nov05/20250220_udacity_nd209_robotics_issues.md

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20250220_udacity_nd209_robotics_issues.md

🟢 20250221_Import VMWare OVA to GCP VM

☝️ Check my Google Docs

🟢⚠️ It is hard to ROSLaunch that Gazebo world that I created via udacity_office.launch.

✅ It’s probably due to insufficient memory. I have migrated the whole course repos to local windows 11, wsl2, ubuntu 20.04, ros, gazebo 11 (classic). Originally i was using VMWare with the ubuntu 16.04 image.

VMware: vmw_ioctl_command error Cannot allocate memory.
Aborted (core dumped)
[gazebo_gui-3] process has died

obond@udacity:~/catkin_ws$ roslaunch my_robot udacity_office.launch
... logging to /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/roslaunch-udacity-6115.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.146.128:33359/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [6131]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fc58a24c-efb7-11ef-ac2e-000c29b977f9
process[rosout-1]: started with pid [6144]
started core service [/rosout]
process[gazebo-2]: started with pid [6147]
process[gazebo_gui-3]: started with pid [6153]
process[joint_state_publisher-4]: started with pid [6178]
process[robot_state_publisher-5]: started with pid [6179]
process[urdf_spawner-6]: started with pid [6180]
process[rviz-7]: started with pid [6181]
SpawnModel script started
[ INFO] [1740075897.463273383]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1740075897.464587612]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1740075897.525276, 0.000000]: Loading model XML from ros parameter
[INFO] [1740075897.528256, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1740075898.134898, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1740075898.180367, 0.000000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name udacity_office_my_robot
[urdf_spawner-6] process has finished cleanly
log file: /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/urdf_spawner-6*.log
[ INFO] [1740075898.516658742, 1549.348000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1740075898.530733224, 1549.348000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1740075898.531429882, 1549.348000000]: Starting Laser Plugin (ns = /)
[ INFO] [1740075898.535874445, 1549.348000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1740075898.552923307, 1549.348000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1740075898.641781446, 1549.348000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1740075898.641935340, 1549.348000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1740075898.643362848, 1549.348000000]: DiffDrive(ns = //): <tf_prefix> = 
[ INFO] [1740075898.644614865, 1549.348000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1740075898.647578356, 1549.348000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1740075898.648702679, 1549.348000000]: DiffDrive(ns = //): Advertise odom on odom 
[ INFO] [1740075898.659440552, 1549.353000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1740075898.723666300, 1549.378000000]: Physics dynamic reconfigure ready.
VMware: vmw_ioctl_command error Cannot allocate memory.
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 6153, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/gazebo_gui-3.log].
log file: /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/gazebo_gui-3*.log
[rviz-7] process has finished cleanly
log file: /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/rviz-7*.log
^C[robot_state_publisher-5] killing on exit
[joint_state_publisher-4] killing on exit
[gazebo-2] killing on exit
[gazebo-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robond@udacity:~/catkin_ws$ cat /home/robond/.ros/log/fc58a24c-efb7-11ef-ac2e-000c29b977f9/urdf_spawner-6*.log
[rospy.client][INFO] 2025-02-20 10:24:57,418: init_node, name[/urdf_spawner], pid[6180]
[xmlrpc][INFO] 2025-02-20 10:24:57,419: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2025-02-20 10:24:57,419: Started XML-RPC server [http://192.168.146.128:33187/]
[rospy.impl.masterslave][INFO] 2025-02-20 10:24:57,419: _ready: http://192.168.146.128:33187/
[rospy.init][INFO] 2025-02-20 10:24:57,419: ROS Slave URI: [http://192.168.146.128:33187/]
[rospy.registration][INFO] 2025-02-20 10:24:57,419: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2025-02-20 10:24:57,420: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2025-02-20 10:24:57,519: registered with master
[rospy.rosout][INFO] 2025-02-20 10:24:57,520: initializing /rosout core topic
[rospy.rosout][INFO] 2025-02-20 10:24:57,521: connected to core topic /rosout
[rospy.simtime][INFO] 2025-02-20 10:24:57,522: initializing /clock core topic
[rospy.simtime][INFO] 2025-02-20 10:24:57,523: connected to core topic /clock
[rosout][INFO] 2025-02-20 10:24:57,525: Loading model XML from ros parameter
[rosout][INFO] 2025-02-20 10:24:57,528: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2025-02-20 10:24:57,779: topic[/rosout] adding connection to [/rosout], count 0
[rosout][INFO] 2025-02-20 10:24:58,134: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2025-02-20 10:24:58,180: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name udacity_office_my_robot
[rospy.core][INFO] 2025-02-20 10:24:58,180: signal_shutdown [atexit]
[rospy.internal][INFO] 2025-02-20 10:24:58,183: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2025-02-20 10:24:58,184: atexit

Author

nov05 commented Apr 7, 2025 •

edited

Loading

🟢⚠️ issue solved: not able to launch rtabmap_ros slam after built opencv, rtabmap, rtabmap_ros from source.
✅ built opencv bridge and image geometry from source, then rebuilt rtabmap and rtabmap_ros with updated CMakeLists.txt.

$ gedit ~/rtabmap/CMakeLists.txt ❓
## begin of add by nov05
set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)
set(image_geometry_DIR /usr/local/share/image_geometry/cmake)
## end of add by nov05
find_package(OpenCV 4.2 …)

launch an app
robond@guido:~/catkin_ws3$ roslaunch main udacity_office_rtabmap.launch

[rtabmap/rtabmap-6] process has died [pid 69752, exit code -11, cmd /home/robond/catkin_ws3/devel/lib/rtabmap_slam/rtabmap --delete_db_on_start scan:=/scan rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rtabmap-rtabmap-6.log].
log file: /home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rtabmap-rtabmap-6*.log
robond@guido:~/catkin_ws3$ ls /home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698
master.log  my_robot-4.log  roslaunch-guido-69714.log  rosout-1-stdout.log  rosout.log

⚠️ debug:

robond@guido:~/catkin_ws3$ source devel/setup.bash
robond@guido:~/catkin_ws3$ rosrun rtabmap_ros rtabmap --delete_db_on_start scan:=/scan rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map
[rosrun] Couldn't find executable named rtabmap below /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_ros

robond@guido:~/catkin_ws3$ rospack list | grep rtabmap_ros
rtabmap_conversions /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_conversions
rtabmap_costmap_plugins /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_costmap_plugins
rtabmap_demos /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_demos
rtabmap_examples /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_examples
rtabmap_launch /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_launch
rtabmap_legacy /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_legacy
rtabmap_msgs /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_msgs
rtabmap_odom /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_odom
rtabmap_python /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_python
rtabmap_ros /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_ros
rtabmap_rviz_plugins /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_rviz_plugins
rtabmap_slam /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam
rtabmap_sync /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync
rtabmap_util /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util
rtabmap_viz /home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_viz

The rtabmap_ros CMakeLists.txt defines only a meta-package. It doesn’t build any code, which is why catkin_make --pkg rtabmap_ros didn’t create any executables or libraries.

robond@guido:~/catkin_ws3$ ls devel/lib/rtabmap_ros/
ls: cannot access 'devel/lib/rtabmap_ros/': No such file or directory

rebuild the package

catkin_make \
--pkg rtabmap_slam \
-DCMAKE_BUILD_TYPE=Release \
-DRTABMAP_SYNC_MULTI_RGBD=ON \
-DRTABMAP_SYNC_USER_DATA=ON \
-DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-12.2 \
-DOpenCV_DIR=/home/robond/opencv-python/_skbuild/linux-x86_64-3.8/cmake-install/lib/cmake/opencv4 \
-j1 clean

