: quality=296, std dev=0.010916m|0.010916rad, update time=0.047501s\r\n[ INFO] [1530905129.346092700]: Odom: quality=210, std dev=0.015342m|0.015342rad, update time=0.048699s\r\n[ INFO] [1530905129.411792023]: Odom: quality=366, std dev=0.009167m|0.009167rad, update time=0.038737s\r\n[ INFO] [1530905129.470875639]: Odom: quality=289, std dev=0.012295m|0.012295rad, update time=0.042450s\r\n[ INFO] [1530905129.529874637]: Odom: quality=286, std dev=0.010817m|0.010817rad, update time=0.041903s\r\n[ INFO] [1530905129.629674328]: Odom: quality=158, std dev=0.012968m|0.012968rad, update time=0.095551s\r\n[ INFO] [1530905129.650207942]: rtabmap (10): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1162s, Maps update=0.0013s pub=0.0000s (local map=9, WM=9)\r\n[ INFO] [1530905129.685600798]: Odom: quality=92, std dev=0.016894m|0.016894rad, update time=0.052591s\r\n[ INFO] [1530905129.805596166]: Odom: quality=153, std dev=0.015462m|0.015462rad, update time=0.100540s\r\n[ INFO] [1530905129.878295042]: Odom: quality=66, std dev=0.019045m|0.019045rad, update time=0.053295s\r\n[ INFO] [1530905129.961354280]: Odom: quality=76, std dev=0.013429m|0.013429rad, update time=0.045528s\r\n[ INFO] [1530905130.036421471]: Odom: quality=195, std dev=0.011703m|0.011703rad, update time=0.049891s\r\n[ INFO] [1530905130.112289800]: Odom: quality=91, std dev=0.013190m|0.013190rad, update time=0.045865s\r\n[ INFO] [1530905130.187108943]: Odom: quality=116, std dev=0.013017m|0.013017rad, update time=0.050045s\r\n[ INFO] [1530905130.251565034]: Odom: quality=206, std dev=0.012088m|0.012088rad, update time=0.049826s\r\n[ INFO] [1530905130.327093778]: Odom: quality=235, std dev=0.010225m|0.010225rad, update time=0.051493s\r\n[ INFO] [1530905130.394514746]: Odom: quality=188, std dev=0.017496m|0.017496rad, update time=0.045287s\r\n[ INFO] [1530905130.482401429]: Odom: quality=275, std dev=0.015024m|0.015024rad, update time=0.057337s\r\n[ INFO] [1530905130.559747399]: Odom: quality=162, std dev=0.016796m|0.016796rad, update time=0.054349s\r\n[ INFO] [1530905130.679569911]: Odom: quality=288, std dev=0.011756m|0.011756rad, update time=0.080434s\r\n[ INFO] [1530905130.681497510]: rtabmap (11): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1271s, Maps update=0.0020s pub=0.0000s (local map=10, WM=10)\r\n[ INFO] [1530905130.797898438]: Odom: quality=261, std dev=0.012200m|0.012200rad, update time=0.098455s\r\n[ INFO] [1530905130.869976310]: Odom: quality=288, std dev=0.012511m|0.012511rad, update time=0.044054s\r\n[ INFO] [1530905130.931097562]: Odom: quality=248, std dev=0.012867m|0.012867rad, update time=0.049720s\r\n[ INFO] [1530905131.013168952]: Odom: quality=338, std dev=0.011243m|0.011243rad, update time=0.048489s\r\n[ INFO] [1530905131.062332338]: Odom: quality=291, std dev=0.011389m|0.011389rad, update time=0.047588s\r\n[ INFO] [1530905131.136721482]: Odom: quality=256, std dev=0.013136m|0.013136rad, update time=0.055669s\r\n[ INFO] [1530905131.194301835]: Odom: quality=435, std dev=0.008874m|0.008874rad, update time=0.044922s\r\n[ INFO] [1530905131.289648335]: Odom: quality=370, std dev=0.010175m|0.010175rad, update time=0.061457s\r\n[ INFO] [1530905131.368692255]: Odom: quality=317, std dev=0.013188m|0.013188rad, update time=0.052064s\r\n[ INFO] [1530905131.441586412]: Odom: quality=306, std dev=0.012281m|0.012281rad, update time=0.044155s\r\n[ INFO] [1530905131.507846715]: Odom: quality=255, std dev=0.014070m|0.014070rad, update time=0.047723s\r\n[ INFO] [1530905131.556349171]: Odom: quality=423, std dev=0.010550m|0.010550rad, update time=0.045144s\r\n[ INFO] [1530905131.690183239]: Odom: quality=354, std dev=0.010891m|0.010891rad, update time=0.090272s\r\n[ WARN] (2018-07-06 12:25:31.705) util3d_registration.cpp:186::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers!