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Real-Time 3D Semantic Reconstruction from 2D data

License: BSD 2-Clause "Simplified" License

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semantic-segmentation volumetric-reconstruction 3d-reconstruction robotics mapping reconstruction real-time cpu voxels rviz

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kimera-semantics's Issues

Error while installing Semantics with Ros Noetic

Hello. I have an Ubuntu 20, so i've installed ros noetic build and replaced melodic to noetic in your FAQ when i was trying to build KieraSemantic. I've met one big problem which i can't understand how to fix.

Firstly, i've met "can't find 'main' module in python/em" issue when launching catkin build kimera_semantics_ros, which, fortunately, i've bypassed using from here https://answers.ros.org/question/100741/catkin-fails-on-osx-109-cant-find-__main__-module-in-empy-31-py27eggempyc/ ( i know this question is about OSx, but it did helped me). So i was able to build 13 out of 15 packages, but now i'm getting kinda big error, it even can't fit inside terminal... I'll paste some of this here. Any suggestions?

/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: ‘type’ is not a member of ‘pcl::traits::datatype<pcl::PPFRGBSignature, pcl::fields::g_ratio>::decomposed’ {aka ‘pcl::traits::decomposeArray<float>’}
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: template argument 1 is invalid
  588 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: ‘type’ is not a member of ‘pcl::traits::datatype<pcl::PPFRGBSignature, pcl::fields::b_ratio>::decomposed’ {aka ‘pcl::traits::decomposeArray<float>’}
  588 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: ‘type’ is not a member of ‘pcl::traits::datatype<pcl::PPFRGBSignature, pcl::fields::b_ratio>::decomposed’ {aka ‘pcl::traits::decomposeArray<float>’}
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: template argument 1 is invalid
  588 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: ‘type’ is not a member of ‘pcl::traits::datatype<pcl::PPFRGBSignature, pcl::fields::alpha_m>::decomposed’ {aka ‘pcl::traits::decomposeArray<float>’}
  588 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: ‘type’ is not a member of ‘pcl::traits::datatype<pcl::PPFRGBSignature, pcl::fields::alpha_m>::decomposed’ {aka ‘pcl::traits::decomposeArray<float>’}
/usr/include/pcl-1.10/pcl/point_types.h:588:1: error: template argument 1 is invalid
  588 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/point_types.h:44,
                 from /usr/include/pcl-1.10/pcl/common/impl/copy_point.hpp:41,
                 from /usr/include/pcl-1.10/pcl/common/copy_point.h:58,
                 from /usr/include/pcl-1.10/pcl/common/impl/io.hpp:45,
                 from /usr/include/pcl-1.10/pcl/common/io.h:586,
                 from /usr/include/pcl-1.10/pcl/filters/filter.h:43,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/tsdf_server.h:9,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/esdf_server.h:11,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/src/esdf_server.cc:1:
/usr/include/pcl-1.10/pcl/point_types.h:627:1: error: ‘plus’ is not a member of ‘pcl::traits’
  627 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::BRISKSignature512,
______
/usr/include/pcl-1.10/pcl/point_types.h:627:1: error: ‘plusscalar’ is not a member of ‘pcl::traits’
  627 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::BRISKSignature512,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_types.h: In function ‘const pcl::BRISKSignature512& pcl::common::operator-=(pcl::BRISKSignature512&, const pcl::BRISKSignature512&)’:
/usr/include/pcl-1.10/pcl/point_types.h:627:1: error: ‘minus’ is not a member of ‘pcl::traits’
  627 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::BRISKSignature512,
__________
/usr/include/c++/9/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>) (const pcl::PCLPointField&)’
  283 |  { return bool(_M_pred(*__it)); }
      |           ^~~~~~~~~~~~~~~~~~~~
/usr/include/c++/9/bits/predefined_ops.h:283:11: note: candidate: ‘void (*)(const int&)’ <conversion>
/usr/include/c++/9/bits/predefined_ops.h:283:11: note:   candidate expects 2 arguments, 2 provided
In file included from /opt/ros/noetic/include/pcl_ros/point_cloud.h:8,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/conversions.h:9,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/simulation_server.h:18,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/src/simulation_server.cc:1:
/usr/include/pcl-1.10/pcl/conversions.h:317:28: note: candidate: ‘pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>’
  317 |     const auto predicate = [](const auto& field) { return field.name == "rgb"; };
      |                            ^
/usr/include/pcl-1.10/pcl/conversions.h:317:28: note:   no known conversion for argument 1 from ‘const pcl::PCLPointField’ to ‘const int&’
In file included from /usr/include/c++/9/bits/stl_algobase.h:71,
                 from /usr/include/c++/9/memory:62,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/simulation_server.h:4,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/src/simulation_server.cc:1:
/usr/include/c++/9/bits/predefined_ops.h: In instantiation of ‘bool __gnu_cxx::__ops::_Iter_pred<_Predicate>::operator()(_Iterator) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>]’:
/usr/include/c++/9/bits/stl_algo.h:120:14:   required from ‘_RandomAccessIterator std::__find_if(_RandomAccessIterator, _RandomAccessIterator, _Predicate, std::random_access_iterator_tag) [with _RandomAccessIterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)> >]’
/usr/include/c++/9/bits/stl_algo.h:161:23:   required from ‘_Iterator std::__find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)> >]’
/usr/include/c++/9/bits/stl_algo.h:3963:28:   required from ‘_IIter std::find_if(_IIter, _IIter, _Predicate) [with _IIter = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>]’
/usr/include/pcl-1.10/pcl/common/io.h:65:77:   required from here
/usr/include/c++/9/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>) (const pcl::PCLPointField&)’
  283 |  { return bool(_M_pred(*__it)); }
      |           ^~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/io/file_io.h:41,
                 from /usr/include/pcl-1.10/pcl/io/pcd_io.h:44,
                 from /opt/ros/noetic/include/pcl_conversions/pcl_conversions.h:70,
                 from /opt/ros/noetic/include/pcl_ros/point_cloud.h:9,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/conversions.h:9,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/simulation_server.h:18,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/src/simulation_server.cc:1:
/usr/include/pcl-1.10/pcl/common/io.h:65:9: note: candidate: ‘pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>’
   65 |         [&field_name](const auto field) { return field.name == field_name; });
      |         ^
/usr/include/pcl-1.10/pcl/common/io.h:65:9: note:   no known conversion for argument 1 from ‘const pcl::PCLPointField’ to ‘int’
In file included from /usr/include/c++/9/bits/stl_algobase.h:71,
                 from /usr/include/c++/9/memory:62,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/include/voxblox_ros/esdf_server.h:4,
                 from /home/daddywesker/catkin_ws/src/voxblox/voxblox_ros/src/esdf_server.cc:1:
/usr/include/c++/9/bits/predefined_ops.h: In instantiation of ‘bool __gnu_cxx::__ops::_Iter_pred<_Predicate>::operator()(_Iterator) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>]’:
/usr/include/c++/9/bits/stl_algo.h:120:14:   required from ‘_RandomAccessIterator std::__find_if(_RandomAccessIterator, _RandomAccessIterator, _Predicate, std::random_access_iterator_tag) [with _RandomAccessIterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)> >]’
/usr/include/c++/9/bits/stl_algo.h:161:23:   required from ‘_Iterator std::__find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)> >]’
/usr/include/c++/9/bits/stl_algo.h:3963:28:   required from ‘_IIter std::find_if(_IIter, _IIter, _Predicate) [with _IIter = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>]’
/usr/include/pcl-1.10/pcl/conversions.h:318:93:   required from here
/usr/include/c++/9/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>) (const pcl::PCLPointField&)’
  283 |  { return bool(_M_pred(*__it)); }
      |           ^~~~~~~~~~~~~~~~~~~~

and so on and so of... Probably something with pcl...?

ros kinetic

Hi @ToniRV Thanks for your great works!
My ros version is kinetic, something error when catkin_make the package. Does the package support ros kinetic? I'm not very familiar with ROS
thanks!

can not download eigen 3.3.4

I can't download eigen 3.3.4 from the URL https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.tar.bz2

cannot launch pointcloud_recolor node

Hi team, Hi Toni,

I am interested to run the pointcloud_recolor node as I would like to feed it with a point cloud from DSO "poincloud_in" and a semantic segmentation mask "image_in".

So I set the "run_stereo_dense" from the kimera_semantics.launch file to true and run it. However the terminal returns "cannot launch pointcloud_recolor node".
I checked the ROS_PACKAGE_PATH and the pointcloud_recolor folder was missing. So I added it.

Now I have : cannot launch node of type [pointcloud_recolor/poincloud_recolor"].

My question:
How can I execute the "pointcloud_recolor" method if I create a rosbag that contains "pointcloud_in" topic?

Thank you for your guidance :)

voxblox::SimulationWorld::objects_’ is private within this context

Ubuntu 1804

catkin build in catkin_ws

Errors << kimera_semantics:make /home/lzw/resplendent_code/k_s_ros1_ws/logs/kimera_semantics/build.make.000.log
/home/lzw/resplendent_code/k_s_ros1_ws/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp: In member function ‘void kimera::SemanticSimulationWorld::generateSemanticSdfFromWorld(voxblox::FloatingPoint, voxblox::Layerkimera::SemanticVoxel*)’:
/home/lzw/resplendent_code/k_s_ros1_ws/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp:84:57: error: ‘std::cxx11::list<std::unique_ptrvoxblox::Object > voxblox::SimulationWorld::objects’ is private within this context
for (const std::unique_ptrvxb::Object& object : objects) {
^~~~~~~~
In file included from /home/lzw/resplendent_code/k_s_ros1_ws/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/simulation/semantic_simulation_world.h:1:0,
from /home/lzw/resplendent_code/k_s_ros1_ws/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp:1:
/home/lzw/resplendent_code/k_s_ros1_ws/src/voxblox/voxblox/include/voxblox/simulation/simulation_world.h:102:39: note: declared private here
std::list<std::unique_ptr > objects_;
^~~~~~~~
/home/lzw/resplendent_code/k_s_ros1_ws/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp:88:39: error: ‘class voxblox::Object’ has no member named ‘getType’; did you mean ‘Type’?
selectSemanticLabel(object->getType(), &semantic_label);
^~~~~~~
Type
make[2]: *** [CMakeFiles/kimera_semantics.dir/src/simulation/semantic_simulation_world.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
make[1]: *** [CMakeFiles/kimera_semantics.dir/all] Error 2
make: *** [all] Error 2
cd /home/lzw/resplendent_code/k_s_ros1_ws/build/kimera_semantics; catkin build --get-env kimera_semantics | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
..................................................................................
Failed << kimera_semantics:make [ Exited with code 2 ]
Failed <<< kimera_semantics [ 3.7 seconds ]
Abandoned <<< voxblox_ros [ Unrelated job failed ]
Abandoned <<< kimera_semantics_ros [ Unrelated job failed ]
Finished <<< voxblox_rviz_plugin [ 11.5 seconds ]
[build] Summary: 11 of 14 packages succeeded.
[build] Ignored: 22 packages were skipped or are blacklisted.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: 2 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 28.1 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
lzw@resplendent-star:~/resplendent_code/k_s_ros1_ws$

Semantic Point Cloud's input for inserting into mesh

Hi can I check that for the Kimera Semantics, we just need Depth (from camera) and 2D semantic image and pose from some SLAM backend?