robond@guido:~/catkin_ws3$ catkin_make \
bmap_sl> --pkg rtabmap_slam \
> -DCMAKE_BUILD_TYPE=Release \
> -DRTABMAP_SYNC_MULTI_RGBD=ON \
> -DRTABMAP_SYNC_USER_DATA=ON \
> -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-12.2 \
> -DOpenCV_DIR=/home/robond/opencv-python/_skbuild/linux-x86_64-3.8/cmake-install/lib/cmake/opencv4 \
> -j1 clean
Base path: /home/robond/catkin_ws3
Source space: /home/robond/catkin_ws3/src
Build space: /home/robond/catkin_ws3/build
Devel space: /home/robond/catkin_ws3/devel
Install space: /home/robond/catkin_ws3/install
####
#### Running command: "make cmake_check_build_system" in "/home/robond/catkin_ws3/build"
####
####
#### Running command: "make -j1 clean" in "/home/robond/catkin_ws3/build/rtabmap_ros/rtabmap_slam"
####
robond@guido:~/catkin_ws3$ catkin_make --pkg rtabmap_slam -DCMAKE_BUILD_TYPE=Release -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-12.2 -DOpenCV_DIR=/home/robond/opencv-python/_skbuild/linux-x86_64-3.8/cmake-install/lib/cmake/opencv4 -j1
Base path: /home/robond/catkin_ws3
Source space: /home/robond/catkin_ws3/src
Build space: /home/robond/catkin_ws3/build
Devel space: /home/robond/catkin_ws3/devel
Install space: /home/robond/catkin_ws3/install
####
#### Running command: "make cmake_check_build_system" in "/home/robond/catkin_ws3/build"
####
####
#### Running command: "make -j1" in "/home/robond/catkin_ws3/build/rtabmap_ros/rtabmap_slam"
####
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_LoadDatabase
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_CleanupLocalGrids
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_SensorData
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_MapGraph
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_MapData
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_CameraModel
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_ScanDescriptor
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Node
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_KeyPoint
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GetNodeData
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_UserData
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_RGBDImage
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GlobalDescriptor
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Goal
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Info
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_LandmarkDetection
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_OdomInfo
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_AddLink
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GlobalBundleAdjustment
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Point3f
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Link
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_ListLabels
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_LandmarkDetections
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_SetGoal
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_RGBDImages
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Path
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GPS
[  0%] Built target geometry_msgs_generate_messages_cpp
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_EnvSensor
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_DetectMoreLoopClosures
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_CameraModels
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_Point2f
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_PublishMap
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GetMap
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GetMap2
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_ResetPose
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_SetLabel
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_RemoveLabel
[  0%] Built target sensor_msgs_generate_messages_cpp
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GetPlan
[  0%] Built target _rtabmap_msgs_generate_messages_check_deps_GetNodesInRadius
[ 52%] Built target rtabmap_msgs_generate_messages_cpp
[ 52%] Built target rtabmap_conversions
[ 69%] Built target rtabmap_util_plugins
[ 91%] Built target rtabmap_sync
[ 95%] Built target rtabmap_sync_plugins
[ 95%] Building CXX object rtabmap_ros/rtabmap_slam/CMakeFiles/rtabmap_slam_plugins.dir/src/CoreWrapper.cpp.o
[ 95%] Linking CXX shared library /home/robond/catkin_ws3/devel/lib/librtabmap_slam_plugins.so
[ 95%] Built target rtabmap_slam_plugins
[ 95%] Building CXX object rtabmap_ros/rtabmap_slam/CMakeFiles/rtabmap_node.dir/src/CoreNode.cpp.o
[100%] Linking CXX executable /home/robond/catkin_ws3/devel/lib/rtabmap_slam/rtabmap
[100%] Built target rtabmap_node
robond@guido:~/catkin_ws3$ ls devel/lib/rtabmap_slam/
rtabmap

robond@guido:~/catkin_ws3$ rosrun rtabmap_slam rtabmap ...
[ INFO] [1744063128.946257678]: Starting node...
[ERROR] [1744063128.987768982]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying... ❌

segfault at 0 ip 00007fafe8989326 sp 00007faffd1e3000 error 4 in librtabmap_conversions.so

robond@guido:~/catkin_ws3$ dmesg | grep -i "rtabmap"
[86831.402834] rtabmap[53971]: segfault at 10 ip 00007f303c187ad0 sp 00007f300b7dd3b0 error 6 in librtabmap_core.so.0.21.12[7f303b972000+3521000]    
[86831.403067] CPU: 11 PID: 53971 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[86831.407673] WSL (54493 - CaptureCrash): Capturing crash for pid: 53470, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[86997.129037] rtabmap[55311]: segfault at 0 ip 00007fafe8989326 sp 00007faffd1e3000 error 4 in librtabmap_conversions.so[7fafe8944000+2ba000]  ❌     
[86997.129164] CPU: 10 PID: 55311 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[86997.131677] WSL (55534 - CaptureCrash): Capturing crash for pid: 54809, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[87174.227305] rtabmap[56257]: segfault at 0 ip 00007fae740fd326 sp 00007fae6dfd4000 error 4 in librtabmap_conversions.so[7fae740b8000+2ba000]       
[87174.227438] CPU: 2 PID: 56257 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[87174.229140] WSL (56484 - CaptureCrash): Capturing crash for pid: 55751, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[92301.428310] CPU: 3 PID: 58736 Comm: rtabmap_viz Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[92301.431534] WSL (58795 - CaptureCrash): Capturing crash for pid: 58295, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_viz!rtabmap_viz, signal: 6, port: 50005
[92341.221642] rtabmap[58735]: segfault at 10 ip 00007fd4aa55cad0 sp 00007ffe459196e0 error 6 in librtabmap_core.so.0.21.12[7fd4a9d47000+3521000]    
[92341.221695] CPU: 7 PID: 58735 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[92341.222611] WSL (58809 - CaptureCrash): Capturing crash for pid: 58294, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[92365.362462] rtabmap[58932]: segfault at 0 ip 00007f76941ad326 sp 00007f76956c2000 error 4 in librtabmap_conversions.so[7f7694168000+2ba000]       
[92365.362488] CPU: 9 PID: 58932 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[92365.364606] WSL (59160 - CaptureCrash): Capturing crash for pid: 58408, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[93193.714836] rtabmap[59753]: segfault at 0 ip 00007fde34351326 sp 00007fde367d5000 error 4 in librtabmap_conversions.so[7fde3430c000+2ba000]       
[93193.715009] CPU: 6 PID: 59753 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[93193.716607] WSL (60086 - CaptureCrash): Capturing crash for pid: 59222, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[93506.946662] rtabmap[62993]: segfault at 0 ip 00007fec88705326 sp 00007fec8ffd8000 error 4 in librtabmap_conversions.so[7fec886c0000+2ba000]       
[93506.946814] CPU: 8 PID: 62993 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[93506.952663] WSL (63217 - CaptureCrash): Capturing crash for pid: 62448, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[156905.915189] rtabmap[69025]: segfault at 10 ip 00007fb44de66ad0 sp 00007ffd6823c340 error 6 in librtabmap_core.so.0.21.12[7fb44d651000+3521000]   
[156905.915352] CPU: 0 PID: 69025 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[156905.919645] WSL (69103 - CaptureCrash): Capturing crash for pid: 68527, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[157248.926829] rtabmap[69133]: segfault at 10 ip 00007f046a3a8ad0 sp 00007fffad356ee0 error 6 in librtabmap_core.so.0.21.12[7f0469b93000+3521000]   
[157248.926973] CPU: 10 PID: 69133 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[157248.928586] WSL (69696 - CaptureCrash): Capturing crash for pid: 68634, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[157723.597233] rtabmap[70346]: segfault at 0 ip 00007fe594351326 sp 00007fe5967d5000 error 4 in librtabmap_conversions.so[7fe59430c000+2ba000]      
[157723.597254] CPU: 3 PID: 70346 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[157723.598159] WSL (70565 - CaptureCrash): Capturing crash for pid: 69752, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[161353.771149] rtabmap[71520]: segfault at 10 ip 00007fe437229ad0 sp 00007fff19641e40 error 6 in librtabmap_core.so.0.21.12[7fe436a14000+3521000]   
[161353.771555] CPU: 7 PID: 71520 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[161353.774737] WSL (71700 - CaptureCrash): Capturing crash for pid: 71005, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[161500.833152] rtabmap[71703]: segfault at 10 ip 00007fdcb4537ad0 sp 00007fffe5060770 error 6 in librtabmap_core.so.0.21.12[7fdcb3d22000+3521000]   
[161500.833247] CPU: 2 PID: 71703 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[161500.836430] WSL (71738 - CaptureCrash): Capturing crash for pid: 71186, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[161818.481215] rtabmap[72173]: segfault at 10 ip 00007f5f8c9d8ad0 sp 00007ffd8d437080 error 6 in librtabmap_core.so.0.21.12[7f5f8c1c3000+3521000]   
[161818.481275] CPU: 11 PID: 72173 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[161818.482737] WSL (72885 - CaptureCrash): Capturing crash for pid: 71653, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[161990.336992] rtabmap[74102]: segfault at 0 ip 00007f1f92dda326 sp 00007f1f9f7d7000 error 4 in librtabmap_conversions.so[7f1f92d95000+2ba000]      
[161990.337029] CPU: 8 PID: 74102 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[161990.337941] WSL (74316 - CaptureCrash): Capturing crash for pid: 1049, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[162176.272494] rtabmap[74975]: segfault at 0 ip 00007f86b0989326 sp 00007f86c5530fa0 error 4 in librtabmap_conversions.so[7f86b0944000+2ba000]      
[162176.272636] CPU: 8 PID: 74975 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[162176.274617] WSL (75208 - CaptureCrash): Capturing crash for pid: 1929, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[162354.087999] rtabmap[76101]: segfault at 0 ip 00007fc3e0351326 sp 00007fc3e27d5000 error 4 in librtabmap_conversions.so[7fc3e030c000+2ba000]      
[162354.088092] CPU: 0 PID: 76101 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[162354.089923] WSL (76328 - CaptureCrash): Capturing crash for pid: 3050, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[162659.542991] rtabmap[77274]: segfault at 0 ip 00007f017c2be326 sp 00007f017e7d5000 error 4 in librtabmap_conversions.so[7f017c279000+2ba000]      
[162659.543043] CPU: 4 PID: 77274 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[162659.544669] WSL (77500 - CaptureCrash): Capturing crash for pid: 4213, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005
[162788.736482] rtabmap[78143]: segfault at 0 ip 00007fdab8246326 sp 00007fdab975b000 error 4 in librtabmap_conversions.so[7fdab8201000+2ba000]      
[162788.736535] CPU: 1 PID: 78143 Comm: rtabmap Not tainted 5.15.167.4-microsoft-standard-WSL2 #1
[162788.738117] WSL (78380 - CaptureCrash): Capturing crash for pid: 5083, executable: !home!robond!catkin_ws3!devel!lib!rtabmap_slam!rtabmap, signal: 11, port: 50005

