open3d_slam
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Odometry failed!!!!!
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
Is there someone meet this question?