The input semantic image is the actual colored image and not the label matrix? And similarly there is no need to provide the confidence matrix for the semantic image?

We are assuming that the semantic module is very robust in such case?

Thank you

Error when running roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true

Hi,
When I run roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true I get these errors:

And the result in rviz is like this:

Installation and Demo

Hi Toni,

Sorry for bothering you again.

On both Ubuntu 16 and 18 I cannot get the demo running. I did all the steps in the installation.
But I get below image which seems there is an error in installation and demo. I put the images at the end.
Just a tiny hint, I guess in the readme this line should change

Download the demo rosbag (click here to download) and save it in: ./kimera_semantics_ros/rosbag/kimera_semantics_demo.bag

Download the demo rosbag (click here to download) and save it in: ./kimera_semantics_ros/rosbags/kimera_semantics_demo.bag

Installation errors:

Demo:

Use semantics and meshing parts with other point clouds

Hi !
I’m currently trying to reconstruct meshes from point clouds obtained by monocular ORB-SLAM2 and LSD-SLAM and your work looks very interesting and useful ! Do you know if it’s possible to just use the semantics and meshing parts with point clouds generated from other monocular SLAM algorithm than VIO ?
Thank you.

No algorithms outputs seen on rviz

Hi,

Thanks for this impressive work. It looks very promising.

I checked out 7e985e9 so I can compile the code, however when I run the algorithms as instructed, nothing shows up in rviz. I have downloaded the bag and it reads successfully.
Checking the connections between the blocks in the nodes graph and I see that the bag inputs (segmentation, left_cam and, depth) are not fed into the kimera-semantic-node.

Am I missing something to make it run successfully?

I am using Kinetic, ubuntu 16.04.

Semantics reconstruction using realsense

I am trying to setup Kimera Seamamtics using Segmentation network in pytorch. I first tried in gazebo, which was publishing me kinect frame, left cam and depth, and using left cam I got segmented image, and fed it to kimera. I had few issues, but by changing number of classes in the kimera code and csv file in launch file, it worked and created a semantic reconstruction of my gazebo environment.
The problem I am facing now is with realsense on my actual setup, where rgb frame is different to depth nd left cam frame. So I tried using left cam as rgb, depth as aligned_depth_to_color of realsense, and since rgb was used to generate segmented image, thus segmented also in rgb frame. Now all my frames are camera_color_optical_frame, so I set the sensor frame also to camera_color_optical_frame in launch file. I am publishing a static identity tf from world to odom, and my robot has odom to baselink nd baselink to camera link published. Camera link to other frames of camera are being published by realsense node. If I set semantic reconstruction false, i get a 3d mesh construction published, but if I set semantic reconstruction to true, no error arises, but no mesh is generated. It keeps saying just updating mesh, continuously.
Can you help, what am I doing wrong??

Object_db new dependency?

3D reconstruction (without semantics) using Intel Realsense D435i is not working

Hi everybody,

Unfortunately I have some problems building the 3D reconstruction using the Intel Realsense D435i.

Whenever I start Kimera-Semantics I can see the pose estimation in rviz but no reconstruction. In the Terminal I only get
[ INFO] [1613430674.227458481]: Updating mesh.

I am executing the following commands:

Start roscore
roscore
Start camera node
roslaunch realsense2_camera rs_camera.launch unite_imu_method:=linear_interpolation enable_infra:=true enable_infra1:=true enable_infra2:=true enable_gyro:=true enable_accel:=true align_depth:=true
Disable emitter
rosrun dynamic_reconfigure dynparam set /camera/stereo_module emitter_enabled 0
Start Kimera-VIO
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch run_stereo_dense:=true
Start Kimera-Semantics
roslaunch kimera_semantics_ros kimera_metric_realsense.launch

I've changed following parameters in the launch file of kimera semantics:

should_use_sim_time:=false
run_stereo_dense:=true # I've tested it with both false and true but neither works
metric_semantic_reconstruction:=false

sensor_frame:=left_cam_base_link

left_cam_info_topic:=/camera/aligned_depth_to_color/camera_info
left_cam_topic:=/camera/color/image_raw
left_cam_segmentation_topic:=/camera/color/semantic_image
left_cam_depth_topic:=/camera/aligned_depth_to_color/image_raw

Here is a visualization of my ROS topics:

The visualization of Kimera-VIO works fine. However I've encountered the issue, that after some time the visualization of Kimera-VIO stops when I start Kimera-Semantics but the status messages of Kimera-VIO are still printed.

I also receive sometimes the following message after startup of Kimera-VIO:
W0215 23:15:30.628022 5205 DataProviderModule.cpp:118] Asking for data before start of IMU stream, from timestamp: 1613430930557135336 to timestamp: 1613430930626134204. After removing and plugging in the camera again it mostly works.

I run the complete system inside a Docker container, could that be the problem?
Ubuntu 18.04
ROS Melodic 1.14.10
Realsense Firmware: 05.12.11.00

I'm unsure, if I haven't set a topic properly or forgot something else.

I would really appreciate it if someone could guide me into the right direction. I'm relatively new to ROS, therefore I don't know how to analyze the problem correctly.

Thank you very much,
Maurice

Stereo Mode

Hi I am trying to use the stereo image in the demo bag for dense reconstruction but could not figure it out with the help in README.md

The command I am running is (run left image + depth is fine so kimera_semantic works properly in all)

roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true metric_semantic_reconstruction:=false run_stereo_dense:=1

No error showing in the terminal. Just continuing updating the mesh without tsdf integration. The following is part of the terminal output.

[ INFO] [1600645927.696824786]: Loading nodelet /disparity_to_depth of type disparity_image_proc/depth_image to manager nodelet_manager with the following remappings:
[ INFO] [1600645927.697891757]: /depth_image -> /depth_image
[ INFO] [1600645927.697911344]: /disparity -> /disparity
[ INFO] [1600645927.697924606]: /left/camera_info -> /tesse/left_cam/camera_info
[ INFO] [1600645927.697938109]: /right/camera_info -> /tesse/right_cam/camera_info
[ INFO] [1600645927.698420176]: Initializing nodelet with 12 worker threads.
[ INFO] [1600645927.703761808]: Loading nodelet /cloudify of type depth_image_proc/point_cloud_xyzrgb to manager nodelet_manager with the following remappings:
[ INFO] [1600645927.704388888]: /depth_registered/image_rect -> /depth_image
[ INFO] [1600645927.704411498]: /depth_registered/points -> /semantic_pointcloud
[ INFO] [1600645927.704429927]: /rgb/camera_info -> /tesse/left_cam/camera_info
[ INFO] [1600645927.704444042]: /rgb/image_rect_color -> /tesse/left_cam/image_raw

Waiting 0.2 seconds after advertising topics...[ WARN] [1600645927.755778185]: Started in the global namespace! This is probably wrong. Start stereo_image_proc in the stereo namespace.
Example command-line usage:
	$ ROS_NAMESPACE=my_stereo rosrun stereo_image_proc stereo_image_proc
 done.

Hit space to toggle paused, or 's' to step.
[ INFO] [1600645928.062838229]: Updating mesh..........3 / 78.072170               
[ INFO] [1600645928.162767434]: Updating mesh..........3 / 78.072170               
[ INFO] [1600645928.263126438]: Updating mesh..........5 / 78.072170               
[ INFO] [1600645928.362990980]: Updating mesh..........2 / 78.072170               
[ INFO] [1600645928.462854218]: Updating mesh..........0 / 78.072170               
[ INFO] [1600645928.562461162]: Updating mesh..........7 / 78.072170               
[ WARN] [1600645928.597717500]: Color topic '/left/image_color' requested, but raw image data from topic '/tesse/left_cam/image_raw' is grayscale
[ INFO] [1600645928.663122907]: Updating mesh..........3 / 78.072170               
[ INFO] [1600645928.762962406]: Updating mesh..........0 / 78.072170               
[ INFO] [1600645928.862396811]: Updating mesh..........9 / 78.072170               
[ INFO] [1600645928.962913318]: Updating mesh..........8 / 78.072170               
[ INFO] [1600645929.062416152]: Updating mesh..........0 / 78.072170               
[ INFO] [1600645929.163045664]: Updating mesh..........1 / 78.072170               
[ INFO] [1600645929.263158255]: Updating mesh..........8 / 78.072170               
[ INFO] [1600645929.363039676]: Updating mesh..........1 / 78.072170               
[ INFO] [1600645929.462719128]: Updating mesh..........1 / 78.072170               
[ INFO] [1600645929.562801339]: Updating mesh..........9 / 78.072170               
[ INFO] [1600645929.662357726]: Updating mesh..........9 / 78.072170               
[ INFO] [1600645929.763141661]: Updating mesh..........2 / 78.072170               
[ INFO] [1600645929.862976349]: Updating mesh..........9 / 78.072170               
[ INFO] [1600645929.962583972]: Updating mesh..........0 / 78.072170

I use the rviz to check and there is /points2 point cloud. But there is no depth image. Seems the disparity_image_proc is not working?

Error in installation

I get error when installing this toolbox. I tried on Ubuntu 16 and 18 but both of them have error on this line: git clone [email protected]:MIT-SPARK/Kimera-Semantics.git

XX:~/catkin_ws/src$ git clone [email protected]:MIT-SPARK/Kimera-Semantics.git
Cloning into 'Kimera-Semantics'...
The authenticity of host 'github.com (13.236.229.21)' can't be established.
RSA key fingerprint is SHA256:nThbg6kXUpJWGl7E1IGOCspRomTxdCARLviKw6E5SY8.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added 'github.com,13.236.229.21' (RSA) to the list of known hosts.
Permission denied (publickey).
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.

Any idea?

Issues while adding support for Intel RealSense T265

I'm picking up ROS to write a launch files to run live metric reconstruction (no semantic annotation yet) via the Intel RealSense T265 (tracking provided by two grayscale fisheye cameras). Running into a few issues:

I saw from previous issues that camera pose is provided via the sensor_frame argument according to the Voxblox node documentation. I recorded my current TF graph (published from the realsense-ros node)
.

Unfortunately, there is no frame called world being published, which is the default argument for world_frame - what should I set world_frame and sensor_frame to?

Since the T265 doesn't provide depth information, I'm setting run_stereo_dense to true to obtain depth predictions via stereo_image_proc. Unfortunately, the node is throwing errors since it requires RGB stereo input, while the T265 only provides grayscale pairs. Do you know of any alternatives to this package?

Thanks!

Is it possible to add your own agents in addition to the robot and human agents?

I'm interested in adding more agents to the DSG, and was wondering the steps I would have to conduct to add them.

Is it possible to run Euroc dataset with Kimera-Semantics?

Dear Antoni,
First of all, I have to say that I am a huge fan of your work and Kimera project. I have spent this couple of days read your articles and worked with Kimera. It encouraged me to try to run Euroc by combined Kimera-VIO and Kimera-Sematics.
Could you give me some thought to deal with that problem?

semantic segmentation of realsense D435i live data

Hi Toni,

I'm evaluating kimera with realsense D435i hardware.Currently, I have managed to run 3D geometry construction with live data from D435i.