robond@guido:~/catkin_ws3$ cat /home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log
[roslaunch][INFO] 2025-04-07 15:59:51,478: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2025-04-07 15:59:51,487: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2025-04-07 15:59:51,487: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'main', 'udacity_office_rtabmap.launch']   
[roslaunch][INFO] 2025-04-07 15:59:51,487: roslaunch env is environ({'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'})  
[roslaunch][INFO] 2025-04-07 15:59:51,487: starting in server mode
[roslaunch.parent][INFO] 2025-04-07 15:59:51,487: starting roslaunch parent run
[roslaunch][INFO] 2025-04-07 15:59:51,488: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml
[roslaunch][INFO] 2025-04-07 15:59:51,622: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2025-04-07 15:59:51,623: loading config file /home/robond/catkin_ws3/src/main/launch/udacity_office_rtabmap.launch
[roslaunch][INFO] 2025-04-07 15:59:51,658: Added node of type [gazebo_ros/gzserver] in namespace [/]
[roslaunch][INFO] 2025-04-07 15:59:51,658: Added node of type [gazebo_ros/gzclient] in namespace [/]
[roslaunch][INFO] 2025-04-07 15:59:51,934: Added node of type [gazebo_ros/spawn_model] in namespace [/]
[roslaunch][INFO] 2025-04-07 15:59:51,935: Added node of type [robot_state_publisher/robot_state_publisher] in namespace [/]
[roslaunch][INFO] 2025-04-07 15:59:51,935: Added node of type [rtabmap_slam/rtabmap] in namespace [/rtabmap/]
[roslaunch][INFO] 2025-04-07 15:59:51,936: Added node of type [rviz/rviz] in namespace [/]
[roslaunch][INFO] 2025-04-07 15:59:51,936: ... selected machine [] for node of type [gazebo_ros/gzserver]
[roslaunch][INFO] 2025-04-07 15:59:51,936: ... selected machine [] for node of type [gazebo_ros/gzclient]
[roslaunch][INFO] 2025-04-07 15:59:51,936: ... selected machine [] for node of type [gazebo_ros/spawn_model]
[roslaunch][INFO] 2025-04-07 15:59:51,936: ... selected machine [] for node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2025-04-07 15:59:51,936: ... selected machine [] for node of type [rtabmap_slam/rtabmap]
[roslaunch][INFO] 2025-04-07 15:59:51,936: ... selected machine [] for node of type [rviz/rviz]
[roslaunch.pmon][INFO] 2025-04-07 15:59:51,938: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2025-04-07 15:59:51,939: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2025-04-07 15:59:51,939: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2025-04-07 15:59:51,939: starting parent XML-RPC server
[roslaunch.server][INFO] 2025-04-07 15:59:51,940: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2025-04-07 15:59:51,940: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2025-04-07 15:59:51,940: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2025-04-07 15:59:51,940: Started XML-RPC server [http://guido:41879/]
[xmlrpc][INFO] 2025-04-07 15:59:51,941: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2025-04-07 15:59:51,952: started roslaunch server http://guido:41879/
[roslaunch.parent][INFO] 2025-04-07 15:59:51,952: ... parent XML-RPC server started
[roslaunch][INFO] 2025-04-07 15:59:51,952: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:51,953: auto-starting new master
[roslaunch][INFO] 2025-04-07 15:59:51,953: create_master_process: rosmaster, /opt/ros/noetic/share/ros, 11311, 3, None, False
[roslaunch][INFO] 2025-04-07 15:59:51,953: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2025-04-07 15:59:51,954: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2025-04-07 15:59:51,954: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2025-04-07 15:59:51,954: process[master]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:51,954: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/master.log']]
[roslaunch][INFO] 2025-04-07 15:59:51,954: process[master]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:51,958: process[master]: started with pid [69724]
[roslaunch][INFO] 2025-04-07 15:59:51,958: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,059: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,159: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,161: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,162: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2025-04-07 15:59:52,163: setting /run_id to 3fa4d64c-13f3-11f0-801f-b1d2473e9698
[roslaunch][INFO] 2025-04-07 15:59:52,163: setting /roslaunch/uris/host_guido__41879' to http://guido:41879/
[roslaunch][INFO] 2025-04-07 15:59:52,165: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2025-04-07 15:59:52,165: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,165: process[rosout-1]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'}]    
[roslaunch][INFO] 2025-04-07 15:59:52,200: process[rosout-1]: args[['/opt/ros/noetic/lib/rosout/rosout', '__name:=rosout']]
[roslaunch][INFO] 2025-04-07 15:59:52,200: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,200: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,200: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2025-04-07 15:59:52,200: ... registered process [rosout-1]
[roslaunch][INFO] 2025-04-07 15:59:52,200: process[rosout-1]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,201: process[rosout-1]: start w/ args [['/opt/ros/noetic/lib/rosout/rosout', '__name:=rosout', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rosout-1.log']]
[roslaunch][INFO] 2025-04-07 15:59:52,201: process[rosout-1]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,207: process[rosout-1]: started with pid [69734]
[roslaunch][INFO] 2025-04-07 15:59:52,208: ... successfully launched [rosout-1]
[roslaunch][INFO] 2025-04-07 15:59:52,208: load_parameters starting ...
[roslaunch][INFO] 2025-04-07 15:59:52,231: ... load_parameters complete
[roslaunch][INFO] 2025-04-07 15:59:52,231: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2025-04-07 15:59:52,231: ... preparing to launch node of type [gazebo_ros/gzserver]
[roslaunch][INFO] 2025-04-07 15:59:52,231: create_node_process: package[gazebo_ros] type[gzserver] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,231: process[gazebo-2]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'}]    
[roslaunch][INFO] 2025-04-07 15:59:52,234: process[gazebo-2]: args[['/opt/ros/noetic/lib/gazebo_ros/gzserver', '-e', 'ode', '/home/robond/catkin_ws3/src/my_robot/worlds/udacity_office.world', '__name:=gazebo']]
[roslaunch][INFO] 2025-04-07 15:59:52,234: ... created process [gazebo-2]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,234: ProcessMonitor.register[gazebo-2]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,234: ProcessMonitor.register[gazebo-2] complete
[roslaunch][INFO] 2025-04-07 15:59:52,234: ... registered process [gazebo-2]
[roslaunch][INFO] 2025-04-07 15:59:52,234: process[gazebo-2]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,234: process[gazebo-2]: start w/ args [['/opt/ros/noetic/lib/gazebo_ros/gzserver', '-e', 'ode', '/home/robond/catkin_ws3/src/my_robot/worlds/udacity_office.world', '__name:=gazebo', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/gazebo-2.log']]
[roslaunch][INFO] 2025-04-07 15:59:52,234: process[gazebo-2]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,240: process[gazebo-2]: started with pid [69737]
[roslaunch][INFO] 2025-04-07 15:59:52,241: ... successfully launched [gazebo-2]
[roslaunch][INFO] 2025-04-07 15:59:52,241: ... preparing to launch node of type [gazebo_ros/gzclient]
[roslaunch][INFO] 2025-04-07 15:59:52,241: create_node_process: package[gazebo_ros] type[gzclient] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,241: process[gazebo_gui-3]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'}]
[roslaunch][INFO] 2025-04-07 15:59:52,242: process[gazebo_gui-3]: args[['/opt/ros/noetic/lib/gazebo_ros/gzclient', '__name:=gazebo_gui']]
[roslaunch][INFO] 2025-04-07 15:59:52,242: ... created process [gazebo_gui-3]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,242: ProcessMonitor.register[gazebo_gui-3]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,242: ProcessMonitor.register[gazebo_gui-3] complete
[roslaunch][INFO] 2025-04-07 15:59:52,242: ... registered process [gazebo_gui-3]
[roslaunch][INFO] 2025-04-07 15:59:52,242: process[gazebo_gui-3]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,242: process[gazebo_gui-3]: start w/ args [['/opt/ros/noetic/lib/gazebo_ros/gzclient', '__name:=gazebo_gui', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/gazebo_gui-3.log']]
[roslaunch][INFO] 2025-04-07 15:59:52,242: process[gazebo_gui-3]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,249: process[gazebo_gui-3]: started with pid [69740]
[roslaunch][INFO] 2025-04-07 15:59:52,249: ... successfully launched [gazebo_gui-3]
[roslaunch][INFO] 2025-04-07 15:59:52,249: ... preparing to launch node of type [gazebo_ros/spawn_model]
[roslaunch][INFO] 2025-04-07 15:59:52,249: create_node_process: package[gazebo_ros] type[spawn_model] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,249: process[my_robot-4]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'}]  
[roslaunch][INFO] 2025-04-07 15:59:52,250: process[my_robot-4]: args[['/opt/ros/noetic/lib/gazebo_ros/spawn_model', '-urdf', '-param', 'robot_description', '-model', 'my_robot', '-x', '0', '-y', '-6.5', '-z', '0', '-R', '0', '-P', '0', '-Y', '1.5707', '__name:=my_robot']]
[roslaunch][INFO] 2025-04-07 15:59:52,251: ... created process [my_robot-4]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,251: ProcessMonitor.register[my_robot-4]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,251: ProcessMonitor.register[my_robot-4] complete
[roslaunch][INFO] 2025-04-07 15:59:52,251: ... registered process [my_robot-4]
[roslaunch][INFO] 2025-04-07 15:59:52,251: process[my_robot-4]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,251: process[my_robot-4]: start w/ args [['/opt/ros/noetic/lib/gazebo_ros/spawn_model', '-urdf', '-param', 'robot_description', '-model', 'my_robot', '-x', '0', '-y', '-6.5', '-z', '0', '-R', '0', '-P', '0', '-Y', '1.5707', '__name:=my_robot', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/my_robot-4.log']]
[roslaunch][INFO] 2025-04-07 15:59:52,251: process[my_robot-4]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,257: process[my_robot-4]: started with pid [69747]
[roslaunch][INFO] 2025-04-07 15:59:52,257: ... successfully launched [my_robot-4]
[roslaunch][INFO] 2025-04-07 15:59:52,257: ... preparing to launch node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2025-04-07 15:59:52,257: create_node_process: package[robot_state_publisher] type[robot_state_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,258: process[robot_state_publisher-5]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'}]
[roslaunch][INFO] 2025-04-07 15:59:52,259: process[robot_state_publisher-5]: args[['/opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher', '__name:=robot_state_publisher']]
[roslaunch][INFO] 2025-04-07 15:59:52,259: ... created process [robot_state_publisher-5]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,259: ProcessMonitor.register[robot_state_publisher-5]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,259: ProcessMonitor.register[robot_state_publisher-5] complete
[roslaunch][INFO] 2025-04-07 15:59:52,259: ... registered process [robot_state_publisher-5]
[roslaunch][INFO] 2025-04-07 15:59:52,259: process[robot_state_publisher-5]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,259: process[robot_state_publisher-5]: start w/ args [['/opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher', '__name:=robot_state_publisher', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/robot_state_publisher-5.log']]        
