ojura · January 26, 2017 19:05
diff --git a/cartographer_pioneer_crash.log b/cartographer_pioneer_crash.log
 $ roslaunch pioneer_cartographer.launch
 ... logging to /home/juraj/.ros/log/ec79fdb2-e3f9-11e6-9b59-f0def1de224c/roslaunch-juraj-laptop-29444.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://juraj-laptop.local:42727/

 SUMMARY
 ========

 PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.6
 * /use_sim_time: True

 NODES
  /pioneer/
    laser_tf (tf2_ros/static_transform_publisher)
  /
    bag (rosbag/play)
    cartographer_node (cartographer_ros/cartographer_node)
    rviz (rviz/rviz)

 auto-starting new master
 process[master]: started with pid [29455]
 ROS_MASTER_URI=http://localhost:11311

 setting /run_id to ec79fdb2-e3f9-11e6-9b59-f0def1de224c
 process[rosout-1]: started with pid [29468]
 started core service [/rosout]
 process[cartographer_node-2]: started with pid [29492]
 process[pioneer/laser_tf-3]: started with pid [29493]
 process[rviz-4]: started with pid [29494]
 process[bag-5]: started with pid [29506]
 [ INFO] [1485457324.439028846]: Opening /home/juraj/Desktop/pioneer_crash_example/bag/short-b-building.bag

 Waiting 0.2 seconds after advertising topics...[ INFO] [1485457324.514155893]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/Desktop/pioneer_crash_example/config/pioneer_cartographer.lua' for 'pioneer_cartographer.lua'.
 [ INFO] [1485457324.515364863]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
 [ INFO] [1485457324.515421092]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
 [ INFO] [1485457324.516058675]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
 [ INFO] [1485457324.516107031]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
 [ INFO] [1485457324.517006790]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
 [ INFO] [1485457324.517067135]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
 [ INFO] [1485457324.517978796]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
 [ INFO] [1485457324.518026827]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
 done.