Now I am trying to figure out how to semantically segment live feed of relasense D435i in real time,and get an output like you have shown in the kimera-semantics tesse dataset.

please let me know the procedure to follow to achieve that with on D435i live data .

can Kimera-Semantics run without ROS

can Kimera-Semantics run without ROS? Is there ways to run it on ubuntu only

"catkin_simple" problem

Dear ToniRV, thanks you for your great job!
I do the simulation according to your suggestion, but the following error occurs:

Errors << kimera_semantics:cmake /home/gaotao/data/catkin_ws/logs/kimera_semantics/build.cmake.001.log
CMake Error at /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/CMakeLists.txt:4 (find_package):
By not providing "Findcatkin_simple.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"catkin_simple", but CMake did not find one.

Could not find a package configuration file provided by "catkin_simple"
with any of the following names:

catkin_simpleConfig.cmake
catkin_simple-config.cmake

Add the installation prefix of "catkin_simple" to CMAKE_PREFIX_PATH or set
"catkin_simple_DIR" to a directory containing one of the above files. If
"catkin_simple" provides a separate development package or SDK, be sure it
has been installed.

cd /home/gaotao/data/catkin_ws/build/kimera_semantics; catkin build --get-env kimera_semantics | catkin env -si /usr/bin/cmake /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/gaotao/data/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/gaotao/data/catkin_ws/install -DCMAKE_BUILD_TYPE=Release; cd -

can you give me some suggestions about it, thanks a million.

Get Started with Kimera-Semantics

Hello Guys,

Thank you for a great repo for qualitative analysis of the whole slam pipeline! I was able to set up the repo and run the simulation to see the 3D semantic construction for the office data.

I was explicitly looking to use Kimera semantics for now. I was just confused about how exactly shall I get started with it. I have the following data with me (ScanNet):

RGB frames
Corresponding Depth frames
Corresponding Label frames
Corresponding Extrinsics for each RGB

According to my understanding I need to make changes to Kimera_sematics.launch file for setting the variables to the right path. I see the following paths set in the launch file.

arg name="semantic_pointcloud"         default="/semantic_pointcloud"/&gt;  
arg name="left_cam_info_topic"         default="/tesse/left_cam/camera_info"/&gt

I also see semantic_label_2_color_csv_filepath csv file which has color mapping and Id information, which I would need to create for my case. I presume that if I run it for a new dataset, I would need to change number of classes and csv file too.
Do I have to rebuild the repo after making these changes?

Also Since I already have depth info with me, Do I convert them to point cloud using the extrinsic which I have, or it done internally if provide depth and extrinsic?

Would be great to know if there is a resource which actually points towards running Kimera-semantics from scratch on given set of data in a step by step fashion.

Regards,
Nitin

Where to set the depth factor?

I create a rosbag that contains the information needed for a dense reconstruction such as camera intrinsic, depth image, gray image, tf and tf_static.
I disable semantic reconstruction, just try to do dense reconstruction.
The reconstruction doesn't look very good.

The first thing come to my mind the depth factor. The depth factor of my dataset is 5000 like TUM rgbd dataset. But I cannot find a parameter relates to that in the launch file or in the program... Could you please tell me where is that parameter?

Add explicit launch file to interface with Euroc

catkin build error

gaotao@gaotao-desktop:~/data/catkin_ws$ catkin_make
Base path: /home/gaotao/data/catkin_ws
Source space: /home/gaotao/data/catkin_ws/src
Build space: /home/gaotao/data/catkin_ws/build
Devel space: /home/gaotao/data/catkin_ws/devel
Install space: /home/gaotao/data/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/gaotao/data/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/gaotao/data/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/gaotao/data/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/gaotao/data/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/gaotao/data/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 4 packages in topological order:
-- ~~ - catkin_simple
-- ~~ - kimera (metapackage)
WARNING: The CMakeLists.txt of the metapackage 'kimera' contains non standard content. Use the content of the following file instead: /home/gaotao/data/catkin_ws/build/catkin_generated/metapackages/kimera/CMakeLists.txt
-- ~~ - kimera_semantics
-- ~~ - kimera_semantics_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

-- Configuring incomplete, errors occurred!
See also "/home/gaotao/data/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/gaotao/data/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:320: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
gaotao@gaotao-desktop:~/data/catkin_ws$ catkin_make_isolated
Base path: /home/gaotao/data/catkin_ws
Source space: /home/gaotao/data/catkin_ws/src
Build space: /home/gaotao/data/catkin_ws/build_isolated
Devel space: /home/gaotao/data/catkin_ws/devel_isolated
Install space: /home/gaotao/data/catkin_ws/install_isolated

~~  traversing 4 packages in topological order:
~~  - catkin_simple
~~  - kimera
~~  - kimera_semantics
~~  - kimera_semantics_ros

==> Processing catkin package: 'catkin_simple'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/gaotao/data/catkin_ws/build_isolated/catkin_simple'
==> make -j4 -l4 in '/home/gaotao/data/catkin_ws/build_isolated/catkin_simple'
<== Finished processing package [1 of 4]: 'catkin_simple'

==> Processing catkin package: 'kimera'
==> Building with env: '/home/gaotao/data/catkin_ws/devel_isolated/catkin_simple/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/gaotao/data/catkin_ws/build_isolated/kimera'
==> make -j4 -l4 in '/home/gaotao/data/catkin_ws/build_isolated/kimera'
<== Finished processing package [2 of 4]: 'kimera'

==> Processing catkin package: 'kimera_semantics'
==> Building with env: '/home/gaotao/data/catkin_ws/devel_isolated/kimera/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/gaotao/data/catkin_ws/build_isolated/kimera_semantics'
==> make -j4 -l4 in '/home/gaotao/data/catkin_ws/build_isolated/kimera_semantics'
[ 37%] Building CXX object CMakeFiles/kimera_semantics.dir/src/semantic_tsdf_integrator_factory.cpp.o
[ 50%] Building CXX object CMakeFiles/kimera_semantics.dir/src/semantic_integrator_base.cpp.o
[ 50%] Building CXX object CMakeFiles/kimera_semantics.dir/src/color.cpp.o
[ 50%] Building CXX object CMakeFiles/kimera_semantics.dir/src/semantic_tsdf_integrator_fast.cpp.o
In file included from /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/src/semantic_tsdf_integrator_factory.cpp:36:0:
/home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/semantic_tsdf_integrator_factory.h:42:10: fatal error: voxblox/integrator/tsdf_integrator.h: No such file or directory
#include <voxblox/integrator/tsdf_integrator.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
CMakeFiles/kimera_semantics.dir/build.make:134: recipe for target 'CMakeFiles/kimera_semantics.dir/src/semantic_tsdf_integrator_factory.cpp.o' failed
make[2]: *** [CMakeFiles/kimera_semantics.dir/src/semantic_tsdf_integrator_factory.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/color.h:17:0,
from /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/src/color.cpp:13:
/home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/common.h:9:10: fatal error: voxblox/core/block_hash.h: No such file or directory
#include <voxblox/core/block_hash.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
CMakeFiles/kimera_semantics.dir/build.make:62: recipe for target 'CMakeFiles/kimera_semantics.dir/src/color.cpp.o' failed
make[2]: *** [CMakeFiles/kimera_semantics.dir/src/color.cpp.o] Error 1
In file included from /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/src/semantic_tsdf_integrator_fast.cpp:37:0:
/home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/semantic_tsdf_integrator_fast.h:42:10: fatal error: voxblox/integrator/tsdf_integrator.h: No such file or directory
#include <voxblox/integrator/tsdf_integrator.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/src/semantic_integrator_base.cpp:37:0:
/home/gaotao/data/catkin_ws/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/semantic_integrator_base.h:45:10: fatal error: voxblox/integrator/tsdf_integrator.h: No such file or directory
#include <voxblox/integrator/tsdf_integrator.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
compilation terminated.
CMakeFiles/kimera_semantics.dir/build.make:110: recipe for target 'CMakeFiles/kimera_semantics.dir/src/semantic_integrator_base.cpp.o' failed
make[2]: *** [CMakeFiles/kimera_semantics.dir/src/semantic_integrator_base.cpp.o] Error 1
CMakeFiles/kimera_semantics.dir/build.make:158: recipe for target 'CMakeFiles/kimera_semantics.dir/src/semantic_tsdf_integrator_fast.cpp.o' failed
make[2]: *** [CMakeFiles/kimera_semantics.dir/src/semantic_tsdf_integrator_fast.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/kimera_semantics.dir/all' failed
make[1]: *** [CMakeFiles/kimera_semantics.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'kimera_semantics':
Command '['/home/gaotao/data/catkin_ws/devel_isolated/kimera/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/gaotao/data/catkin_ws/build_isolated/kimera_semantics && /home/gaotao/data/catkin_ws/devel_isolated/kimera/env.sh make -j4 -l4

Command failed, exiting.
gaotao@gaotao-desktop:~/data/catkin_ws$

Is it possible to ignore mesh construction and only use the semantically segmented point cloud?

Hello,
I'm evaluating the use of Kimera for my thesis project and in order to interoperate with other components the semantically segmented output must be a point cloud.
Since the paper says that the 3D mesh is reconstructed after segmenting the point cloud, can the final mesh reconstruction be skipped? Is it only a question of modifying a launch file or do I need to alter the code (it would not be a problem, I'm just asking to better understand Kimera and where to focus my efforts). Is it the pointcloud_recolor node that does the segmentation or the kimera_semantics_node node?
Thanks in advance!

Caught an unknown color

Hi,

I am trying to run Kimera Semantic on the data collected from the Tesse simulator (the one used in the goseek-challenge). I keep getting the following error:

E1027 12:28:32.195211 24858 color.cpp:73] Caught an unknown color: 
RGB: 143 171 0 255

Also, the reconstructed point cloud does not have associated semantic labels. Here is an image of the point cloud.

I am unable to figure out what might be causing this error. Any help is highly appreciated.

undefined reference to `cv::Mat::updateContinuityFlag()'

I merged the kimera semantics into kimera-vio-ros and excute "catkin build", this error occurs

Errors << pointcloud_recolor:make /home/parallels/catkin_ws/logs/pointcloud_recolor/build.make.012.log
CMakeFiles/pointcloud_recolor.dir/src/pointcloud_recolor.cpp.o: In function PointcloudRecolor::recolorPointcloudWithImage(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const>)': pointcloud_recolor.cpp:(.text._ZN17PointcloudRecolor26recolorPointcloudWithImageEN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEENS1_IKNS2_12PointCloud2_IS4_EEEE[_ZN17PointcloudRecolor26recolorPointcloudWithImageEN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEENS1_IKNS2_12PointCloud2_IS4_EEEE]+0x111): undefined reference to cv::Mat::updateContinuityFlag()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/parallels/catkin_ws/devel/lib/pointcloud_recolor/pointcloud_recolor] Error 1
make[1]: *** [CMakeFiles/pointcloud_recolor.dir/all] Error 2
make: *** [all] Error 2
cd /home/parallels/catkin_ws/build/pointcloud_recolor; catkin build --get-env pointcloud_recolor | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << pointcloud_recolor:make [ Exited with code 2 ]
Failed <<< pointcloud_recolor [ 2.2 seconds ]
Abandoned <<< kimera_ros [ Unrelated job failed ]
Abandoned <<< kimera_semantics [ Unrelated job failed ]
Abandoned <<< voxblox_rviz_plugin [ Unrelated job failed ]
Abandoned <<< voxblox_ros [ Unrelated job failed ]
Abandoned <<< kimera_semantics_ros [ Unrelated job failed ]
Finished <<< KimeraVIO [ 2.1 seconds ]
Finished <<< voxblox [ 0.5 seconds ]
[build] Summary: 40 of 46 packages succeeded.
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: 5 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 17.3 seconds total.