[roslaunch][INFO] 2025-04-07 15:59:52,259: process[robot_state_publisher-5]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,264: process[robot_state_publisher-5]: started with pid [69748]
[roslaunch][INFO] 2025-04-07 15:59:52,264: ... successfully launched [robot_state_publisher-5]
[roslaunch][INFO] 2025-04-07 15:59:52,264: ... preparing to launch node of type [rtabmap_slam/rtabmap]
[roslaunch][INFO] 2025-04-07 15:59:52,264: create_node_process: package[rtabmap_slam] type[rtabmap] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,264: process[rtabmap/rtabmap-6]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log', 'ROS_NAMESPACE': '/rtabmap'}]
[roslaunch][INFO] 2025-04-07 15:59:52,267: process[rtabmap/rtabmap-6]: args[['/home/robond/catkin_ws3/devel/lib/rtabmap_slam/rtabmap', '--delete_db_on_start', 'scan:=/scan', 'rgb/image:=/camera/rgb/image_raw', 'depth/image:=/camera/depth/image_raw', 'rgb/camera_info:=/camera/rgb/camera_info', 'grid_map:=/map', '__name:=rtabmap']]
[roslaunch][INFO] 2025-04-07 15:59:52,267: ... created process [rtabmap/rtabmap-6]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,267: ProcessMonitor.register[rtabmap/rtabmap-6]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,267: ProcessMonitor.register[rtabmap/rtabmap-6] complete
[roslaunch][INFO] 2025-04-07 15:59:52,267: ... registered process [rtabmap/rtabmap-6]
[roslaunch][INFO] 2025-04-07 15:59:52,267: process[rtabmap/rtabmap-6]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,267: process[rtabmap/rtabmap-6]: start w/ args [['/home/robond/catkin_ws3/devel/lib/rtabmap_slam/rtabmap', '--delete_db_on_start', 'scan:=/scan', 'rgb/image:=/camera/rgb/image_raw', 'depth/image:=/camera/depth/image_raw', 'rgb/camera_info:=/camera/rgb/camera_info', 'grid_map:=/map', '__name:=rtabmap', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rtabmap-rtabmap-6.log']]
[roslaunch][INFO] 2025-04-07 15:59:52,268: process[rtabmap/rtabmap-6]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,274: process[rtabmap/rtabmap-6]: started with pid [69752]
[roslaunch][INFO] 2025-04-07 15:59:52,275: ... successfully launched [rtabmap/rtabmap-6]
[roslaunch][INFO] 2025-04-07 15:59:52,275: ... preparing to launch node of type [rviz/rviz]
[roslaunch][INFO] 2025-04-07 15:59:52,275: create_node_process: package[rviz] type[rviz] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2025-04-07 15:59:52,275: process[rviz-7]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SUDO_GID': '0', 'PKG_CONFIG_PATH': '/home/robond/catkin_ws3/devel/lib/pkgconfig:/home/robond/catkin_ws2/devel/lib/pkgconfig:/home/robond/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'SUDO_COMMAND': '/usr/bin/su robond', 'SUDO_USER': 'root', 'ROS_PACKAGE_PATH': '/home/robond/catkin_ws3/src:/home/robond/catkin_ws2/src:/home/robond/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/robond/catkin_ws3/devel/share/common-lisp', 'PWD': '/home/robond/catkin_ws3', 'LOGNAME': 'robond', 'XDG_SESSION_TYPE': 'tty', 'CUDADIR': '/usr/local/cuda-12.2', 'HOME': '/home/robond', 'LANG': 'C.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/robond/catkin_ws3/devel:/opt/ros/noetic', 'CUDA_TOOLKIT_ROOT_DIR': '/usr/local/cuda-12.2', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/robond/catkin_ws3/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robond', 'DISPLAY': ':0', 'SHLVL': '1', 'TURTLEBOT3_MODEL': 'burger_for_autorace', 'ROS_MASTER_URI': 'http://localhost:11311', 'XDG_SESSION_ID': 'c53', 'LD_LIBRARY_PATH': '/usr/local/cuda-12.2/lib64:/home/robond/catkin_ws3/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PATH': '/usr/local/cuda-12.2/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '0', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', 'MAIL': '/var/mail/robond', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'OLDPWD': '/home/robond/catkin_ws3/src', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/roslaunch-guido-69714.log'}]      
[roslaunch][INFO] 2025-04-07 15:59:52,286: process[rviz-7]: args[['/opt/ros/noetic/lib/rviz/rviz', '-d', '/home/robond/catkin_ws3/src/main/rviz/rtabmap.rviz', '__name:=rviz']]
[roslaunch][INFO] 2025-04-07 15:59:52,286: ... created process [rviz-7]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,287: ProcessMonitor.register[rviz-7]
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,287: ProcessMonitor.register[rviz-7] complete
[roslaunch][INFO] 2025-04-07 15:59:52,287: ... registered process [rviz-7]
[roslaunch][INFO] 2025-04-07 15:59:52,287: process[rviz-7]: starting os process
[roslaunch][INFO] 2025-04-07 15:59:52,287: process[rviz-7]: start w/ args [['/opt/ros/noetic/lib/rviz/rviz', '-d', '/home/robond/catkin_ws3/src/main/rviz/rtabmap.rviz', '__name:=rviz', '__log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rviz-7.log']]
[roslaunch][INFO] 2025-04-07 15:59:52,287: process[rviz-7]: cwd will be [/home/robond/.ros]
[roslaunch][INFO] 2025-04-07 15:59:52,292: process[rviz-7]: started with pid [69754]
[roslaunch][INFO] 2025-04-07 15:59:52,292: ... successfully launched [rviz-7]
[roslaunch][INFO] 2025-04-07 15:59:52,292: ... launch_nodes complete
[roslaunch.pmon][INFO] 2025-04-07 15:59:52,292: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140185105917696)>
[roslaunch.parent][INFO] 2025-04-07 15:59:52,292: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2025-04-07 15:59:52,292: spin
[roslaunch][INFO] 2025-04-07 16:00:00,172: [my_robot-4] process has finished cleanly
log file: /home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/my_robot-4*.log
[roslaunch.pmon][INFO] 2025-04-07 16:00:00,172: ProcessMonitor.unregister[my_robot-4] starting
[roslaunch.pmon][INFO] 2025-04-07 16:00:00,172: ProcessMonitor.unregister[my_robot-4] complete
[roslaunch][ERROR] 2025-04-07 16:00:03,985: [rtabmap/rtabmap-6] process has died [pid 69752, exit code -11, cmd /home/robond/catkin_ws3/devel/lib/rtabmap_slam/rtabmap --delete_db_on_start scan:=/scan rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rtabmap-rtabmap-6.log].
log file: /home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rtabmap-rtabmap-6*.log
[roslaunch.pmon][INFO] 2025-04-07 16:00:03,986: ProcessMonitor.unregister[rtabmap/rtabmap-6] starting
[roslaunch.pmon][INFO] 2025-04-07 16:00:03,986: ProcessMonitor.unregister[rtabmap/rtabmap-6] complete
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,705: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon 140185105917696)>
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,745: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140185105917696)>
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,746: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140185105917696)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x7f7f638ca820>, <roslaunch.nodeprocess.LocalProcess object at 0x7f7f63746f40>, <roslaunch.nodeprocess.LocalProcess object at 0x7f7f6371a310>, <roslaunch.nodeprocess.LocalProcess object at 0x7f7f6371a2b0>, <roslaunch.nodeprocess.LocalProcess object at 0x7f7f61ee89d0>, <roslaunch.nodeprocess.LocalProcess object at 0x7f7f61ee8cd0>]
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,747: ProcessMonitor exit: killing rviz-7
[roslaunch][INFO] 2025-04-07 16:00:52,747: [rviz-7] killing on exit
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,747: ProcessMonitor exit: killing robot_state_publisher-5
[roslaunch][INFO] 2025-04-07 16:00:52,748: [robot_state_publisher-5] killing on exit
[roslaunch][INFO] 2025-04-07 16:00:52,748: process[rviz-7]: killing os process with pid[69754] pgid[69754]
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,748: ProcessMonitor exit: killing gazebo_gui-3
[roslaunch][INFO] 2025-04-07 16:00:52,749: process[robot_state_publisher-5]: killing os process with pid[69748] pgid[69748]
[roslaunch.pmon][INFO] 2025-04-07 16:00:52,749: ProcessMonitor exit: killing gazebo-2
[roslaunch][INFO] 2025-04-07 16:00:52,749: [rviz-7] sending SIGINT to pgid [69754]
[roslaunch][INFO] 2025-04-07 16:00:52,753: [gazebo_gui-3] killing on exit
[roslaunch][INFO] 2025-04-07 16:00:52,754: [robot_state_publisher-5] sending SIGINT to pgid [69748]
[roslaunch][INFO] 2025-04-07 16:00:52,760: [gazebo-2] killing on exit
[roslaunch][INFO] 2025-04-07 16:00:52,760: [rviz-7] sent SIGINT to pgid [69754]
[roslaunch][INFO] 2025-04-07 16:00:52,761: process[gazebo_gui-3]: killing os process with pid[69740] pgid[69740]
[roslaunch][INFO] 2025-04-07 16:00:52,761: [robot_state_publisher-5] sent SIGINT to pgid [69748]
[roslaunch][INFO] 2025-04-07 16:00:52,762: [gazebo_gui-3] sending SIGINT to pgid [69740]
[roslaunch][INFO] 2025-04-07 16:00:52,762: process[gazebo-2]: killing os process with pid[69737] pgid[69737]
[roslaunch][INFO] 2025-04-07 16:00:52,762: [gazebo_gui-3] sent SIGINT to pgid [69740]
[roslaunch][INFO] 2025-04-07 16:00:52,763: [gazebo-2] sending SIGINT to pgid [69737]
[roslaunch][INFO] 2025-04-07 16:00:52,763: [gazebo-2] sent SIGINT to pgid [69737]
[roslaunch][INFO] 2025-04-07 16:00:52,963: process[robot_state_publisher-5]: SIGINT killed with return value 0
[roslaunch][INFO] 2025-04-07 16:00:53,483: process[gazebo-2]: SIGINT killed with return value -2
[roslaunch][INFO] 2025-04-07 16:00:53,663: process[rviz-7]: SIGINT killed with return value 0
[roslaunch][ERROR] 2025-04-07 16:01:07,804: [gazebo_gui-3] escalating to SIGTERM
[roslaunch][INFO] 2025-04-07 16:01:07,805: [gazebo_gui-3] sent SIGTERM to pgid [69740]
[roslaunch][INFO] 2025-04-07 16:01:08,006: process[gazebo_gui-3]: SIGTERM killed with return value -15
[roslaunch.pmon][INFO] 2025-04-07 16:01:08,006: ProcessMonitor exit: killing rosout-1
[roslaunch][INFO] 2025-04-07 16:01:08,006: [rosout-1] killing on exit
[roslaunch][INFO] 2025-04-07 16:01:08,006: process[rosout-1]: killing os process with pid[69734] pgid[69734]
[roslaunch][INFO] 2025-04-07 16:01:08,006: [rosout-1] sending SIGINT to pgid [69734]
[roslaunch][INFO] 2025-04-07 16:01:08,006: [rosout-1] sent SIGINT to pgid [69734]
[roslaunch][INFO] 2025-04-07 16:01:08,207: process[rosout-1]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2025-04-07 16:01:08,207: ProcessMonitor exit: killing master
[roslaunch][INFO] 2025-04-07 16:01:08,207: [master] killing on exit
[roslaunch][INFO] 2025-04-07 16:01:08,207: process[master]: killing os process with pid[69724] pgid[69724]
[roslaunch][INFO] 2025-04-07 16:01:08,207: [master] sending SIGINT to pgid [69724]
[roslaunch][INFO] 2025-04-07 16:01:08,208: [master] sent SIGINT to pgid [69724]
[roslaunch][INFO] 2025-04-07 16:01:08,409: process[master]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2025-04-07 16:01:08,409: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2025-04-07 16:01:08,410: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2025-04-07 16:01:08,411: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2025-04-07 16:01:08,411: runner.stop()
[roslaunch][INFO] 2025-04-07 16:01:08,411: shutting down processing monitor...
[roslaunch][INFO] 2025-04-07 16:01:08,412: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 140185105917696)>       
[roslaunch.pmon][INFO] 2025-04-07 16:01:08,412: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140185105917696)>
[roslaunch][INFO] 2025-04-07 16:01:08,412: ... shutting down processing monitor complete
[roslaunch][INFO] 2025-04-07 16:01:08,412: done
[roslaunch.pmon][INFO] 2025-04-07 16:01:08,413: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140185105917696)>
[rospy.core][INFO] 2025-04-07 16:01:08,414: signal_shutdown [atexit]