\r\n[ INFO] [1530905131.715430192]: rtabmap (12): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1598s, Maps update=0.0072s pub=0.0000s (local map=11, WM=11)\r\n[ INFO] [1530905131.823481161]: Odom: quality=238, std dev=0.013442m|0.013442rad, update time=0.078403s\r\n[ INFO] [1530905131.913313255]: Odom: quality=332, std dev=0.012383m|0.012383rad, update time=0.044218s\r\n[ INFO] [1530905131.976741746]: Odom: quality=237, std dev=0.014003m|0.014003rad, update time=0.039349s\r\n[ INFO] [1530905132.048687418]: Odom: quality=355, std dev=0.012022m|0.012022rad, update time=0.043492s\r\n[ INFO] [1530905132.120477836]: Odom: quality=290, std dev=0.013091m|0.013091rad, update time=0.047064s\r\n[ INFO] [1530905132.181394726]: Odom: quality=267, std dev=0.012860m|0.012860rad, update time=0.044009s\r\n[ INFO] [1530905132.261938690]: Odom: quality=341, std dev=0.011336m|0.011336rad, update time=0.056771s\r\n[ INFO] [1530905132.331500195]: Odom: quality=272, std dev=0.013348m|0.013348rad, update time=0.043186s\r\n[ INFO] [1530905132.425243259]: Odom: quality=308, std dev=0.012633m|0.012633rad, update time=0.056067s\r\n[ INFO] [1530905132.481438310]: Odom: quality=260, std dev=0.013061m|0.013061rad, update time=0.048839s\r\n[ INFO] [1530905132.555843989]: Odom: quality=289, std dev=0.012742m|0.012742rad, update time=0.041366s\r\n[ INFO] [1530905132.632785259]: Odom: quality=290, std dev=0.011895m|0.011895rad, update time=0.063447s\r\n[ INFO] [1530905132.765665064]: Odom: quality=217, std dev=0.012813m|0.012813rad, update time=0.081821s\r\n[ INFO] [1530905132.805074537]: rtabmap (13): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1816s, Maps update=0.0013s pub=0.0000s (local map=12, WM=12)\r\n[ INFO] [1530905132.851344448]: Odom: quality=212, std dev=0.013075m|0.013075rad, update time=0.078244s\r\n[ INFO] [1530905132.939296103]: Odom: quality=198, std dev=0.014208m|0.014208rad, update time=0.086556s\r\n[ INFO] [1530905133.014613385]: Odom: quality=269, std dev=0.012338m|0.012338rad, update time=0.057375s\r\n[ INFO] [1530905133.076319098]: Odom: quality=323, std dev=0.011555m|0.011555rad, update time=0.051437s\r\n[ INFO] [1530905133.137382208]: Odom: quality=260, std dev=0.014941m|0.014941rad, update time=0.057432s\r\n[ INFO] [1530905133.205717913]: Odom: quality=341, std dev=0.012190m|0.012190rad, update time=0.055940s\r\n[ INFO] [1530905133.264946197]: Odom: quality=286, std dev=0.013761m|0.013761rad, update time=0.047792s\r\n[ INFO] [1530905133.329988999]: Odom: quality=232, std dev=0.014159m|0.014159rad, update time=0.045612s\r\n[ INFO] [1530905133.407027950]: Odom: quality=297, std dev=0.011976m|0.011976rad, update time=0.049627s\r\n[ INFO] [1530905133.475938261]: Odom: quality=240, std dev=0.012988m|0.012988rad, update time=0.035531s\r\n[ INFO] [1530905133.539211163]: Odom: quality=281, std dev=0.010796m|0.010796rad, update time=0.049753s\r\n[ INFO] [1530905133.610525778]: Odom: quality=259, std dev=0.011839m|0.011839rad, update time=0.037780s\r\n[ INFO] [1530905133.688898305]: Odom: quality=307, std dev=0.010461m|0.010461rad, update time=0.067482s\r\n[ INFO] [1530905133.782292096]: rtabmap (14): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1714s, Maps update=0.0013s pub=0.0000s (local map=13, WM=13)\r\n[ INFO] [1530905133.818036878]: Odom: quality=186, std dev=0.014270m|0.014270rad, update time=0.067571s\r\n[ INFO] [1530905133.927292611]: Odom: quality=215, std dev=0.012748m|0.012748rad, update time=0.063297s\r\n[ INFO] [1530905133.997950587]: Odom: quality=218, std dev=0.014209m|0.014209rad, update time=0.049388s\r\n[ INFO] [1530905134.063556230]: Odom: quality=178, std dev=0.016616m|0.016616rad, update time=0.047076s\r\n[ INFO] [1530905134.138019329]: Odom: quality=178, std dev=0.018135m|0.018135rad, update time=0.046447s\r\n[ INFO] [1530905134.198960703]: Odom: quality=196, std dev=0.014222m|0.014222rad, update time=0.043653s\r\n[ INFO] [1530905134.272928342]: Odom: quality=269, std dev=0.011017m|0.011017rad, update time=0.046244s\r\n[ INFO] [1530905134.333835692]: Odom: quality=108, std dev=0.014520m|0.014520rad, update time=0.048488s\r\n[ INFO] [1530905134.405285511]: Odom: quality=265, std dev=0.011595m|0.011595rad, update time=0.050721s\r\n[ INFO] [1530905134.490274204]: Odom: quality=266, std dev=0.011436m|0.011436rad, update time=0.049222s\r\n[ INFO] [1530905134.563955100]: Odom: quality=136, std dev=0.017799m|0.017799rad, update time=0.050858s\r\n[ INFO] [1530905134.622903248]: Odom: quality=138, std dev=0.015713m|0.015713rad, update time=0.037540s\r\n[ INFO] [1530905134.697889653]: Odom: quality=225, std dev=0.010719m|0.010719rad, update time=0.063444s\r\n[ INFO] [1530905134.790514311]: Odom: quality=161, std dev=0.012951m|0.012951rad, update time=0.048402s\r\n[ INFO] [1530905134.828732711]: rtabmap (15): Rate=1.00s, Limit=0.000s, RTAB-Map=0.2053s, Maps update=0.0016s pub=0.0000s (local map=14, WM=14)\r\n[ INFO] [1530905134.867098258]: Odom: quality=379, std dev=0.009962m|0.009962rad, update time=0.054004s\r\n[ INFO] [1530905134.976189920]: Odom: quality=303, std dev=0.010108m|0.010108rad, update time=0.089743s\r\n[ INFO] [1530905135.049944665]: Odom: quality=135, std dev=0.015297m|0.015297rad, update time=0.046297s\r\n[ INFO] [1530905135.116290685]: Odom: quality=307, std dev=0.009509m|0.009509rad, update time=0.042892s\r\n[ INFO] [1530905135.181954069]: Odom: quality=221, std dev=0.012409m|0.012409rad, update time=0.044436s\r\n[ INFO] [1530905135.251927006]: Odom: quality=355, std dev=0.009648m|0.009648rad, update time=0.046519s\r\n[ INFO] [1530905135.316087194]: Odom: quality=269, std dev=0.012595m|0.012595rad, update time=0.042678s\r\n[ INFO] [1530905135.381112921]: Odom: quality=382, std dev=0.008357m|0.008357rad, update time=0.049193s\r\n[ INFO] [1530905135.448875093]: Odom: quality=292, std dev=0.011364m|0.011364rad, update time=0.045939s\r\n[ INFO] [1530905135.500735316]: Odom: quality=341, std dev=0.012712m|0.012712rad, update time=0.033741s\r\n[ INFO] [1530905135.568921610]: Odom: quality=290, std dev=0.012272m|0.012272rad, update time=0.055517s\r\nterminate called after throwing an instance of 'std::runtime_error'\r\n  what():  freenect_process_events error\r\n[ INFO] [1530905135.674769765]: Odom: quality=225, std dev=0.012883m|0.012883rad, update time=0.073623s\r\n[ INFO] [1530905135.775502144]: rtabmap (16): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0982s, Maps update=0.0013s pub=0.0000s (local map=14, WM=14)\r\n[camera2/camera2_nodelet_manager-26] process has died [pid 9817, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera2_nodelet_manager __log:=/home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/camera2-camera2_nodelet_manager-26.log].\r\nlog file: /home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/camera2-camera2_nodelet_manager-26*.log\r\n[camera2/rgbd_sync-53] process has finished cleanly\r\nlog file: /home/e4e/.ros/log/4f3975f8-8152-11e8-b98f-02429def565d/camera2-rgbd_sync-53*.log\r\n^C[rtabmap/rtabmap-55] killing on exit\r\n[rtabmap/rtabmapviz-56] killing on exit\r\n[rtabmap/rgbd_odometry-54] killing on exit\r\n[camera1/rgbd_sync-52] killing on exit\r\n[base_to_camera2_tf-51] killing on exit\r\n[base_to_camera1_tf-50] killing on exit\r\n[ INFO] [1530905529.321291850]: rtabmapviz: ctrl-c catched! Exiting Qt app...