Is it possible to run Kimera Semantics without ROS?

As the title says. I want to be able to run Kimera Semantics without ROS just like Kimera-VIO.

Catkin build error: cannot find macros.h

I recently pulled the latest commits and found that I could no longer build Kimera-Semantics, getting the following error:

Starting  >>> kimera_semantics                                                                        
Starting  >>> voxblox_rviz_plugin                                                                     
______________________________________________________________________________________________________
Errors     << kimera_semantics:cmake /home/simon/catkin_ws/logs/kimera_semantics/build.cmake.000.log  
CMake Error at /home/simon/catkin_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:150 (add_library):
  Cannot find source file:

    include/kimera_semantics/macros.h

  Tried extensions .c .C .c++ .cc .cpp .cxx .cu .m .M .mm .h .hh .h++ .hm
  .hpp .hxx .in .txx
Call Stack (most recent call first):
  CMakeLists.txt:8 (cs_add_library)


CMake Error at /home/simon/catkin_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:150 (add_library):
  No SOURCES given to target: kimera_semantics
Call Stack (most recent call first):
  CMakeLists.txt:8 (cs_add_library)


CMake Generate step failed.  Build files cannot be regenerated correctly.
cd /home/simon/catkin_ws/build/kimera_semantics; catkin build --get-env kimera_semantics | catkin env -si  /usr/local/bin/cmake /home/simon/catkin_ws/src/Kimera-Semantics/kimera_semantics --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/simon/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/simon/catkin_ws/install -DCMAKE_BUILD_TYPE=Release; cd -
......................................................................................................
Failed     << kimera_semantics:cmake                            [ Exited with code 1 ]                
Failed    <<< kimera_semantics                                  [ 1.3 seconds ]                       
Abandoned <<< voxblox_ros                                       [ Unrelated job failed ]              
Abandoned <<< kimera_semantics_ros                              [ Unrelated job failed ]

Things build as expected by commenting out the include/kimera_semantics/macros.h line from Kimera-Semantics/kimera_semantics/CMakeLists.txt, but I haven't tested thoroughly enough to see if that breaks anything else..

Is a file missing from the latest commit or is there an extraneous line in the CMakeLists? Or am have I made another mistake I'm not aware of?

Thanks for the help!

Pointcloud queue getting too long error

I am currently trying to run VIO and Semantics using ROS and the Intel 435i and I am having trouble getting semantics to pair up nicely.

Currently doing the following in separate terminals

roscore
roslaunch realsense2_camera rs_camera.launch unite_imu_method:=linear_interpolation enable_infra1:=true enable_infra2:=true enable_gyro:=true enable_accel:=true
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
roslaunch kimera_semantics_ros kimera_metric_realsense.launch register_depth:=true

I get semantics to start running and it seems like it is working but after about 10-15 seconds I get this error and new points stop being added to the mesh.

[ERROR] [1599771723.658597680]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.