robond@guido:~/catkin_ws3$ cat /home/robond/.ros/log/3fa4d64c-13f3-11f0-801f-b1d2473e9698/rosout.log


0.000000000  Node Startup
0.000000000 INFO /my_robot [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:139(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:140(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:141(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): map_cleanup                = true
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:142(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): map_always_update          = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:143(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:144(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:145(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:146(MapsManager::init)] [topics: /rosout, /tf] /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:232(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: frame_id      = base_link
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:235(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: odom_frame_id = odom
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:243(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: map_frame_id  = map
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:244(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: log_to_rosout_level = 4
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:245(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: initial_pose  =
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:246(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: use_action_for_goal  = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:247(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: tf_delay      = 0.050000
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:248(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: tf_tolerance  = 0.100000
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:249(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: odom_sensor_sync   = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:250(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: pub_loc_pose_only_when_localizing = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:258(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: gen_scan  = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:265(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map] rtabmap: gen_depth  = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Grid/Sensor"="0"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Kp/DetectorStrategy"="0"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Kp/MaxFeatures"="400"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Mem/DepthCompressionFormat"=".png"      
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Mem/SaveDepth16Format"="false"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Mem/UseOdomFeatures"="false"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Reg/Force3DoF"="true"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Reg/Strategy"="0"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Rtabmap/DetectionRate"="1"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "SURF/HessianThreshold"="100"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:362(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting RTAB-Map parameter "Vis/MinInliers"="15"
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:490(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:574(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] RTAB-Map detection rate = 1.000000 Hz
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:638(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] rtabmap: Deleted database "/home/robond/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:644(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] rtabmap: Using database from "/home/robond/.ros/rtabmap.db" (0 MB). 
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:678(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] rtabmap: Database version = "0.21.12".
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreWrapper.cpp:683(CoreWrapper::onInit)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] rtabmap: SLAM mode (Mem/IncrementalMemory=true)
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:533(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_depth = true  
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:534(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_rgb = true    
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:535(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_stereo = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:536(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:537(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_sensor_data = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:538(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_odom_info = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:539(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_user_data = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:540(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_scan = true   
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:541(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_scan_cloud = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:542(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: subscribe_scan_descriptor = false
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:543(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: topic_queue_size = 10   
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:544(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: sync_queue_size = 10    
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:545(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] /rtabmap/rtabmap: approx_sync = true      
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp:468(CommonDataSubscriber::setupDepthCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes] Setup depth callback       
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_sync/src/CommonDataSubscriber.cpp:714(CommonDataSubscriber::setupCallbacks)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes]
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_raw \
   /camera/depth/image_raw \
   /camera/rgb/camera_info \
   /scan
0.000000000 INFO /rtabmap/rtabmap [/home/robond/catkin_ws3/src/rtabmap_ros/rtabmap_slam/src/CoreNode.cpp:95(main)] [topics: /rosout, /tf, /map, /rtabmap/grid_prob_map, /rtabmap/cloud_map, /rtabmap/cloud_obstacles, /rtabmap/cloud_ground, /rtabmap/proj_map, /rtabmap/scan_map, /rtabmap/info, /rtabmap/mapData, /rtabmap/mapGraph, /rtabmap/mapOdomCache, /rtabmap/landmarks, /rtabmap/labels, /rtabmap/mapPath, /rtabmap/local_grid_obstacle, /rtabmap/local_grid_empty, /rtabmap/local_grid_ground, /rtabmap/localization_pose, /rtabmap/goal_out, /rtabmap/goal_reached, /rtabmap/global_path, /rtabmap/local_path, /rtabmap/global_path_nodes, /rtabmap/local_path_nodes, /diagnostics] rtabmap 0.21.10 started...
0.000000000 INFO /rviz [/tmp/binarydeb/ros-noetic-rviz-1.14.25/src/rviz/ogre_helpers/render_system.cpp:475(RenderWindow* rviz::RenderSystem::makeRenderWindow)] [topics: /rosout] Stereo is NOT SUPPORTED
0.000000000 INFO /rviz [/tmp/binarydeb/ros-noetic-rviz-1.14.25/src/rviz/ogre_helpers/render_system.cpp:185(RenderSystem::detectGlVersion)] [topics: /rosout] OpenGL device: D3D12 (NVIDIA GeForce GTX 1650 Ti)
0.000000000 INFO /rviz [/tmp/binarydeb/ros-noetic-rviz-1.14.25/src/rviz/ogre_helpers/render_system.cpp:236(RenderSystem::detectGlVersion)] [topics: /rosout] OpenGl version: 3.1 (GLSL 1.4).
0.000000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-roscpp-1.17.0/src/libros/service.cpp:123(service::waitForService)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics] waitForService: Service [/gazebo/set_physics_properties] is now available.       
0.000000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-ros-2.9.3/src/gazebo_ros_api_plugin.cpp:2379(GazeboRosApiPlugin::physicsReconfigureThread)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Physics dynamic reconfigure ready.
0.000000000 INFO /my_robot [gazebo_interface.py:31(spawn_urdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_urdf_model      
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/include/gazebo_plugins/gazebo_ros_utils.h:99(string gazebo::GetRobotNamespace)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Camera Plugin: Using the 'robotNamespace' param: '/'
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_camera_utils.cpp:300(GazeboRosCameraUtils::LoadThread)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Camera Plugin (ns = /)  <tf_prefix_>, set to ""
0.001000000 INFO /my_robot [gazebo_interface.py:33(spawn_urdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/include/gazebo_plugins/gazebo_ros_utils.h:99(string gazebo::GetRobotNamespace)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates] Laser Plugin: Using the 'robotNamespace' param: '/'
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_laser.cpp:115(GazeboRosLaser::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates] Starting Laser Plugin (ns = /)
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_laser.cpp:134(GazeboRosLaser::LoadThread)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates] Laser Plugin (ns = /)  <tf_prefix_>, set to ""
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_utils.cpp:57(GazeboRos::readCommonParameter)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /scan, /camera/rgb/image_raw/compressed, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates] Starting plugin DiffDrive(ns = //)
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_utils.cpp:83(GazeboRos::readCommonParameter)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /scan, /camera/rgb/image_raw/compressed, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates] DiffDrive(ns = //): <rosDebugLevel> = na
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_utils.cpp:88(GazeboRos::readCommonParameter)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /scan, /camera/rgb/image_raw/compressed, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates] DiffDrive(ns = //): <tf_prefix> =
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_diff_drive.cpp:157(GazeboRosDiffDrive::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /scan, /camera/rgb/image_raw/compressed, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /tf] DiffDrive(ns = //): Try to subscribe to cmd_vel
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_diff_drive.cpp:165(GazeboRosDiffDrive::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /scan, /camera/rgb/image_raw/compressed, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /tf, /camera/rgb/image_raw] DiffDrive(ns = //): Subscribe to cmd_vel
0.001000000 INFO /gazebo [/tmp/binarydeb/ros-noetic-gazebo-plugins-2.9.3/src/gazebo_ros_diff_drive.cpp:170(GazeboRosDiffDrive::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/performance_metrics, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /scan, /camera/rgb/image_raw/compressed, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /tf, /camera/rgb/image_raw, /odom] DiffDrive(ns = //): Advertise odom on odom
robond@guido:~/catkin_ws3$