\r\n[camera2_base_link3-49] killing on exit\r\n[camera2_base_link2-48] killing on exit\r\n[camera2_base_link1-47] killing on exit\r\n[camera2_base_link-46] killing on exit\r\n[camera2/disparity_registered_hw-45] killing on exit\r\n[camera2/disparity_registered_sw-44] killing on exit\r\n[camera2/disparity_depth-43] killing on exit\r\n[camera2/depth_registered_metric-42] killing on exit\r\n[camera2/depth_registered_hw_metric_rect-41] killing on exit\r\n[camera2/points_xyzrgb_hw_registered-40] killing on exit\r\n[camera2/depth_registered_rectify_depth-39] killing on exit\r\n[camera2/depth_registered_sw_metric_rect-38] killing on exit\r\n[camera2/points_xyzrgb_sw_registered-37] killing on exit\r\n[camera2/register_depth_rgb-36] killing on exit\r\n[camera2/depth_points-35] killing on exit\r\n[camera2/depth_metric-34] killing on exit\r\n[camera2/depth_metric_rect-33] killing on exit\r\n[camera2/depth_rectify_depth-32] killing on exit\r\n[camera2/ir_rectify_ir-31] killing on exit\r\n[camera2/rgb_rectify_color-30] killing on exit\r\n[camera2/rgb_rectify_mono-29] killing on exit\r\n[camera2/rgb_debayer-28] killing on exit\r\n[camera2/driver-27] killing on exit\r\n[camera1_base_link3-25] killing on exit\r\n[camera1_base_link2-24] killing on exit\r\n[camera1_base_link1-23] killing on exit\r\n[camera1_base_link-22] killing on exit\r\n[camera1/disparity_registered_hw-21] killing on exit\r\n[camera1/disparity_registered_sw-20] killing on exit\r\nrtabmap: Saving database/long-term memory... (located at /home/e4e/.ros/rtabmap.db)\r\n[camera1/disparity_depth-19] killing on exit\r\n[camera1/depth_registered_metric-18] killing on exit\r\n[camera1/depth_registered_hw_metric_rect-17] killing on exit\r\n[camera1/points_xyzrgb_hw_registered-16] killing on exit\r\n[camera1/depth_registered_rectify_depth-15] killing on exit\r\n[camera1/depth_registered_sw_metric_rect-14] killing on exit\r\n[camera1/points_xyzrgb_sw_registered-13] killing on exit\r\n[camera1/register_depth_rgb-12] killing on exit\r\n[camera1/depth_points-11] killing on exit\r\n[camera1/depth_metric-10] killing on exit\r\n[camera1/depth_metric_rect-9] killing on exit\r\n[camera1/ir_rectify_ir-7] killing on exit\r\n[camera1/depth_rectify_depth-8] killing on exit\r\n[camera1/rgb_rectify_color-6] killing on exit\r\n[camera1/rgb_rectify_mono-5] killing on exit\r\n[camera1/rgb_debayer-4] killing on exit\r\n[camera1/driver-3] killing on exit\r\n[camera1/camera1_nodelet_manager-2] killing on exit\r\ndevice 0x7f4bf4036ce0 not found in linked list for this context!\r\nrtabmap: Saving database/long-term memory...done! (located at /home/e4e/.ros/rtabmap.db, 7 MB)\r\n[rosout-1] killing on exit\r\n[master] killing on exit\r\nshutting down processing monitor...\r\n... shutting down processing monitor complete\r\ndone"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/424944900","html_url":"https://github.com/introlab/rtabmap_ros/issues/259#issuecomment-424944900","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/259","id":424944900,"node_id":"MDEyOklzc3VlQ29tbWVudDQyNDk0NDkwMA==","user":{"login":"zhw5772","id":30331838,"node_id":"MDQ6VXNlcjMwMzMxODM4","avatar_url":"https://avatars0.githubusercontent.com/u/30331838?v=4","gravatar_id":"","url":"https://api.github.com/users/zhw5772","html_url":"https://github.com/zhw5772","followers_url":"https://api.github.com/users/zhw5772/followers","following_url":"https://api.github.com/users/zhw5772/following{/other_user}","gists_url":"https://api.github.com/users/zhw5772/gists{/gist_id}","starred_url":"https://api.github.com/users/zhw5772/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/zhw5772/subscriptions","organizations_url":"https://api.github.com/users/zhw5772/orgs","repos_url":"https://api.github.com/users/zhw5772/repos","events_url":"https://api.github.com/users/zhw5772/events{/privacy}","received_events_url":"https://api.github.com/users/zhw5772/received_events","type":"User","site_admin":false},"created_at":"2018-09-27T03:14:11Z","updated_at":"2018-09-27T03:14:11Z","author_association":"NONE","body":"@frushton \r\n\r\nHave solved the problem？\r\n\r\nI also have the error：\r\n[ERROR] (2018-07-06 12:25:20.213) OdometryF2M.cpp:200::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled\r\n\r\nCould you tell me how to deal with it?\r\n\r\nThank you!"}}
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