Here is my ros log from a test

[rosmaster.main][INFO] 2020-09-10 17:01:17,460: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2020-09-10 17:01:17,460: Starting ROS Master Node
[xmlrpc][INFO] 2020-09-10 17:01:17,460: XML-RPC server binding to 0.0.0.0:11311
[xmlrpc][INFO] 2020-09-10 17:01:17,461: Started XML-RPC server [http://L4MLAROCCALinux:11311/]
[rosmaster.master][INFO] 2020-09-10 17:01:17,461: Master initialized: port[11311], uri[http://L4MLAROCCALinux:11311/]
[xmlrpc][INFO] 2020-09-10 17:01:17,461: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2020-09-10 17:01:17,479: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,480: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__45933] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,547: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,547: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:17,551: +SERVICE [/rosout/get_loggers] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:17,551: +SERVICE [/rosout/set_logger_level] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:17,552: +PUB [/rosout_agg] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:17,554: +SUB [/rosout] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:01:22,380: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__37505] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/enable_color] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/linear_accel_cov] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/fisheye1_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/enable_sync] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/pose_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,386: +PARAM [/camera/realsense2_camera/pointcloud_texture_index] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_fisheye] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/tf_publish_rate] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/topic_odom_in] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/odom_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/aligned_depth_to_infra1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/initial_reset] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/accel_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/gyro_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/color_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/depth_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_infra1] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/color_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_pose] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,387: +PARAM [/camera/realsense2_camera/enable_infra2] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/infra_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/color_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/align_depth] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/infra1_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/infra2_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/depth_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye2_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/aligned_depth_to_infra2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/fisheye_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/enable_fisheye2] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/enable_depth] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,388: +PARAM [/camera/realsense2_camera/enable_fisheye1] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/depth_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/pose_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/gyro_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/enable_accel] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/infra_width] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/rosbag_filename] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/unite_imu_method] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/fisheye_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/accel_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/infra_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/base_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/imu_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/device_type] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,389: +PARAM [/camera/realsense2_camera/serial_no] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/depth_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/depth_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/allow_no_texture_points] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/accel_optical_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/aligned_depth_to_color_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/filters] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/infra2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/color_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/pointcloud_texture_stream] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/fisheye_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/infra1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/color_height] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,390: +PARAM [/camera/realsense2_camera/publish_tf] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/fisheye1_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/usb_port_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/calib_odom_file] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/publish_odom_tf] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/enable_gyro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/enable_pointcloud] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/json_file_path] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/fisheye2_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/clip_distance] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/enable_infra] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,391: +PARAM [/camera/realsense2_camera/gyro_fps] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:22,473: +PUB [/rosout] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,473: +SERVICE [/camera/realsense2_camera/get_loggers] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,473: +SERVICE [/camera/realsense2_camera/set_logger_level] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,474: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:01:22,476: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:22,477: +PARAM [/camera/realsense2_camera] by /camera/realsense2_camera
[rosmaster.master][INFO] 2020-09-10 17:01:22,482: +PUB [/rosout] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,483: +SERVICE [/camera/realsense2_camera_manager/get_loggers] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,483: +SERVICE [/camera/realsense2_camera_manager/set_logger_level] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,486: +SERVICE [/camera/realsense2_camera_manager/load_nodelet] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,486: +SERVICE [/camera/realsense2_camera_manager/unload_nodelet] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,487: +SERVICE [/camera/realsense2_camera_manager/list] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,575: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']
[rosmaster.master][INFO] 2020-09-10 17:01:22,575: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:22,584: +PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,586: +SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:22,676: +PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:22,676: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:01:22,678: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:22,679: +SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:01:23,016: +PUB [/tf_static] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:23,017: +PUB [/tf] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:24,878: +SERVICE [/camera/stereo_module/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:24,878: +PUB [/camera/stereo_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:24,879: +PUB [/camera/stereo_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,199: +SERVICE [/camera/rgb_camera/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,200: +PUB [/camera/rgb_camera/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,201: +PUB [/camera/rgb_camera/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,205: +SERVICE [/camera/motion_module/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,206: +PUB [/camera/motion_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,207: +PUB [/camera/motion_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,211: +PUB [/diagnostics] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,217: +PUB [/camera/depth/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,217: +SERVICE [/camera/depth/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,218: +PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,219: +PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,221: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,222: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,222: +PARAM [/camera/depth/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,223: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,223: +PARAM [/camera/depth/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,224: +PARAM [/camera/depth/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,227: +PUB [/camera/depth/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,227: +SERVICE [/camera/depth/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,228: +PUB [/camera/depth/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,229: +PUB [/camera/depth/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,231: +PARAM [/camera/depth/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,231: +PARAM [/camera/depth/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,232: +PARAM [/camera/depth/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,232: +PARAM [/camera/depth/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,233: +PARAM [/camera/depth/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,233: +PARAM [/camera/depth/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,235: +PUB [/camera/depth/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,240: +PUB [/camera/depth/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,241: +SERVICE [/camera/depth/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,242: +PUB [/camera/depth/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,242: +PUB [/camera/depth/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,245: +PARAM [/camera/depth/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,245: +PARAM [/camera/depth/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,246: +PARAM [/camera/depth/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,246: +PARAM [/camera/depth/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,247: +PARAM [/camera/depth/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,247: +PARAM [/camera/depth/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,248: +PARAM [/camera/depth/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,248: +PARAM [/camera/depth/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,249: +PUB [/camera/depth/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,250: +PUB [/camera/infra1/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,251: +SERVICE [/camera/infra1/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,251: +PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,252: +PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,253: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,253: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,254: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,254: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,255: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,255: +PARAM [/camera/infra1/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,256: +PUB [/camera/infra1/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,257: +SERVICE [/camera/infra1/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,257: +PUB [/camera/infra1/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,258: +PUB [/camera/infra1/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,259: +PARAM [/camera/infra1/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,260: +PARAM [/camera/infra1/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,260: +PARAM [/camera/infra1/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,260: +PARAM [/camera/infra1/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,261: +PARAM [/camera/infra1/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,261: +PARAM [/camera/infra1/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,262: +PUB [/camera/infra1/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,262: +PUB [/camera/infra1/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,263: +SERVICE [/camera/infra1/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,263: +PUB [/camera/infra1/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,264: +PUB [/camera/infra1/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,266: +PARAM [/camera/infra1/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,266: +PARAM [/camera/infra1/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,267: +PARAM [/camera/infra1/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,267: +PARAM [/camera/infra1/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,268: +PARAM [/camera/infra1/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,268: +PARAM [/camera/infra1/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,269: +PARAM [/camera/infra1/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,269: +PARAM [/camera/infra1/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,269: +PUB [/camera/infra1/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,270: +PUB [/camera/infra2/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,271: +SERVICE [/camera/infra2/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,271: +PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,272: +PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,273: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,273: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,274: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,274: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,274: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,275: +PARAM [/camera/infra2/image_rect_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,275: +PUB [/camera/infra2/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,276: +SERVICE [/camera/infra2/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,276: +PUB [/camera/infra2/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,276: +PUB [/camera/infra2/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,277: +PARAM [/camera/infra2/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,278: +PARAM [/camera/infra2/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,278: +PARAM [/camera/infra2/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,278: +PARAM [/camera/infra2/image_rect_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,279: +PARAM [/camera/infra2/image_rect_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,279: +PARAM [/camera/infra2/image_rect_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,279: +PUB [/camera/infra2/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,280: +PUB [/camera/infra2/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,280: +SERVICE [/camera/infra2/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,280: +PUB [/camera/infra2/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,281: +PUB [/camera/infra2/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,282: +PARAM [/camera/infra2/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,283: +PARAM [/camera/infra2/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,283: +PARAM [/camera/infra2/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,283: +PARAM [/camera/infra2/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,284: +PARAM [/camera/infra2/image_rect_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,284: +PARAM [/camera/infra2/image_rect_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,285: +PARAM [/camera/infra2/image_rect_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,285: +PARAM [/camera/infra2/image_rect_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,285: +PUB [/camera/infra2/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,286: +PUB [/camera/color/image_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,286: +SERVICE [/camera/color/image_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,287: +PUB [/camera/color/image_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,287: +PUB [/camera/color/image_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,288: +PARAM [/camera/color/image_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,288: +PARAM [/camera/color/image_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,289: +PARAM [/camera/color/image_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,289: +PARAM [/camera/color/image_raw/compressedDepth/depth_max] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,290: +PARAM [/camera/color/image_raw/compressedDepth/depth_quantization] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,290: +PARAM [/camera/color/image_raw/compressedDepth/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,290: +PUB [/camera/color/image_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,291: +SERVICE [/camera/color/image_raw/compressed/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,291: +PUB [/camera/color/image_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,292: +PUB [/camera/color/image_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,293: +PARAM [/camera/color/image_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,293: +PARAM [/camera/color/image_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,293: +PARAM [/camera/color/image_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,294: +PARAM [/camera/color/image_raw/compressed/format] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,294: +PARAM [/camera/color/image_raw/compressed/jpeg_quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,294: +PARAM [/camera/color/image_raw/compressed/png_level] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,295: +PUB [/camera/color/image_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,295: +PUB [/camera/color/image_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,295: +SERVICE [/camera/color/image_raw/theora/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,296: +PUB [/camera/color/image_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,296: +PUB [/camera/color/image_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,298: +PARAM [/camera/color/image_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,298: +PARAM [/camera/color/image_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,298: +PARAM [/camera/color/image_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,299: +PARAM [/camera/color/image_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,299: +PARAM [/camera/color/image_raw/theora/optimize_for] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,299: +PARAM [/camera/color/image_raw/theora/target_bitrate] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,300: +PARAM [/camera/color/image_raw/theora/quality] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,300: +PARAM [/camera/color/image_raw/theora/keyframe_frequency] by /camera/realsense2_camera_manager
[rosmaster.master][INFO] 2020-09-10 17:01:28,300: +PUB [/camera/color/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,301: +PUB [/camera/imu] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,301: +PUB [/camera/extrinsics/depth_to_color] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,301: +PUB [/camera/extrinsics/depth_to_infra1] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,302: +PUB [/camera/extrinsics/depth_to_infra2] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,738: +SERVICE [/camera/stereo_module/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,738: +PUB [/camera/stereo_module/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,739: +PUB [/camera/stereo_module/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,743: +SERVICE [/camera/rgb_camera/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,744: +PUB [/camera/rgb_camera/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,745: +PUB [/camera/rgb_camera/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,746: +PUB [/camera/gyro/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:28,747: +PUB [/camera/accel/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:01:33,458: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__34019] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/use_sim_time] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/params_folder_path] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/posegraph_viewer/frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/map_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/online_run] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,461: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/use_lcd] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/world_frame_id] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/position_det_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,462: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:33,545: +PUB [/rosout] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,545: +SERVICE [/kimera_vio_ros/posegraph_viewer/get_loggers] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,546: +SERVICE [/kimera_vio_ros/posegraph_viewer/set_logger_level] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,550: +SUB [/kimera_vio_ros/graph] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,550: +PUB [/rosout] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,550: +PUB [/kimera_vio_ros/odometry_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,551: +SERVICE [/velo_link_broadcaster/get_loggers] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,551: +PUB [/kimera_vio_ros/loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,551: +SERVICE [/velo_link_broadcaster/set_logger_level] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,552: +PUB [/kimera_vio_ros/rejected_loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,553: +PUB [/kimera_vio_ros/graph_nodes] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,553: +PUB [/tf] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:01:33,554: +PUB [/kimera_vio_ros/graph_nodes_ids] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,554: +PUB [/kimera_vio_ros/interactive_node/update_full] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,554: +PUB [/kimera_vio_ros/interactive_node/update] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,556: +SUB [/kimera_vio_ros/interactive_node/feedback] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:01:33,598: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/']
[rosmaster.master][INFO] 2020-09-10 17:01:33,599: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:33,599: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/']
[rosmaster.master][INFO] 2020-09-10 17:01:33,599: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:33,663: +PUB [/rosout] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,663: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/get_loggers] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,664: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/set_logger_level] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,665: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/restart_kimera_vio] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,681: +PUB [/tf] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,683: +PUB [/kimera_vio_ros/odometry] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,684: +PUB [/kimera_vio_ros/frontend_stats] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,684: +PUB [/kimera_vio_ros/resiliency] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,685: +PUB [/kimera_vio_ros/imu_bias] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,685: +PUB [/kimera_vio_ros/optimized_trajectory] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,685: +PUB [/kimera_vio_ros/pose_graph] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,686: +PUB [/kimera_vio_ros/time_horizon_pointcloud] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,686: +PUB [/kimera_vio_ros/mesh] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,699: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:01:33,699: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:33,726: +SUB [/camera/imu] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,730: +SUB [/camera/infra1/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,732: +SUB [/camera/infra2/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,733: +SUB [/kimera_vio_ros/reinit_flag] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,735: +SUB [/kimera_vio_ros/reinit_pose] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:33,736: +PUB [/tf_static] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,370: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,371: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/set_parameters] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,371: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,372: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,373: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_max] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,374: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_quantization] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,374: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,374: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_max] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,375: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/depth_quantization] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,375: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,379: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,379: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/set_parameters] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,380: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,380: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,382: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/format] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,382: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/jpeg_quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,383: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,383: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/format] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,384: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/jpeg_quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,384: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/png_level] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,385: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,389: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,390: +SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/set_parameters] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,390: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,391: +PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:01:34,392: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/optimize_for] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,393: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/target_bitrate] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,393: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,394: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/keyframe_frequency] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,394: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/optimize_for] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,395: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/target_bitrate] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,395: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/quality] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:34,396: +PARAM [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/keyframe_frequency] by /kimera_vio_ros/kimera_vio_ros_node
[rosmaster.master][INFO] 2020-09-10 17:01:48,760: +PARAM [/roslaunch/uris/host_l4mlaroccalinux__45173] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/use_sim_time] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/publish_pointclouds] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/semantic_label_2_color_csv_filepath] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/use_const_weight] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/tsdf_voxels_per_side] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/enable_icp] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/icp_iterations] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/sensor_frame] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/cloudify/queue_size] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/slice_level] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/color_mode] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/min_time_between_msgs_sec] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,765: +PARAM [/kimera_semantics_node/semantic_measurement_probability] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/method] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/voxel_carving_enabled] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/tsdf_voxel_size] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/semantic_color_mode] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/max_ray_length_m] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/update_mesh_every_n_sec] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/dynamic_semantic_labels] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/use_freespace_pointcloud] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/verbose] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/mesh_filename] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,766: +PARAM [/kimera_semantics_node/use_tf_transforms] by /roslaunch
[rosmaster.master][INFO] 2020-09-10 17:01:48,846: +PUB [/rosout] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:01:48,846: +SERVICE [/transform_scenedepth2rgb/get_loggers] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:01:48,847: +SERVICE [/transform_scenedepth2rgb/set_logger_level] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:01:48,861: +PUB [/rosout] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:48,862: +SERVICE [/cloudify/get_loggers] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:48,863: +SERVICE [/cloudify/set_logger_level] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:48,865: +PARAM [/cloudify] by /cloudify
[rosmaster.master][INFO] 2020-09-10 17:01:48,875: +PUB [/rosout] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,876: +SERVICE [/nodelet_manager/get_loggers] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,876: +SERVICE [/nodelet_manager/set_logger_level] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,878: +SERVICE [/nodelet_manager/load_nodelet] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,879: +SERVICE [/nodelet_manager/unload_nodelet] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,879: +SERVICE [/nodelet_manager/list] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,920: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/']