 Hit space to toggle paused, or 's' to step.
 [ INFO] [1485457324.858783814, 1467910703.965547725]: I0126 20:02:04.000000 29492 submaps.cc:176] Added submap 1
 [ INFO] [1485457324.858869337, 1467910703.965547725]: I0126 20:02:04.000000 29492 map_builder_bridge.cc:37] Added trajectory with ID '0'.
 Warning: TF_OLD_DATA ignoring data from the past for frame pioneer/laser at time 0 according to authority unknown_publisher
 Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 260 in /tmp/binarydeb/ros-kinetic-tf2-0.5.13/src/buffer_core.cpp
 [ INFO] [1485457325.231289404, 1467910704.329354354]: I0126 20:02:05.000000 29492 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636035075042808299'.
 [ INFO] [1485457325.284566134, 1467910704.389728285]: I0126 20:02:05.000000 29492 local_trajectory_builder.cc:275] ImuTracker not yet initialized.
 [ INFO] [1485457335.338709006, 1467910714.439300729]: I0126 20:02:15.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 6.2%.
 [ INFO] [1485457339.890502020, 1467910718.991899277]: I0126 20:02:19.000000 29492 collated_trajectory_builder.cc:79] odom rate: 9.93 Hz 1.01e-01 s +/- 8.30e-03 s (pulsed at 100.47% real time)
 [ INFO] [1485457339.890585300, 1467910718.991899277]: I0126 20:02:19.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.69 Hz 2.01e-02 s +/- 7.37e-04 s (pulsed at 99.90% real time)
 [ INFO] [1485457345.398721392, 1467910724.501708594]: I0126 20:02:25.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 6.2%.
 [ INFO] [1485457354.898012442, 1467910733.995703641]: I0126 20:02:34.000000 29492 collated_trajectory_builder.cc:79] odom rate: 10.00 Hz 1.00e-01 s +/- 1.31e-04 s (pulsed at 100.02% real time)
 [ INFO] [1485457354.898071774, 1467910733.995703641]: I0126 20:02:34.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.72 Hz 2.01e-02 s +/- 1.65e-03 s (pulsed at 99.64% real time)
 [ INFO] [1485457355.412759294, 1467910734.519606995]: I0126 20:02:35.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 5.66667%.
 [ INFO] [1485457357.299662199, 1467910736.405915925]: I0126 20:02:37.000000 29492 submaps.cc:176] Added submap 2
 [ INFO] [1485457357.503965601, 1467910736.607244270]: I0126 20:02:37.000000 29567 constraint_builder.cc:276] 0 computations resulted in 0 additional constraints.
 [ INFO] [1485457357.504015354, 1467910736.607244270]: I0126 20:02:37.000000 29567 constraint_builder.cc:278] Score histogram:
 Count: 0
 [ INFO] [1485457357.512026941, 1467910736.617330830]: I0126 20:02:37.000000 29567 sparse_pose_graph.cc:280] We caught up. Hooray!
 [ INFO] [1485457365.508246917, 1467910744.614941028]: I0126 20:02:45.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 5.5%.
 [ INFO] [1485457369.904256875, 1467910749.009147476]: I0126 20:02:49.000000 29492 collated_trajectory_builder.cc:79] odom rate: 10.00 Hz 1.00e-01 s +/- 9.00e-05 s (pulsed at 100.10% real time)
 [ INFO] [1485457369.904321936, 1467910749.009147476]: I0126 20:02:49.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.74 Hz 2.01e-02 s +/- 1.15e-03 s (pulsed at 99.60% real time)
 [ INFO] [1485457375.535003880, 1467910754.632268035]: I0126 20:02:55.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 5.36%.
 [ INFO] [1485457384.255542564, 1467910763.359096589]: I0126 20:03:04.000000 29492 submaps.cc:176] Added submap 3
 [ INFO] [1485457384.320760639, 1467910763.419499510]: I0126 20:03:04.000000 29565 constraint_builder.cc:276] 0 computations resulted in 0 additional constraints.
 [ INFO] [1485457384.320811252, 1467910763.419499510]: I0126 20:03:04.000000 29565 constraint_builder.cc:278] Score histogram:
 Count: 0
 [ INFO] [1485457384.327461708, 1467910763.429591253]: I0126 20:03:04.000000 29565 sparse_pose_graph.cc:280] We caught up. Hooray!
 [ INFO] [1485457384.910790583, 1467910764.013292800]: I0126 20:03:04.000000 29492 collated_trajectory_builder.cc:79] odom rate: 9.93 Hz 1.01e-01 s +/- 8.22e-03 s (pulsed at 99.79% real time)
 [ INFO] [1485457384.910862825, 1467910764.013292800]: I0126 20:03:04.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.77 Hz 2.01e-02 s +/- 8.07e-04 s (pulsed at 99.60% real time)