try to rebuild stabmap (not the workspace stabmap_ros) without g2o

-DWITH_G2O=OFF

robond@guido:~/catkin_ws3$ apt show ros-noetic-libg2o
Package: ros-noetic-libg2o
Version: 2020.5.3-1focal.20210423.222732
Priority: optional
Section: misc
Maintainer: Vincent Rabaud <[email protected]>
Installed-Size: 6930 kB
Depends: libc6 (>= 2.29), libcamd2 (>= 1:4.5.2), libcholmod3 (>= 1:4.5.2), libcxsparse3 (>= 1:4.5.2), libgcc-s1 (>= 4.0), libglu1-mesa | libglu1, libopengl0, libstdc++6 (>= 9), libboost-all-dev, libeigen3-dev, libgl1-mesa-dev, libglu1-mesa-dev, libsuitesparse-dev, ros-noetic-catkin
Homepage: https://github.com/RainerKuemmerle/g2o
Download-Size: 1056 kB
APT-Manual-Installed: yes
APT-Sources: http://packages.ros.org/ros/ubuntu focal/main amd64 Packages
Description: The libg2o library from http://openslam.org/g2o.html

robond@guido:~/catkin_ws3$ dpkg-query -L ros-noetic-libg2o
/.
/opt
/opt/ros
/opt/ros/noetic
/opt/ros/noetic/bin
/opt/ros/noetic/bin/g2o
/opt/ros/noetic/bin/g2o_anonymize_observations
/opt/ros/noetic/bin/g2o_incremental
/opt/ros/noetic/bin/g2o_online
/opt/ros/noetic/bin/g2o_simulator2d
/opt/ros/noetic/bin/g2o_simulator3d
/opt/ros/noetic/include
/opt/ros/noetic/include/g2o
/opt/ros/noetic/include/g2o/apps
/opt/ros/noetic/include/g2o/apps/g2o_cli
/opt/ros/noetic/include/g2o/apps/g2o_cli/dl_wrapper.h
/opt/ros/noetic/include/g2o/apps/g2o_cli/g2o_cli_api.h
/opt/ros/noetic/include/g2o/apps/g2o_cli/g2o_common.h
/opt/ros/noetic/include/g2o/apps/g2o_cli/output_helper.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/backbone_tree_action.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/edge_creator.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/edge_labeler.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/edge_types_cost_function.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/g2o_hierarchical_api.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/simple_star_ops.h
/opt/ros/noetic/include/g2o/apps/g2o_hierarchical/star.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator
/opt/ros/noetic/include/g2o/apps/g2o_simulator/g2o_simulator_api.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/pointsensorparameters.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_line3d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_odometry.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_odometry2d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_odometry3d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pointxy.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pointxy_bearing.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pointxy_offset.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pointxyz.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pointxyz_depth.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pose2d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pose3d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_pose3d_offset.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_se3_prior.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_segment2d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_segment2d_line.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/sensor_segment2d_pointline.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/simulator.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/simulator2d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/simulator2d_base.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/simulator3d.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/simulator3d_base.h
/opt/ros/noetic/include/g2o/apps/g2o_simulator/simutils.h
/opt/ros/noetic/include/g2o/config.h
/opt/ros/noetic/include/g2o/core
/opt/ros/noetic/include/g2o/core/base_binary_edge.h
/opt/ros/noetic/include/g2o/core/base_binary_edge.hpp
/opt/ros/noetic/include/g2o/core/base_edge.h
/opt/ros/noetic/include/g2o/core/base_multi_edge.h
/opt/ros/noetic/include/g2o/core/base_multi_edge.hpp
/opt/ros/noetic/include/g2o/core/base_unary_edge.h
/opt/ros/noetic/include/g2o/core/base_unary_edge.hpp
/opt/ros/noetic/include/g2o/core/base_vertex.h
/opt/ros/noetic/include/g2o/core/base_vertex.hpp
/opt/ros/noetic/include/g2o/core/batch_stats.h
/opt/ros/noetic/include/g2o/core/block_solver.h
/opt/ros/noetic/include/g2o/core/block_solver.hpp
/opt/ros/noetic/include/g2o/core/cache.h
/opt/ros/noetic/include/g2o/core/creators.h
/opt/ros/noetic/include/g2o/core/dynamic_aligned_buffer.hpp
/opt/ros/noetic/include/g2o/core/eigen_types.h
/opt/ros/noetic/include/g2o/core/estimate_propagator.h
/opt/ros/noetic/include/g2o/core/factory.h
/opt/ros/noetic/include/g2o/core/g2o_core_api.h
/opt/ros/noetic/include/g2o/core/hyper_dijkstra.h
/opt/ros/noetic/include/g2o/core/hyper_graph.h
/opt/ros/noetic/include/g2o/core/hyper_graph_action.h
/opt/ros/noetic/include/g2o/core/jacobian_workspace.h
/opt/ros/noetic/include/g2o/core/linear_solver.h
/opt/ros/noetic/include/g2o/core/marginal_covariance_cholesky.h
/opt/ros/noetic/include/g2o/core/matrix_operations.h
/opt/ros/noetic/include/g2o/core/matrix_structure.h
/opt/ros/noetic/include/g2o/core/openmp_mutex.h
/opt/ros/noetic/include/g2o/core/optimizable_graph.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm_dogleg.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm_factory.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm_gauss_newton.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm_levenberg.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm_property.h
/opt/ros/noetic/include/g2o/core/optimization_algorithm_with_hessian.h
/opt/ros/noetic/include/g2o/core/ownership.h
/opt/ros/noetic/include/g2o/core/parameter.h
/opt/ros/noetic/include/g2o/core/parameter_container.h
/opt/ros/noetic/include/g2o/core/robust_kernel.h
/opt/ros/noetic/include/g2o/core/robust_kernel_factory.h
/opt/ros/noetic/include/g2o/core/robust_kernel_impl.h
/opt/ros/noetic/include/g2o/core/solver.h
/opt/ros/noetic/include/g2o/core/sparse_block_matrix.h
/opt/ros/noetic/include/g2o/core/sparse_block_matrix.hpp
/opt/ros/noetic/include/g2o/core/sparse_block_matrix_ccs.h
/opt/ros/noetic/include/g2o/core/sparse_block_matrix_diagonal.h
/opt/ros/noetic/include/g2o/core/sparse_optimizer.h
/opt/ros/noetic/include/g2o/core/sparse_optimizer_terminate_action.h
/opt/ros/noetic/include/g2o/examples
/opt/ros/noetic/include/g2o/examples/interactive_slam
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_incremental
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_incremental/g2o_incremental_api.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_incremental/graph_optimizer_sparse_incremental.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_incremental/linear_solver_cholmod_online.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive/fast_output.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive/g2o_interactive_api.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive/g2o_slam_interface.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive/graph_optimizer_sparse_online.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive/types_slam2d_online.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/g2o_interactive/types_slam3d_online.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/interface
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/interface/abstract_slam_interface.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/interface/parser_interface.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/interface/slam_context_interface.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/FlexLexer.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/bison_parser.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/commands.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/driver.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/location.hh
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/position.hh
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/scanner.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/slam_context.h
/opt/ros/noetic/include/g2o/examples/interactive_slam/slam_parser/parser/stack.hh
/opt/ros/noetic/include/g2o/freeglut
/opt/ros/noetic/include/g2o/freeglut/freeglut_minimal.h
/opt/ros/noetic/include/g2o/solvers
/opt/ros/noetic/include/g2o/solvers/cholmod
/opt/ros/noetic/include/g2o/solvers/cholmod/linear_solver_cholmod.h
/opt/ros/noetic/include/g2o/solvers/csparse
/opt/ros/noetic/include/g2o/solvers/csparse/csparse_extension.h
/opt/ros/noetic/include/g2o/solvers/csparse/csparse_helper.h
/opt/ros/noetic/include/g2o/solvers/csparse/g2o_csparse_api.h
/opt/ros/noetic/include/g2o/solvers/csparse/g2o_csparse_extension_api.h
/opt/ros/noetic/include/g2o/solvers/csparse/linear_solver_csparse.h
/opt/ros/noetic/include/g2o/solvers/dense