[rosmaster.master][INFO] 2020-09-10 17:01:48,921: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:48,921: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:01:48,921: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:48,922: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/']
[rosmaster.master][INFO] 2020-09-10 17:01:48,922: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:48,926: +PUB [/rosout] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,926: +SERVICE [/kimera_semantics_node/get_loggers] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,927: +SERVICE [/kimera_semantics_node/set_logger_level] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,936: +PUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,938: +SUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,940: +SUB [/tf_static] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,947: +PUB [/kimera_semantics_node/surface_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,948: +PUB [/kimera_semantics_node/tsdf_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,948: +PUB [/kimera_semantics_node/occupied_nodes] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,948: +PUB [/kimera_semantics_node/tsdf_slice] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,950: +SUB [/semantic_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,950: +PUB [/kimera_semantics_node/mesh] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,951: +PUB [/kimera_semantics_node/tsdf_map_out] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,952: +SUB [/kimera_semantics_node/tsdf_map_in] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,959: +PUB [/semantic_pointcloud] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,959: +PUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,962: +SUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,963: +SERVICE [/kimera_semantics_node/generate_mesh] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,963: +SERVICE [/kimera_semantics_node/clear_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,964: +SERVICE [/kimera_semantics_node/save_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,965: +SERVICE [/kimera_semantics_node/load_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,965: +SERVICE [/kimera_semantics_node/publish_pointclouds] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,966: +SUB [/tf] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,966: +SERVICE [/kimera_semantics_node/publish_map] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:01:48,969: +SUB [/tf_static] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,972: +PUB [/kimera/depth_registered/image_rect_raw/compressedDepth] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,973: +SERVICE [/kimera/depth_registered/image_rect_raw/compressedDepth/set_parameters] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,973: +PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,974: +PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,975: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_max] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,975: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_quantization] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,976: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,976: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_max] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,977: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/depth_quantization] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,977: +PARAM [/kimera/depth_registered/image_rect_raw/compressedDepth/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,979: +PUB [/kimera/depth_registered/image_rect_raw/compressed] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,979: +SERVICE [/kimera/depth_registered/image_rect_raw/compressed/set_parameters] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,980: +PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,980: +PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,981: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/format] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,982: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/jpeg_quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,982: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,982: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/format] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,983: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/jpeg_quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,983: +PARAM [/kimera/depth_registered/image_rect_raw/compressed/png_level] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,984: +PUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,988: +PUB [/kimera/depth_registered/image_rect_raw/theora] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,988: +SERVICE [/kimera/depth_registered/image_rect_raw/theora/set_parameters] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,989: +PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,989: +PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:48,991: +PARAM [/kimera/depth_registered/image_rect_raw/theora/optimize_for] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,991: +PARAM [/kimera/depth_registered/image_rect_raw/theora/target_bitrate] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,992: +PARAM [/kimera/depth_registered/image_rect_raw/theora/quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,992: +PARAM [/kimera/depth_registered/image_rect_raw/theora/keyframe_frequency] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,993: +PARAM [/kimera/depth_registered/image_rect_raw/theora/optimize_for] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,993: +PARAM [/kimera/depth_registered/image_rect_raw/theora/target_bitrate] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,993: +PARAM [/kimera/depth_registered/image_rect_raw/theora/quality] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,994: +PARAM [/kimera/depth_registered/image_rect_raw/theora/keyframe_frequency] by /nodelet_manager
[rosmaster.master][INFO] 2020-09-10 17:01:48,994: +PUB [/kimera/depth_registered/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,021: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:39329/']
[rosmaster.master][INFO] 2020-09-10 17:01:49,022: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:39329/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:49,022: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:34417/']
[rosmaster.master][INFO] 2020-09-10 17:01:49,023: +PUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:49,023: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:01:49,023: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:34417/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:49,024: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:34417/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:01:49,026: +SUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:01:49,227: +SUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,230: +SUB [/camera/color/image_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,231: +SUB [/camera/color/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,233: +SUB [/camera/depth/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:01:49,235: +SUB [/camera/depth/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,747: -PUB [/rosout] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,747: -PUB [/semantic_pointcloud] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,747: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:39329/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,748: -PUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,748: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/', 'http://L4MLAROCCALinux:39329/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,748: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ []
[rosmaster.master][INFO] 2020-09-10 17:02:05,749: -PUB [/kimera/depth_registered/image_rect_raw/compressedDepth] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,749: -PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,749: publisherUpdate[/semantic_pointcloud] -> http://L4MLAROCCALinux:39329/ []: sec=0.00, result=[0, 'Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,750: -PUB [/kimera/depth_registered/image_rect_raw/compressedDepth/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,750: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,750: -PUB [/kimera/depth_registered/image_rect_raw/compressed] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,751: -PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,751: -PUB [/kimera/depth_registered/image_rect_raw/compressed/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,751: -PUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,752: -PUB [/kimera/depth_registered/image_rect_raw/theora] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,752: -PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_descriptions] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,752: -PUB [/kimera/depth_registered/image_rect_raw/theora/parameter_updates] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,753: -PUB [/kimera/depth_registered/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,753: -SUB [/nodelet_manager/bond] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,754: -SUB [/tf] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,754: -SUB [/tf_static] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,754: -SUB [/kimera/depth_registered/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,755: -SUB [/camera/color/image_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,755: -SUB [/camera/color/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,756: -SUB [/camera/depth/image_rect_raw] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,756: -SUB [/camera/depth/camera_info] /nodelet_manager http://L4MLAROCCALinux:34417/
[rosmaster.master][INFO] 2020-09-10 17:02:05,756: -SERVICE [/nodelet_manager/get_loggers] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,757: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:34417/ ['http://L4MLAROCCALinux:44955/']: sec=0.01, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.master][INFO] 2020-09-10 17:02:05,757: -SERVICE [/nodelet_manager/set_logger_level] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,757: -SERVICE [/nodelet_manager/load_nodelet] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,758: -SERVICE [/nodelet_manager/unload_nodelet] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,758: -SERVICE [/nodelet_manager/list] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,759: -SERVICE [/kimera/depth_registered/image_rect_raw/compressedDepth/set_parameters] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,759: -SERVICE [/kimera/depth_registered/image_rect_raw/compressed/set_parameters] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,759: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2020-09-10 17:02:05,759: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ ['http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,760: -SERVICE [/kimera/depth_registered/image_rect_raw/theora/set_parameters] /nodelet_manager rosrpc://L4MLAROCCALinux:56447
[rosmaster.master][INFO] 2020-09-10 17:02:05,761: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ ['http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,761: publisherUpdate[/kimera/depth_registered/image_rect_raw] -> http://L4MLAROCCALinux:34417/ []
[rosmaster.master][INFO] 2020-09-10 17:02:05,762: publisherUpdate[/kimera/depth_registered/image_rect_raw] -> http://L4MLAROCCALinux:34417/ []: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,762: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2020-09-10 17:02:05,850: -PUB [/rosout] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,850: -PUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,851: -PUB [/kimera_semantics_node/surface_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,851: -PUB [/kimera_semantics_node/tsdf_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,852: -PUB [/kimera_semantics_node/occupied_nodes] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,852: -PUB [/kimera_semantics_node/tsdf_slice] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,852: -PUB [/kimera_semantics_node/mesh] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,853: -PUB [/kimera_semantics_node/tsdf_map_out] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,853: -SUB [/tf] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,854: -SUB [/tf_static] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,854: -SUB [/semantic_pointcloud] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,855: -SUB [/kimera_semantics_node/tsdf_map_in] /kimera_semantics_node http://L4MLAROCCALinux:39329/
[rosmaster.master][INFO] 2020-09-10 17:02:05,855: -SERVICE [/kimera_semantics_node/get_loggers] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,856: -SERVICE [/kimera_semantics_node/set_logger_level] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,856: -SERVICE [/kimera_semantics_node/generate_mesh] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,856: -SERVICE [/kimera_semantics_node/clear_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,857: -SERVICE [/kimera_semantics_node/save_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,857: -SERVICE [/kimera_semantics_node/load_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,858: -SERVICE [/kimera_semantics_node/publish_pointclouds] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,858: -SERVICE [/kimera_semantics_node/publish_map] /kimera_semantics_node rosrpc://L4MLAROCCALinux:58403
[rosmaster.master][INFO] 2020-09-10 17:02:05,862: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,863: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:35689/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,863: publisherUpdate[/tf] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,881: publisherUpdate[/tf] -> http://L4MLAROCCALinux:39329/ ['http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.02, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,881: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-09-10 17:02:05,950: -PUB [/rosout] /transform_scenedepth2rgb http://L4MLAROCCALinux:35689/
[rosmaster.master][INFO] 2020-09-10 17:02:05,950: -SERVICE [/transform_scenedepth2rgb/get_loggers] /transform_scenedepth2rgb rosrpc://L4MLAROCCALinux:36659
[rosmaster.master][INFO] 2020-09-10 17:02:05,951: -SERVICE [/transform_scenedepth2rgb/set_logger_level] /transform_scenedepth2rgb rosrpc://L4MLAROCCALinux:36659
[rosmaster.master][INFO] 2020-09-10 17:02:05,961: -PUB [/rosout] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:02:05,961: -PUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:02:05,962: -SUB [/nodelet_manager/bond] /cloudify http://L4MLAROCCALinux:44955/
[rosmaster.master][INFO] 2020-09-10 17:02:05,962: -SERVICE [/cloudify/get_loggers] /cloudify rosrpc://L4MLAROCCALinux:36639
[rosmaster.master][INFO] 2020-09-10 17:02:05,963: -SERVICE [/cloudify/set_logger_level] /cloudify rosrpc://L4MLAROCCALinux:36639
[rosmaster.master][INFO] 2020-09-10 17:02:05,981: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:44955/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,982: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/', 'http://L4MLAROCCALinux:44955/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,982: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:02:05,983: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:41403/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:05,983: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ []
[rosmaster.master][INFO] 2020-09-10 17:02:05,983: publisherUpdate[/nodelet_manager/bond] -> http://L4MLAROCCALinux:44955/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:05,983: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-09-10 17:02:07,747: -PUB [/rosout] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,747: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']
[rosmaster.master][INFO] 2020-09-10 17:02:07,748: -PUB [/rosout] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/', 'http://L4MLAROCCALinux:38631/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: -PUB [/kimera_vio_ros/odometry_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/']
[rosmaster.master][INFO] 2020-09-10 17:02:07,749: -PUB [/tf] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,750: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/', 'http://L4MLAROCCALinux:44665/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:07,750: -PUB [/kimera_vio_ros/loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,751: -PUB [/kimera_vio_ros/odometry] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,751: -PUB [/kimera_vio_ros/rejected_loop_edges] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,752: -PUB [/rosout] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:02:07,752: -PUB [/kimera_vio_ros/frontend_stats] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,752: -PUB [/kimera_vio_ros/graph_nodes] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,753: -PUB [/tf] /velo_link_broadcaster http://L4MLAROCCALinux:44665/
[rosmaster.master][INFO] 2020-09-10 17:02:07,753: -PUB [/kimera_vio_ros/resiliency] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,754: -PUB [/kimera_vio_ros/graph_nodes_ids] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,754: -SERVICE [/velo_link_broadcaster/get_loggers] /velo_link_broadcaster rosrpc://L4MLAROCCALinux:55377
[rosmaster.master][INFO] 2020-09-10 17:02:07,754: -PUB [/kimera_vio_ros/imu_bias] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,755: -PUB [/kimera_vio_ros/interactive_node/update_full] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,755: -SERVICE [/velo_link_broadcaster/set_logger_level] /velo_link_broadcaster rosrpc://L4MLAROCCALinux:55377
[rosmaster.master][INFO] 2020-09-10 17:02:07,755: -PUB [/kimera_vio_ros/interactive_node/update] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,756: -SUB [/kimera_vio_ros/graph] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,756: -PUB [/kimera_vio_ros/optimized_trajectory] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,757: -SUB [/kimera_vio_ros/interactive_node/feedback] /kimera_vio_ros/posegraph_viewer http://L4MLAROCCALinux:41403/
[rosmaster.master][INFO] 2020-09-10 17:02:07,757: -PUB [/kimera_vio_ros/pose_graph] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,757: -SERVICE [/kimera_vio_ros/posegraph_viewer/get_loggers] /kimera_vio_ros/posegraph_viewer rosrpc://L4MLAROCCALinux:39165
[rosmaster.master][INFO] 2020-09-10 17:02:07,758: -PUB [/kimera_vio_ros/time_horizon_pointcloud] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,758: -SERVICE [/kimera_vio_ros/posegraph_viewer/set_logger_level] /kimera_vio_ros/posegraph_viewer rosrpc://L4MLAROCCALinux:39165
[rosmaster.master][INFO] 2020-09-10 17:02:07,759: -PUB [/kimera_vio_ros/mesh] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,759: -PUB [/tf_static] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,760: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,760: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,760: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,761: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,761: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,762: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,762: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,763: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,763: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_descriptions] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,764: -PUB [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/parameter_updates] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,764: -SUB [/camera/imu] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,764: -SUB [/camera/infra1/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,765: -SUB [/camera/infra2/image_rect_raw] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,765: -SUB [/kimera_vio_ros/reinit_flag] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,766: -SUB [/kimera_vio_ros/reinit_pose] /kimera_vio_ros/kimera_vio_ros_node http://L4MLAROCCALinux:38631/
[rosmaster.master][INFO] 2020-09-10 17:02:07,766: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/get_loggers] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,767: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/set_logger_level] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,767: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/restart_kimera_vio] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,768: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressedDepth/set_parameters] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,768: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/compressed/set_parameters] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,768: -SERVICE [/kimera_vio_ros/kimera_vio_ros_node/feature_tracks/theora/set_parameters] /kimera_vio_ros/kimera_vio_ros_node rosrpc://L4MLAROCCALinux:59139
[rosmaster.master][INFO] 2020-09-10 17:02:07,786: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']
[rosmaster.master][INFO] 2020-09-10 17:02:07,786: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/', 'http://L4MLAROCCALinux:39871/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,759: -PUB [/rosout] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,760: -PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,760: -PUB [/tf_static] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,761: -PUB [/tf] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,761: -PUB [/camera/stereo_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,761: -PUB [/camera/stereo_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,762: -PUB [/camera/rgb_camera/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,762: -PUB [/camera/rgb_camera/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,762: -PUB [/camera/motion_module/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,763: -PUB [/camera/motion_module/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,763: -PUB [/diagnostics] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,763: -PUB [/camera/depth/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,764: -PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,764: -PUB [/camera/depth/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,764: -PUB [/camera/depth/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,765: -PUB [/camera/depth/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,765: -PUB [/camera/depth/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,765: -PUB [/camera/depth/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,766: -PUB [/camera/depth/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,766: -PUB [/camera/depth/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,767: -PUB [/camera/depth/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,767: -PUB [/camera/depth/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,767: -PUB [/camera/infra1/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,768: -PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,768: -PUB [/camera/infra1/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,768: -PUB [/camera/infra1/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,769: -PUB [/camera/infra1/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,769: -PUB [/camera/infra1/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,769: -PUB [/camera/infra1/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,770: -PUB [/camera/infra1/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,770: -PUB [/camera/infra1/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,770: -PUB [/camera/infra1/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,771: -PUB [/camera/infra1/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,771: -PUB [/camera/infra2/image_rect_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,771: -PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,772: -PUB [/camera/infra2/image_rect_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,772: -PUB [/camera/infra2/image_rect_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,772: -PUB [/camera/infra2/image_rect_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,773: -PUB [/camera/infra2/image_rect_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,773: -PUB [/camera/infra2/image_rect_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,773: -PUB [/camera/infra2/image_rect_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,774: -PUB [/camera/infra2/image_rect_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,774: -PUB [/camera/infra2/image_rect_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,774: -PUB [/camera/infra2/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,775: -PUB [/camera/color/image_raw/compressedDepth] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,775: -PUB [/camera/color/image_raw/compressedDepth/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,775: -PUB [/camera/color/image_raw/compressedDepth/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,776: -PUB [/camera/color/image_raw/compressed] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,776: -PUB [/camera/color/image_raw/compressed/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,776: -PUB [/camera/color/image_raw/compressed/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw/theora] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw/theora/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,777: -PUB [/camera/color/image_raw/theora/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,778: -PUB [/camera/color/camera_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,778: -PUB [/camera/imu] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,778: -PUB [/camera/extrinsics/depth_to_color] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,779: -PUB [/camera/extrinsics/depth_to_infra1] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,779: -PUB [/camera/extrinsics/depth_to_infra2] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,779: -PUB [/camera/stereo_module/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,780: -PUB [/camera/stereo_module/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,780: -PUB [/camera/rgb_camera/auto_exposure_roi/parameter_descriptions] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,780: -PUB [/camera/rgb_camera/auto_exposure_roi/parameter_updates] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,781: -PUB [/camera/gyro/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,781: -PUB [/camera/accel/imu_info] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,781: -SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera_manager http://L4MLAROCCALinux:39871/
[rosmaster.master][INFO] 2020-09-10 17:02:09,782: -SERVICE [/camera/realsense2_camera_manager/get_loggers] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,782: -SERVICE [/camera/realsense2_camera_manager/set_logger_level] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,783: -SERVICE [/camera/realsense2_camera_manager/load_nodelet] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,783: -SERVICE [/camera/realsense2_camera_manager/unload_nodelet] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,783: -SERVICE [/camera/realsense2_camera_manager/list] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,784: -SERVICE [/camera/stereo_module/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,784: -SERVICE [/camera/rgb_camera/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,784: -SERVICE [/camera/motion_module/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,785: -SERVICE [/camera/depth/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,785: -SERVICE [/camera/depth/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,785: -SERVICE [/camera/depth/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,786: -SERVICE [/camera/infra1/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,786: -SERVICE [/camera/infra1/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,786: -SERVICE [/camera/infra1/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,787: -SERVICE [/camera/infra2/image_rect_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,787: -SERVICE [/camera/infra2/image_rect_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,787: -SERVICE [/camera/infra2/image_rect_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,788: -SERVICE [/camera/color/image_raw/compressedDepth/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,788: -SERVICE [/camera/color/image_raw/compressed/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,788: -SERVICE [/camera/color/image_raw/theora/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,789: -SERVICE [/camera/stereo_module/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,789: -SERVICE [/camera/rgb_camera/auto_exposure_roi/set_parameters] /camera/realsense2_camera_manager rosrpc://L4MLAROCCALinux:52007
[rosmaster.master][INFO] 2020-09-10 17:02:09,790: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:02:09,790: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,790: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:02:09,791: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:39871/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:09,791: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2020-09-10 17:02:09,791: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ ['http://L4MLAROCCALinux:33655/']
[rosmaster.master][INFO] 2020-09-10 17:02:09,792: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ ['http://L4MLAROCCALinux:33655/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,892: -PUB [/rosout] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:02:09,892: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ []
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: publisherUpdate[/rosout] -> http://L4MLAROCCALinux:38471/ []: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: -PUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ []
[rosmaster.master][INFO] 2020-09-10 17:02:09,893: -SUB [/camera/realsense2_camera_manager/bond] /camera/realsense2_camera http://L4MLAROCCALinux:33655/
[rosmaster.master][INFO] 2020-09-10 17:02:09,894: -SERVICE [/camera/realsense2_camera/get_loggers] /camera/realsense2_camera rosrpc://L4MLAROCCALinux:56621
[rosmaster.master][INFO] 2020-09-10 17:02:09,894: -SERVICE [/camera/realsense2_camera/set_logger_level] /camera/realsense2_camera rosrpc://L4MLAROCCALinux:56621
[rosmaster.master][INFO] 2020-09-10 17:02:09,902: publisherUpdate[/camera/realsense2_camera_manager/bond] -> http://L4MLAROCCALinux:33655/ []: sec=0.01, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-09-10 17:02:09,902: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-09-10 17:02:12,699: -PUB [/rosout_agg] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:02:12,699: -SUB [/rosout] /rosout http://L4MLAROCCALinux:38471/
[rosmaster.master][INFO] 2020-09-10 17:02:12,700: -SERVICE [/rosout/get_loggers] /rosout rosrpc://L4MLAROCCALinux:45957
[rosmaster.master][INFO] 2020-09-10 17:02:12,700: -SERVICE [/rosout/set_logger_level] /rosout rosrpc://L4MLAROCCALinux:45957
[rosmaster.main][INFO] 2020-09-10 17:02:12,780: keyboard interrupt, will exit
[rosmaster.main][INFO] 2020-09-10 17:02:12,780: stopping master...
[rospy.core][INFO] 2020-09-10 17:02:12,780: signal_shutdown [atexit]