 [ INFO] [1485457385.617081162, 1467910764.718503817]: I0126 20:03:05.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 6.3%.
 F0126 20:03:15.450141 29492 probability_grid.h:161] Check failed: limits_.Contains(xy_index) -215
 3666
 [FATAL] [1485457395.450500842, 1467910774.550435528]: F0126 20:03:15.000000 29492 probability_grid.h:161] Check failed: limits_.Contains(xy_index) -215
 3666
 *** Check failure stack trace: ***47205   Duration: 71.732922 / 258.178660     
    @     0x7f8b1f4575cd  google::LogMessage::Fail()
    @     0x7f8b1f459433  google::LogMessage::SendToLog()
    @     0x7f8b1f45715b  google::LogMessage::Flush()
    @     0x7f8b1f459e1e  google::LogMessageFatal::~LogMessageFatal()
    @           0x5239b2  _ZNSt17_Function_handlerIFvRKN5Eigen5ArrayIiLi2ELi1ELi0ELi2ELi1EEEEZNK12cartographer10mapping_2d16LaserFanInserter6InsertERKNS6_6sensor8LaserFanEPNS7_15ProbabilityGridEEUlS4_E_E9_M_invokeERKSt9_Any_dataS4_
    @           0x5cb381  cartographer::mapping_2d::CastRays()
    @           0x5235b3  cartographer::mapping_2d::LaserFanInserter::Insert()
    @           0x5cd48f  cartographer::mapping_2d::Submaps::InsertLaserFan()
    @           0x5c02e6  cartographer::mapping_2d::LocalTrajectoryBuilder::AddHorizontalLaserFan()
    @           0x5bdebc  cartographer::mapping_2d::GlobalTrajectoryBuilder::AddRangefinderData()
    @           0x527ab9  cartographer::mapping::CollatedTrajectoryBuilder::HandleCollatedSensorData()
    @           0x5284ee  _ZNSt17_Function_handlerIFvRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteISB_EEEZNS9_7mapping25CollatedTrajectoryBuilderC4EPNSA_8CollatorEiRKSt13unordered_setIS5_St4hashIS5_ESt8equal_toIS5_ESaIS5_EES8_INSG_32GlobalTrajectoryBuilderInterfaceESC_IST_EEEUlS7_SE_E_E9_M_invokeERKSt9_Any_dataS7_OSE_
    @           0x544fca  _ZNSt17_Function_handlerIFvSt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteIS3_EEEZNS2_8Collator13AddTrajectoryEiRKSt13unordered_setINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4hashISF_ESt8equal_toISF_ESaISF_EESt8functionIFvRKSF_S6_EEEUlS6_E_E9_M_invokeERKSt9_Any_dataOS6_
    @           0x546ac9  cartographer::sensor::OrderedMultiQueue::Dispatch()
    @           0x54806f  cartographer::sensor::OrderedMultiQueue::Add()
    @           0x5452c4  cartographer::sensor::Collator::AddSensorData()
    @           0x526c08  cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData()
    @           0x50a44b  cartographer_ros::SensorBridge::HandleRangefinder()
    @           0x50b08a  cartographer_ros::SensorBridge::HandleLaserScanMessage()
    @           0x4ef8ab  _ZN5boost6detail8function26void_function_obj_invoker1IZN16cartographer_ros12_GLOBAL__N_13RunEvEUlRKNS_10shared_ptrIKN11sensor_msgs10LaserScan_ISaIvEEEEEE_vSD_E6invokeERNS1_15function_bufferESD_
    @           0x4f69ce  boost::detail::function::void_function_obj_invoker1<>::invoke()
    @           0x500bb9  ros::SubscriptionCallbackHelperT<>::call()
    @     0x7f8b1c5c05cd  ros::SubscriptionQueue::call()
    @     0x7f8b1c56acf0  ros::CallbackQueue::callOneCB()
    @     0x7f8b1c56c0f3  ros::CallbackQueue::callAvailable()
    @     0x7f8b1c5c4691  ros::SingleThreadedSpinner::spin()0 / 258.178660     
    @     0x7f8b1c5a972b  ros::spin()
    @           0x4f0cee  cartographer_ros::(anonymous namespace)::Run()
    @           0x4ed424  main
    @     0x7f8b1afc3830  __libc_start_mainuration: 71.751475 / 258.178660     
    @           0x4eeea9  _start
    @              (nil)  (unknown)
 [cartographer_node-2] process has died [pid 29492, exit code -6, cmd /home/juraj/catkin_ws/devel/lib/cartographer_ros/cartographer_node -configuration_directory /home/juraj/Desktop/pioneer_crash_example/config -configuration_basename pioneer_cartographer.lua scan:=pioneer/scan odom:=pioneer/pose __name:=cartographer_node __log:=/home/juraj/.ros/log/ec79fdb2-e3f9-11e6-9b59-f0def1de224c/cartographer_node-2.log].
	$ roslaunch pioneer_cartographer.launch
	... logging to /home/juraj/.ros/log/ec79fdb2-e3f9-11e6-9b59-f0def1de224c/roslaunch-juraj-laptop-29444.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://juraj-laptop.local:42727/