/opt/ros/noetic/include/g2o/solvers/dense/linear_solver_dense.h
/opt/ros/noetic/include/g2o/solvers/eigen
/opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h
/opt/ros/noetic/include/g2o/solvers/pcg
/opt/ros/noetic/include/g2o/solvers/pcg/linear_solver_pcg.h
/opt/ros/noetic/include/g2o/solvers/pcg/linear_solver_pcg.hpp
/opt/ros/noetic/include/g2o/solvers/slam2d_linear
/opt/ros/noetic/include/g2o/solvers/slam2d_linear/g2o_slam2d_linear_api.h
/opt/ros/noetic/include/g2o/solvers/slam2d_linear/solver_slam2d_linear.h
/opt/ros/noetic/include/g2o/solvers/structure_only
/opt/ros/noetic/include/g2o/solvers/structure_only/structure_only_solver.h
/opt/ros/noetic/include/g2o/stuff
/opt/ros/noetic/include/g2o/stuff/color_macros.h
/opt/ros/noetic/include/g2o/stuff/command_args.h
/opt/ros/noetic/include/g2o/stuff/filesys_tools.h
/opt/ros/noetic/include/g2o/stuff/g2o_stuff_api.h
/opt/ros/noetic/include/g2o/stuff/macros.h
/opt/ros/noetic/include/g2o/stuff/misc.h
/opt/ros/noetic/include/g2o/stuff/opengl_primitives.h
/opt/ros/noetic/include/g2o/stuff/opengl_wrapper.h
/opt/ros/noetic/include/g2o/stuff/os_specific.h
/opt/ros/noetic/include/g2o/stuff/property.h
/opt/ros/noetic/include/g2o/stuff/sampler.h
/opt/ros/noetic/include/g2o/stuff/scoped_pointer.h
/opt/ros/noetic/include/g2o/stuff/sparse_helper.h
/opt/ros/noetic/include/g2o/stuff/string_tools.h
/opt/ros/noetic/include/g2o/stuff/tictoc.h
/opt/ros/noetic/include/g2o/stuff/timeutil.h
/opt/ros/noetic/include/g2o/stuff/unscented.h
/opt/ros/noetic/include/g2o/types
/opt/ros/noetic/include/g2o/types/data
/opt/ros/noetic/include/g2o/types/data/data_queue.h
/opt/ros/noetic/include/g2o/types/data/g2o_types_data_api.h
/opt/ros/noetic/include/g2o/types/data/laser_parameters.h
/opt/ros/noetic/include/g2o/types/data/raw_laser.h
/opt/ros/noetic/include/g2o/types/data/robot_data.h
/opt/ros/noetic/include/g2o/types/data/robot_laser.h
/opt/ros/noetic/include/g2o/types/data/types_data.h
/opt/ros/noetic/include/g2o/types/data/vertex_ellipse.h
/opt/ros/noetic/include/g2o/types/data/vertex_tag.h
/opt/ros/noetic/include/g2o/types/icp
/opt/ros/noetic/include/g2o/types/icp/g2o_types_icp_api.h
/opt/ros/noetic/include/g2o/types/icp/types_icp.h
/opt/ros/noetic/include/g2o/types/sba
/opt/ros/noetic/include/g2o/types/sba/g2o_types_sba_api.h
/opt/ros/noetic/include/g2o/types/sba/sbacam.h
/opt/ros/noetic/include/g2o/types/sba/types_sba.h
/opt/ros/noetic/include/g2o/types/sba/types_six_dof_expmap.h
/opt/ros/noetic/include/g2o/types/sclam2d
/opt/ros/noetic/include/g2o/types/sclam2d/edge_se2_odom_differential_calib.h
/opt/ros/noetic/include/g2o/types/sclam2d/edge_se2_sensor_calib.h
/opt/ros/noetic/include/g2o/types/sclam2d/g2o_types_sclam2d_api.h
/opt/ros/noetic/include/g2o/types/sclam2d/odometry_measurement.h
/opt/ros/noetic/include/g2o/types/sclam2d/types_sclam2d.h
/opt/ros/noetic/include/g2o/types/sclam2d/vertex_odom_differential_params.h
/opt/ros/noetic/include/g2o/types/sim3
/opt/ros/noetic/include/g2o/types/sim3/sim3.h
/opt/ros/noetic/include/g2o/types/sim3/types_seven_dof_expmap.h
/opt/ros/noetic/include/g2o/types/slam2d
/opt/ros/noetic/include/g2o/types/slam2d/edge_pointxy.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_lotsofxy.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_offset.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_pointxy.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_pointxy_bearing.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_pointxy_calib.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_pointxy_offset.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_prior.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_twopointsxy.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_se2_xyprior.h
/opt/ros/noetic/include/g2o/types/slam2d/edge_xy_prior.h
/opt/ros/noetic/include/g2o/types/slam2d/g2o_types_slam2d_api.h
/opt/ros/noetic/include/g2o/types/slam2d/parameter_se2_offset.h
/opt/ros/noetic/include/g2o/types/slam2d/se2.h
/opt/ros/noetic/include/g2o/types/slam2d/types_slam2d.h
/opt/ros/noetic/include/g2o/types/slam2d/vertex_point_xy.h
/opt/ros/noetic/include/g2o/types/slam2d/vertex_se2.h
/opt/ros/noetic/include/g2o/types/slam2d_addons
/opt/ros/noetic/include/g2o/types/slam2d_addons/edge_line2d.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/edge_line2d_pointxy.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/edge_se2_line2d.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/edge_se2_segment2d.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/edge_se2_segment2d_line.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/g2o_types_slam2d_addons_api.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/line_2d.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/types_slam2d_addons.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/vertex_line2d.h
/opt/ros/noetic/include/g2o/types/slam2d_addons/vertex_segment2d.h
/opt/ros/noetic/include/g2o/types/slam3d
/opt/ros/noetic/include/g2o/types/slam3d/dquat2mat.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_pointxyz.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_lotsofxyz.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_offset.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_pointxyz.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_pointxyz_depth.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_prior.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_se3_xyzprior.h
/opt/ros/noetic/include/g2o/types/slam3d/edge_xyz_prior.h
/opt/ros/noetic/include/g2o/types/slam3d/g2o_types_slam3d_api.h
/opt/ros/noetic/include/g2o/types/slam3d/isometry3d_gradients.h
/opt/ros/noetic/include/g2o/types/slam3d/isometry3d_mappings.h
/opt/ros/noetic/include/g2o/types/slam3d/parameter_camera.h
/opt/ros/noetic/include/g2o/types/slam3d/parameter_se3_offset.h
/opt/ros/noetic/include/g2o/types/slam3d/parameter_stereo_camera.h
/opt/ros/noetic/include/g2o/types/slam3d/se3_ops.h
/opt/ros/noetic/include/g2o/types/slam3d/se3_ops.hpp
/opt/ros/noetic/include/g2o/types/slam3d/se3quat.h
/opt/ros/noetic/include/g2o/types/slam3d/types_slam3d.h
/opt/ros/noetic/include/g2o/types/slam3d/vertex_pointxyz.h
/opt/ros/noetic/include/g2o/types/slam3d/vertex_se3.h
/opt/ros/noetic/include/g2o/types/slam3d_addons
/opt/ros/noetic/include/g2o/types/slam3d_addons/edge_plane.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/edge_se3_calib.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/edge_se3_euler.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/edge_se3_line.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/edge_se3_plane_calib.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/g2o_types_slam3d_addons_api.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/line3d.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/plane3d.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/types_slam3d_addons.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/vertex_line3d.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/vertex_plane.h
/opt/ros/noetic/include/g2o/types/slam3d_addons/vertex_se3_euler.h
/opt/ros/noetic/lib
/opt/ros/noetic/lib/cmake
/opt/ros/noetic/lib/cmake/g2o
/opt/ros/noetic/lib/cmake/g2o/g2oConfig.cmake
/opt/ros/noetic/lib/cmake/g2o/g2oConfigVersion.cmake
/opt/ros/noetic/lib/cmake/g2o/g2oTargets-none.cmake
/opt/ros/noetic/lib/cmake/g2o/g2oTargets.cmake
/opt/ros/noetic/lib/libg2o_cli.so
/opt/ros/noetic/lib/libg2o_core.so
/opt/ros/noetic/lib/libg2o_csparse_extension.so
/opt/ros/noetic/lib/libg2o_ext_freeglut_minimal.so
/opt/ros/noetic/lib/libg2o_hierarchical.so
/opt/ros/noetic/lib/libg2o_incremental.so
/opt/ros/noetic/lib/libg2o_interactive.so
/opt/ros/noetic/lib/libg2o_interface.so
/opt/ros/noetic/lib/libg2o_opengl_helper.so
/opt/ros/noetic/lib/libg2o_parser.so
/opt/ros/noetic/lib/libg2o_simulator.so
/opt/ros/noetic/lib/libg2o_solver_cholmod.so
/opt/ros/noetic/lib/libg2o_solver_csparse.so
/opt/ros/noetic/lib/libg2o_solver_dense.so
/opt/ros/noetic/lib/libg2o_solver_eigen.so
/opt/ros/noetic/lib/libg2o_solver_pcg.so
/opt/ros/noetic/lib/libg2o_solver_slam2d_linear.so
/opt/ros/noetic/lib/libg2o_solver_structure_only.so
/opt/ros/noetic/lib/libg2o_stuff.so
/opt/ros/noetic/lib/libg2o_types_data.so
/opt/ros/noetic/lib/libg2o_types_icp.so
/opt/ros/noetic/lib/libg2o_types_sba.so
/opt/ros/noetic/lib/libg2o_types_sclam2d.so
/opt/ros/noetic/lib/libg2o_types_sim3.so
/opt/ros/noetic/lib/libg2o_types_slam2d.so
/opt/ros/noetic/lib/libg2o_types_slam2d_addons.so
/opt/ros/noetic/lib/libg2o_types_slam3d.so
/opt/ros/noetic/lib/libg2o_types_slam3d_addons.so
/opt/ros/noetic/share
/opt/ros/noetic/share/libg2o
/opt/ros/noetic/share/libg2o/package.xml
/usr
/usr/share
/usr/share/doc
/usr/share/doc/ros-noetic-libg2o
/usr/share/doc/ros-noetic-libg2o/changelog.Debian.gz