roslaunch error

Thanks for your great work！
My first compiling failed because of the same error in issue #10 and #15，I checked out 7e985e9 and succeed to compile but some errors still occurred when I roslaunch.

I just change the "bag file" to the path of rosbag.
I execute roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true and the rosbag played properly but some errors ouccrred as this:

[ERROR] Failed to load nodelet [/cloudify] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache.

[cloudify-4] process has died [pid 123603,exit code 255, cmd /opt/ros/kinetic/lib/nodelet load depth_image_proc/point_cloud_xyzrgb noodelet_manager -no-bond rgb/camera_info:=/tesse/left_cam/camera_info rgb/image_rect_color:=/tesse/segmentation/image_raw depth_registered/image_rect:=/teese/depth/image_raw depth...

Nothing but a moving line in my rviz. I put the error picture to show you.It looks like the same error in #10 and #13 , but I don't understand how they fixed it. By the way，I use the new rosbag you updated in the usage, so the answer in #13 didn't help me .

I guess it's the problem about node name or pkg name so I modify the launch file as the last merge, but the error still exists.

I'm a green hand in SLAM and lack for experience, please give me some suggestion to fix errors if you can, thank you.

Catkin build failed: ld:error

Description:
Hi, I am trying to build the Kimera_semantics_ros package, but I am getting an ld:error related to libopencv_freetype.so.3.2.0.
it cannot find multiple references to harfbuzz variables, and the build fails. I have tried various versions of opencv's. Opencv installs fine but the build never succeeds. any idea how to solve this ?
I am attaching the error output of console as well.
Thanks in advance

Console output:

ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_shape
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_guess_segment_properties
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_ft_font_create
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_destroy
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_font_destroy
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_add_utf8
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_get_glyph_infos
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_create
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/media/msh/2CE21012E20FDEC8/ubuntu_home/Kimera_Semantics/devel/lib/kimera_semantics_ros/kimera_semantics_node] Error 1
make[1]: *** [CMakeFiles/kimera_semantics_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /media/msh/2CE21012E20FDEC8/ubuntu_home/Kimera_Semantics/src/Kimera-Semantics/kimera_semantics_ros/src/kimera_semantics_rosbag.cpp:8:
In file included from /opt/ros/melodic/include/ros/ros.h:38:
In file included from /opt/ros/melodic/include/ros/time.h:58:
In file included from /usr/include/boost/math/special_functions/round.hpp:14:
In file included from /usr/include/boost/math/policies/error_handling.hpp:12:
In file included from /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/iomanip:43:
In file included from /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/locale:43:
In file included from /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/locale_conv.h:41:
/usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/unique_ptr.h:81:2: warning: delete called on 'voxblox::TsdfIntegratorBase' that is abstract but has non-virtual destructor [-Wdelete-abstract-non-virtual-dtor]
        delete __ptr;
        ^
/usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/unique_ptr.h:292:4: note: in instantiation of member function 'std::default_delete<voxblox::TsdfIntegratorBase>::operator()' requested here
          get_deleter()(std::move(__ptr));
          ^
/media/msh/2CE21012E20FDEC8/ubuntu_home/Kimera_Semantics/src/voxblox/voxblox_ros/include/voxblox_ros/tsdf_server.h:46:11: note: in instantiation of member function 'std::unique_ptr<voxblox::TsdfIntegratorBase, std::default_delete<voxblox::TsdfIntegratorBase> >::~unique_ptr' requested here
  virtual ~TsdfServer() {}
          ^
1 warning generated.
ld: error: undefined symbol: cv::Mat::Mat()
>>> referenced by kimera_semantics_rosbag.cpp
>>>               CMakeFiles/kimera_semantics_rosbag.dir/src/kimera_semantics_rosbag.cpp.o:(kimera::PointCloudFromDepth::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::CameraInfo_<std::allocator<void> > const> const&))
>>> did you mean: cv::Mat::~Mat()
>>> defined in: /opt/ros/melodic/lib/libdepth_image_proc.so

ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_shape
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_guess_segment_properties
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_ft_font_create
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_destroy
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_font_destroy
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_add_utf8
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_get_glyph_infos
ld: error: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0: undefined reference to hb_buffer_create
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/media/msh/2CE21012E20FDEC8/ubuntu_home/Kimera_Semantics/devel/lib/kimera_semantics_ros/kimera_semantics_rosbag] Error 1
make[1]: *** [CMakeFiles/kimera_semantics_rosbag.dir/all] Error 2
make: *** [all] Error 2

OpenCV version used: 3.4.6, 3.4.13, 4.1.0 (tried on these three)
Operating system and version : Ubuntu 18.04
ROS Distribution : Melodic
Did you change the source code?: no

No 3D geometric reconstruction when fed a colored pointcloud

Hi Toni,

I provided a colored pointcloud to the kimera-senantics node but it doesn't output a 3D Geometric scene.
I can see the ROS INFO : updating mesh in my terminal but not the timings messages that happen when I do have a 3D geometric scene in rviz.

You mention a pose estimate that need to be given too but I don't see that input in the kimera_semantics_node.

Thanks for your help.

Hi @kmfrick, yes! as long as you feed a colored pointcloud with the semantic segmentation and a pose estimate, kimera-semantics will output a 3D geometric and semantic reconstruction of the scene.

Originally posted by @ToniRV in #17 (comment)

How to export 3D reconstructed scene and semantic objects?

Hi, I'm recently using semantic Kimera to run my own dataset, I'm not so familiar with Kimera yet, can you illustrate a little bit about how can I export reconstructed scene and individual semantic objects through the pipeline? So far I don't see anything related in .launch file.