	SUMMARY
	========

	PARAMETERS
	* /rosdistro: kinetic
	* /rosversion: 1.12.6
	* /use_sim_time: True

	NODES
	/pioneer/
	laser_tf (tf2_ros/static_transform_publisher)
	/
	bag (rosbag/play)
	cartographer_node (cartographer_ros/cartographer_node)
	rviz (rviz/rviz)

	auto-starting new master
	process[master]: started with pid [29455]
	ROS_MASTER_URI=http://localhost:11311

	setting /run_id to ec79fdb2-e3f9-11e6-9b59-f0def1de224c
	process[rosout-1]: started with pid [29468]
	started core service [/rosout]
	process[cartographer_node-2]: started with pid [29492]
	process[pioneer/laser_tf-3]: started with pid [29493]
	process[rviz-4]: started with pid [29494]
	process[bag-5]: started with pid [29506]
	[ INFO] [1485457324.439028846]: Opening /home/juraj/Desktop/pioneer_crash_example/bag/short-b-building.bag

	Waiting 0.2 seconds after advertising topics...[ INFO] [1485457324.514155893]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/Desktop/pioneer_crash_example/config/pioneer_cartographer.lua' for 'pioneer_cartographer.lua'.
	[ INFO] [1485457324.515364863]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
	[ INFO] [1485457324.515421092]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
	[ INFO] [1485457324.516058675]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
	[ INFO] [1485457324.516107031]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
	[ INFO] [1485457324.517006790]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
	[ INFO] [1485457324.517067135]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
	[ INFO] [1485457324.517978796]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
	[ INFO] [1485457324.518026827]: I0126 20:02:04.000000 29492 configuration_file_resolver.cc:40] Found '/home/juraj/catkin_ws/devel/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
	done.