robond@guido:~/catkin_ws3$ dpkg-query -s libeigen3-dev
Package: libeigen3-dev
Status: install ok installed
Priority: optional
Section: libdevel
Installed-Size: 6993
Maintainer: Ubuntu Developers <[email protected]>
Architecture: all
Multi-Arch: foreign
Source: eigen3
Version: 3.3.7-2
Depends: pkg-config
Suggests: libeigen3-doc, libmpfrc++-dev
Description: lightweight C++ template library for linear algebra
 Eigen 3 is a lightweight C++ template library for vector and matrix math,
 a.k.a. linear algebra.
 .
 Unlike most other linear algebra libraries, Eigen 3 focuses on the simple
 mathematical needs of applications: games and other OpenGL apps, spreadsheets
 and other office apps, etc. Eigen 3 is dedicated to providing optimal speed
 with GCC. A lot of improvements since 2-nd version of Eigen.
Original-Maintainer: Debian Science Maintainers <[email protected]>
Homepage: http://eigen.tuxfamily.org
robond@guido:~/catkin_ws3$ ldd $(which g2o)
        linux-vdso.so.1 (0x00007fffb51c5000)
        libg2o_cli.so => /opt/ros/noetic/lib/libg2o_cli.so (0x00007fec17a49000)
        libg2o_core.so => /opt/ros/noetic/lib/libg2o_core.so (0x00007fec179ec000)
        libg2o_stuff.so => /opt/ros/noetic/lib/libg2o_stuff.so (0x00007fec179cc000)
        libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fec177a9000)
        libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fec1778e000)
        libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fec1759c000)
        libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fec17594000)
        libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fec17445000)
        /lib64/ld-linux-x86-64.so.2 (0x00007fec17a70000)

Author

nov05 commented Apr 8, 2025 •

edited

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robond@guido:~/catkin_ws3$ sudo apt remove ros-noetic-rtabmap ros-noetic-rtabmap-ros
[sudo] password for robond: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Package 'ros-noetic-rtabmap' is not installed, so not removed
Package 'ros-noetic-rtabmap-ros' is not installed, so not removed
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.

robond@guido:~/catkin_ws3$ pkg-config --modversion opencv4
4.11.0

✅✅✅

robond@guido:~/catkin_ws3$ ldd /opt/ros/noetic/lib/libcv_bridge.so | grep opencv
        libopencv_imgcodecs.so.4.2 => /lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2 (0x00007f6b288cb000)
        libopencv_imgproc.so.4.2 => /lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2 (0x00007f6b28324000)
        libopencv_core.so.4.2 => /lib/x86_64-linux-gnu/libopencv_core.so.4.2 (0x00007f6b27f74000)

mismatch of cv_bridge and opencv 4.11.0 (built from source) versions.
suggested solution: buid cv_bridge from source as well.

Author

nov05 commented Apr 8, 2025

introlab/rtabmap_ros#529 (comment)
derektan95
on Jan 21, 2021
Author
Install misc dependencies
sudo apt-get install ros-melodic-rtabmap ros-melodic-rtabmap-ros
sudo apt remove ros-melodic-rtabmap ros-melodic-rtabmap-ros # Uninstall again
Installing OpenCV dependencies
cd ~/Libraries
git clone https://github.com/opencv/opencv # Master branch
cd opencv
mkdir build && cd build
cmake -D CATKIN_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install # Install to usr/local directory
Installing OpenCV Bridge dependencies
These packages be cloned from https://github.com/ros-perception/vision_opencv. However, they have to be modified to fit to our use, if not there will be compile errors. For ROS Melodic, use the noetic branch and change python dependencies in CMakeLists.txt, or use the melodic branch and change some function headers (https://cyaninfinite.com/ros-cv-bridge-with-python-3/).

cd ~/Libraries
git clone https://github.com/ros-perception/vision_opencv
cd vision_opencv/cv_bridge
mkdir build && cd build
cmake -D CATKIN_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install # Install to usr/local directory

cd ~/Libraries
cd vision_opencv/image_geometry
mkdir build && cd build
cmake -D CATKIN_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install # Install to usr/local directory
Installing RTAB packages

Installing RTAB Library

cd ~/Libraries
git clone https://github.com/introlab/rtabmap # Master branch
cd rtabmap
mkdir build && cd build
cmake -D OpenCV_DIR=/usr/local/lib/cmake/opencv4 -D CATKIN_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install

Installing RTAB ROS package

cd ~/unitree_a1_repo/catkin_ws/src
git clone https://github.com/introlab/rtabmap_ros
Linking RTAB-Map to newly compiled libraries
Add these 2 lines of code to specify where to link to the cv_bridge and image_geometry libraries, at the top of RTAB ROS's CMakeLists.txt. After this, you can compile the RTAB-Map package. It depends on where your cmake instruction files are located once these packages are installed.

set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)
set(image_geometry_DIR /usr/local/share/image_geometry/cmake)
#set(image_geometry_DIR /usr/local/lib/cmake/opencv4) # Not sure if needed

Author

nov05 commented Apr 8, 2025

introlab/rtabmap_ros#529 (comment)
These packages be cloned from https://github.com/ros-perception/vision_opencv. However, they have to be modified to fit to our use, if not there will be compile errors. For ROS Melodic, use the noetic branch and change python dependencies in CMakeLists.txt, or use the melodic branch and change some function headers (https://cyaninfinite.com/ros-cv-bridge-with-python-3/).

cd ~/Libraries
git clone https://github.com/ros-perception/vision_opencv
cd vision_opencv/cv_bridge                          
mkdir build && cd build
cmake -D CATKIN_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install                                   # Install to usr/local directory

cd ~/Libraries
cd vision_opencv/image_geometry                     
mkdir build && cd build
cmake -D CATKIN_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install                                   # Install to usr/local directory

nov05/20250220_udacity_nd209_robotics_issues.md

🟢 20250221_Import VMWare OVA to GCP VM

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nov05/20250220_udacity_nd209_robotics_issues.md

🟢 20250221_Import VMWare OVA to GCP VM

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Installing RTAB Library

Installing RTAB ROS package

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nov05 commented Apr 7, 2025 •

edited

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nov05 commented Apr 8, 2025 •

edited

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