	Hit space to toggle paused, or 's' to step.
	[ INFO] [1485457324.858783814, 1467910703.965547725]: I0126 20:02:04.000000 29492 submaps.cc:176] Added submap 1
	[ INFO] [1485457324.858869337, 1467910703.965547725]: I0126 20:02:04.000000 29492 map_builder_bridge.cc:37] Added trajectory with ID '0'.
	Warning: TF_OLD_DATA ignoring data from the past for frame pioneer/laser at time 0 according to authority unknown_publisher
	Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
	at line 260 in /tmp/binarydeb/ros-kinetic-tf2-0.5.13/src/buffer_core.cpp
	[ INFO] [1485457325.231289404, 1467910704.329354354]: I0126 20:02:05.000000 29492 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636035075042808299'.
	[ INFO] [1485457325.284566134, 1467910704.389728285]: I0126 20:02:05.000000 29492 local_trajectory_builder.cc:275] ImuTracker not yet initialized.
	[ INFO] [1485457335.338709006, 1467910714.439300729]: I0126 20:02:15.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 6.2%.
	[ INFO] [1485457339.890502020, 1467910718.991899277]: I0126 20:02:19.000000 29492 collated_trajectory_builder.cc:79] odom rate: 9.93 Hz 1.01e-01 s +/- 8.30e-03 s (pulsed at 100.47% real time)
	[ INFO] [1485457339.890585300, 1467910718.991899277]: I0126 20:02:19.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.69 Hz 2.01e-02 s +/- 7.37e-04 s (pulsed at 99.90% real time)
	[ INFO] [1485457345.398721392, 1467910724.501708594]: I0126 20:02:25.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 6.2%.
	[ INFO] [1485457354.898012442, 1467910733.995703641]: I0126 20:02:34.000000 29492 collated_trajectory_builder.cc:79] odom rate: 10.00 Hz 1.00e-01 s +/- 1.31e-04 s (pulsed at 100.02% real time)
	[ INFO] [1485457354.898071774, 1467910733.995703641]: I0126 20:02:34.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.72 Hz 2.01e-02 s +/- 1.65e-03 s (pulsed at 99.64% real time)
	[ INFO] [1485457355.412759294, 1467910734.519606995]: I0126 20:02:35.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 5.66667%.
	[ INFO] [1485457357.299662199, 1467910736.405915925]: I0126 20:02:37.000000 29492 submaps.cc:176] Added submap 2
	[ INFO] [1485457357.503965601, 1467910736.607244270]: I0126 20:02:37.000000 29567 constraint_builder.cc:276] 0 computations resulted in 0 additional constraints.
	[ INFO] [1485457357.504015354, 1467910736.607244270]: I0126 20:02:37.000000 29567 constraint_builder.cc:278] Score histogram:
	Count: 0
	[ INFO] [1485457357.512026941, 1467910736.617330830]: I0126 20:02:37.000000 29567 sparse_pose_graph.cc:280] We caught up. Hooray!
	[ INFO] [1485457365.508246917, 1467910744.614941028]: I0126 20:02:45.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 5.5%.
	[ INFO] [1485457369.904256875, 1467910749.009147476]: I0126 20:02:49.000000 29492 collated_trajectory_builder.cc:79] odom rate: 10.00 Hz 1.00e-01 s +/- 9.00e-05 s (pulsed at 100.10% real time)
	[ INFO] [1485457369.904321936, 1467910749.009147476]: I0126 20:02:49.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.74 Hz 2.01e-02 s +/- 1.15e-03 s (pulsed at 99.60% real time)
	[ INFO] [1485457375.535003880, 1467910754.632268035]: I0126 20:02:55.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 5.36%.
	[ INFO] [1485457384.255542564, 1467910763.359096589]: I0126 20:03:04.000000 29492 submaps.cc:176] Added submap 3
	[ INFO] [1485457384.320760639, 1467910763.419499510]: I0126 20:03:04.000000 29565 constraint_builder.cc:276] 0 computations resulted in 0 additional constraints.
	[ INFO] [1485457384.320811252, 1467910763.419499510]: I0126 20:03:04.000000 29565 constraint_builder.cc:278] Score histogram:
	Count: 0
	[ INFO] [1485457384.327461708, 1467910763.429591253]: I0126 20:03:04.000000 29565 sparse_pose_graph.cc:280] We caught up. Hooray!
	[ INFO] [1485457384.910790583, 1467910764.013292800]: I0126 20:03:04.000000 29492 collated_trajectory_builder.cc:79] odom rate: 9.93 Hz 1.01e-01 s +/- 8.22e-03 s (pulsed at 99.79% real time)
	[ INFO] [1485457384.910862825, 1467910764.013292800]: I0126 20:03:04.000000 29492 collated_trajectory_builder.cc:79] scan rate: 49.77 Hz 2.01e-02 s +/- 8.07e-04 s (pulsed at 99.60% real time)
	[ INFO] [1485457385.617081162, 1467910764.718503817]: I0126 20:03:05.000000 29492 motion_filter.cc:42] Motion filter reduced the number of scans to 6.3%.
	F0126 20:03:15.450141 29492 probability_grid.h:161] Check failed: limits_.Contains(xy_index) -215
	3666
	[FATAL] [1485457395.450500842, 1467910774.550435528]: F0126 20:03:15.000000 29492 probability_grid.h:161] Check failed: limits_.Contains(xy_index) -215
	3666
	* Check failure stack trace: *47205 Duration: 71.732922 / 258.178660
	@ 0x7f8b1f4575cd google::LogMessage::Fail()
	@ 0x7f8b1f459433 google::LogMessage::SendToLog()
	@ 0x7f8b1f45715b google::LogMessage::Flush()
	@ 0x7f8b1f459e1e google::LogMessageFatal::~LogMessageFatal()
	@ 0x5239b2 _ZNSt17_Function_handlerIFvRKN5Eigen5ArrayIiLi2ELi1ELi0ELi2ELi1EEEEZNK12cartographer10mapping_2d16LaserFanInserter6InsertERKNS6_6sensor8LaserFanEPNS7_15ProbabilityGridEEUlS4_E_E9_M_invokeERKSt9_Any_dataS4_
	@ 0x5cb381 cartographer::mapping_2d::CastRays()
	@ 0x5235b3 cartographer::mapping_2d::LaserFanInserter::Insert()
	@ 0x5cd48f cartographer::mapping_2d::Submaps::InsertLaserFan()
	@ 0x5c02e6 cartographer::mapping_2d::LocalTrajectoryBuilder::AddHorizontalLaserFan()
	@ 0x5bdebc cartographer::mapping_2d::GlobalTrajectoryBuilder::AddRangefinderData()
	@ 0x527ab9 cartographer::mapping::CollatedTrajectoryBuilder::HandleCollatedSensorData()
	@ 0x5284ee _ZNSt17_Function_handlerIFvRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteISB_EEEZNS9_7mapping25CollatedTrajectoryBuilderC4EPNSA_8CollatorEiRKSt13unordered_setIS5_St4hashIS5_ESt8equal_toIS5_ESaIS5_EES8_INSG_32GlobalTrajectoryBuilderInterfaceESC_IST_EEEUlS7_SE_E_E9_M_invokeERKSt9_Any_dataS7_OSE_
	@ 0x544fca _ZNSt17_Function_handlerIFvSt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteIS3_EEEZNS2_8Collator13AddTrajectoryEiRKSt13unordered_setINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt4hashISF_ESt8equal_toISF_ESaISF_EESt8functionIFvRKSF_S6_EEEUlS6_E_E9_M_invokeERKSt9_Any_dataOS6_
	@ 0x546ac9 cartographer::sensor::OrderedMultiQueue::Dispatch()
	@ 0x54806f cartographer::sensor::OrderedMultiQueue::Add()
	@ 0x5452c4 cartographer::sensor::Collator::AddSensorData()
	@ 0x526c08 cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData()
	@ 0x50a44b cartographer_ros::SensorBridge::HandleRangefinder()
	@ 0x50b08a cartographer_ros::SensorBridge::HandleLaserScanMessage()
	@ 0x4ef8ab _ZN5boost6detail8function26void_function_obj_invoker1IZN16cartographer_ros12_GLOBAL__N_13RunEvEUlRKNS_10shared_ptrIKN11sensor_msgs10LaserScan_ISaIvEEEEEE_vSD_E6invokeERNS1_15function_bufferESD_
	@ 0x4f69ce boost::detail::function::void_function_obj_invoker1<>::invoke()
	@ 0x500bb9 ros::SubscriptionCallbackHelperT<>::call()
	@ 0x7f8b1c5c05cd ros::SubscriptionQueue::call()
	@ 0x7f8b1c56acf0 ros::CallbackQueue::callOneCB()
	@ 0x7f8b1c56c0f3 ros::CallbackQueue::callAvailable()
	@ 0x7f8b1c5c4691 ros::SingleThreadedSpinner::spin()0 / 258.178660
	@ 0x7f8b1c5a972b ros::spin()
	@ 0x4f0cee cartographer_ros::(anonymous namespace)::Run()
	@ 0x4ed424 main
	@ 0x7f8b1afc3830 __libc_start_mainuration: 71.751475 / 258.178660
	@ 0x4eeea9 _start
	@ (nil) (unknown)
	[cartographer_node-2] process has died [pid 29492, exit code -6, cmd /home/juraj/catkin_ws/devel/lib/cartographer_ros/cartographer_node -configuration_directory /home/juraj/Desktop/pioneer_crash_example/config -configuration_basename pioneer_cartographer.lua scan:=pioneer/scan odom:=pioneer/pose __name:=cartographer_node __log:=/home/juraj/.ros/log/ec79fdb2-e3f9-11e6-9b59-f0def1de224c/cartographer_node-2.log].