Compile issue with the newest Kimera-semantics

Hi, I downloaded the newest version of Kimera-semantics, which is updated on 18th Feb 2020, when I tried to compile it, it reports bug as:

/home/caoyuchen/Documents/Kimera/catkin_ws_semantic2/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp:84:57: error: ‘std::__cxx11::list<std::unique_ptr<voxblox::Object> > voxblox::SimulationWorld::objects_’ is private within this context
       for (const std::unique_ptr<vxb::Object>& object : objects_) {
                                                         ^~~~~~~~
In file included from /home/caoyuchen/Documents/Kimera/catkin_ws_semantic2/src/Kimera-Semantics/kimera_semantics/include/kimera_semantics/simulation/semantic_simulation_world.h:1:0,
                 from /home/caoyuchen/Documents/Kimera/catkin_ws_semantic2/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp:1:
/home/caoyuchen/Documents/Kimera/catkin_ws_semantic2/src/voxblox/voxblox/include/voxblox/simulation/simulation_world.h:102:39: note: declared private here
   std::list<std::unique_ptr<Object> > objects_;
                                       ^~~~~~~~
/home/caoyuchen/Documents/Kimera/catkin_ws_semantic2/src/Kimera-Semantics/kimera_semantics/src/simulation/semantic_simulation_world.cpp:88:39: error: ‘class voxblox::Object’ has no member named ‘getType’; did you mean ‘Type’?
           selectSemanticLabel(object->getType(), &semantic_label);
                                       ^~~~~~~
                                       Type
make[2]: *** [CMakeFiles/kimera_semantics.dir/src/simulation/semantic_simulation_world.cpp.o] Error 1
make[1]: *** [CMakeFiles/kimera_semantics.dir/all] Error 2
make: *** [all] Error 2

It seems that getType() is not declared correctly for the vbx object. Can you give me some advice on it?

I come to update the newest version because I met another issue in the older version:
I mainly want to use Kimera-semantics to get 3D reconstructed mesh from my dataset, but the original version doesn't seem output any mesh result and always report another error when running the Kitti bag file as you recommended, the error goes like:

[ERROR] [1582470027.796071941, 43.789999999]: Failed to load nodelet [/cloudify] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  adding_images/adding_images camshift/camshift contour_moments/contour_moments convex_hull/convex_hull corner_harris/corner_harris discrete_fourier_transform/discrete_fourier_transform edge_detection/edge_detection face_detection/face_detection face_recognition/face_recognition fback_flow/fback_flow find_contours/find_contours general_contours/general_contours goodfeature_track/goodfeature_track hls_color_filter/hls_color_filter hough_circles/hough_circles hough_lines/hough_lines hsv_color_filter/hsv_color_filter lk_flow/lk_flow nodelet_tutorial_math/Plus opencv_apps/adding_images opencv_apps/camshift opencv_apps/contour_moments opencv_apps/convex_hull opencv_apps/corner_harris opencv_apps/discrete_fourier_transform opencv_apps/edge_detection opencv_apps/face_detection opencv_apps/face_recognition opencv_apps/fback_flow opencv_apps/find_contours opencv_apps/general_contours opencv_apps/goodfeature_track opencv_apps/hls_color_filter opencv_apps/hough_circles opencv_apps/hough_lines opencv_apps/hsv_color_filter opencv_apps/lk_flow opencv_apps/people_detect opencv_apps/phase_corr opencv_apps/pyramids opencv_apps/rgb_color_filter opencv_apps/segment_objects opencv_apps/simple_compressed_example opencv_apps/simple_example opencv_apps/simple_flow opencv_apps/smoothing opencv_apps/threshold opencv_apps/watershed_segmentation pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid people_detect/people_detect phase_corr/phase_corr pyramids/pyramids rgb_color_filter/rgb_color_filter segment_objects/segment_objects simple_compressed_example/simple_compressed_example simple_example/simple_example simple_flow/simple_flow smoothing/smoothing threshold/threshold watershed_segmentation/watershed_segmentation
[ERROR] [1582470027.796159681, 43.789999999]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  adding_images/adding_images camshift/camshift contour_moments/contour_moments convex_hull/convex_hull corner_harris/corner_harris discrete_fourier_transform/discrete_fourier_transform edge_detection/edge_detection face_detection/face_detection face_recognition/face_recognition fback_flow/fback_flow find_contours/find_contours general_contours/general_contours goodfeature_track/goodfeature_track hls_color_filter/hls_color_filter hough_circles/hough_circles hough_lines/hough_lines hsv_color_filter/hsv_color_filter lk_flow/lk_flow nodelet_tutorial_math/Plus opencv_apps/adding_images opencv_apps/camshift opencv_apps/contour_moments opencv_apps/convex_hull opencv_apps/corner_harris opencv_apps/discrete_fourier_transform opencv_apps/edge_detection opencv_apps/face_detection opencv_apps/face_recognition opencv_apps/fback_flow opencv_apps/find_contours opencv_apps/general_contours opencv_apps/goodfeature_track opencv_apps/hls_color_filter opencv_apps/hough_circles opencv_apps/hough_lines opencv_apps/hsv_color_filter opencv_apps/lk_flow opencv_apps/people_detect opencv_apps/phase_corr opencv_apps/pyramids opencv_apps/rgb_color_filter opencv_apps/segment_objects opencv_apps/simple_compressed_example opencv_apps/simple_example opencv_apps/simple_flow opencv_apps/smoothing opencv_apps/threshold opencv_apps/watershed_segmentation pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid people_detect/people_detect phase_corr/phase_corr pyramids/pyramids rgb_color_filter/rgb_color_filter segment_objects/segment_objects simple_compressed_example/simple_compressed_example simple_example/simple_example simple_flow/simple_flow smoothing/smoothing threshold/threshold watershed_segmentation/watershed_segmentation
[FATAL] [1582470027.796337595, 43.789999999]: Failed to load nodelet '/cloudify` of type `depth_image_proc/point_cloud_xyzrgb` to manager `nodelet_manager'
[cloudify-3] process has died [pid 26910, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb nodelet_manager -no-bond rgb/camera_info:=/tesse/left_cam/camera_info rgb/image_rect_color:=/tesse/segmentation depth_registered/image_rect:=/tesse/depth depth_registered/points:=/points __name:=cloudify __log:=/home/caoyuchen/.ros/log/644041f0-563c-11ea-82d2-54bf6495fecc/cloudify-3.log].
log file: /home/caoyuchen/.ros/log/644041f0-563c-11ea-82d2-54bf6495fecc/cloudify-3*.log

Can you also help me out with it?
Thank you so much!

Exporting Voxels

Hello,

Thanks a lot for your work.
Is there an easy way to extract individual class probabilites of the semantic voxels and store them as paramters to generated mesh. Also is it possible to export the full semantic voxels with class probabilities.

Best Jonas

No mesh published using own rosbags.

Hi, @ToniRV,

Thanks for your impressive work. However, there exists a error showed as the followings when I used my own rosbag generated by RGB-D camera. In the meantime, there seems no mesh published by the nodes. Do you have any idea about the reasons? Outputs of the terminal show as follows.

dszhang@dszhang-hasee:~$ roslaunch kimera_semantics_ros kimera_semantics_mynteye.launch play_bag:=true metric_semantic_reconstruction:=false
... logging to /home/dszhang/.ros/log/ea3a07da-b6dd-11ea-82b1-b46921c40905/roslaunch-dszhang-hasee-2946.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dszhang-hasee:37799/

SUMMARY

CLEAR PARAMETERS

/kimera_semantics_node/

PARAMETERS

/cloudify/queue_size: 20
/kimera_semantics_node/color_mode: lambert_color
/kimera_semantics_node/dynamic_semantic_labels: [20]
/kimera_semantics_node/enable_icp: False
/kimera_semantics_node/icp_iterations: 10
/kimera_semantics_node/max_ray_length_m: 5
/kimera_semantics_node/mesh_filename: /home/dszhang/cat...
/kimera_semantics_node/method: fast
/kimera_semantics_node/min_time_between_msgs_sec: 0.2
/kimera_semantics_node/publish_pointclouds: False
/kimera_semantics_node/semantic_color_mode: semantic
/kimera_semantics_node/semantic_label_2_color_csv_filepath: /home/dszhang/cat...
/kimera_semantics_node/semantic_measurement_probability: 0.8
/kimera_semantics_node/sensor_frame: left_cam
/kimera_semantics_node/slice_level: 1.0
/kimera_semantics_node/tsdf_voxel_size: 0.05
/kimera_semantics_node/tsdf_voxels_per_side: 16
/kimera_semantics_node/update_mesh_every_n_sec: 0.1
/kimera_semantics_node/use_const_weight: False
/kimera_semantics_node/use_freespace_pointcloud: False
/kimera_semantics_node/use_tf_transforms: True
/kimera_semantics_node/verbose: True
/kimera_semantics_node/voxel_carving_enabled: True
/rosdistro: melodic
/rosversion: 1.14.6
/use_sim_time: True

NODES
/
cloudify (nodelet/nodelet)
kimera_semantics_node (voxblox_ros/tsdf_server)
nodelet_manager (nodelet/nodelet)
player (rosbag/play)

ROS_MASTER_URI=http://localhost:11311

process[player-1]: started with pid [2962]
process[nodelet_manager-2]: started with pid [2963]
process[cloudify-3]: started with pid [2964]
process[kimera_semantics_node-4]: started with pid [2965]
[ INFO] [1593087486.269896728]: Loading nodelet /cloudify of type depth_image_proc/point_cloud_xyzrgb to manager nodelet_manager with the following remappings:
[ INFO] [1593087486.270531303]: /depth_registered/image_rect -> /tesse/depth/image_raw
[ INFO] [1593087486.270544880]: /depth_registered/points -> /semantic_pointcloud
[ INFO] [1593087486.270551788]: /rgb/camera_info -> /tesse/left_cam/camera_info
[ INFO] [1593087486.270559571]: /rgb/image_rect_color -> /tesse/left_cam/image_raw
[ INFO] [1593087486.271091712]: Opening /home/dszhang/catkin_ws/src/Kimera-Semantics/kimera_semantics_ros/rosbags/mynteye_modified.bag
[ INFO] [1593087486.272007155]: waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1593087486.286348887]: Initializing nodelet with 12 worker threads.
[ INFO] [1593087486.292622767]: waitForService: Service [/nodelet_manager/load_nodelet] is now available.

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
[ INFO] [1593087486.620226365, 1593060801.403045742]: Updating mesh.937 Delay: 0.00
[ INFO] [1593087486.621326165, 1593060801.403045742]: Updating mesh.
[ INFO] [1593087486.753323221, 1593060801.509214950]: Updating mesh.937
[ INFO] [1593087486.804753881, 1593060801.610383887]: Updating mesh.937
[ INFO] [1593087486.860478760, 1593060801.720948987]: Updating mesh.937
[ INFO] [1593087486.900017800, 1593060801.803128798]: Updating mesh.937
[ INFO] [1593087486.950813028, 1593060801.903886334]: Updating mesh.937
[ INFO] [1593087487.001038490, 1593060802.004558130]: Updating mesh.937
[ INFO] [1593087487.051540943, 1593060802.105705186]: Updating mesh.937
[ INFO] [1593087487.104106465, 1593060802.210582859]: Updating mesh.937
[ INFO] [1593087487.154696987, 1593060802.312643781]: Updating mesh.937
[ INFO] [1593087487.206116676, 1593060802.415652547]: Updating mesh.937
[ INFO] [1593087487.256463844, 1593060802.516329599]: Updating mesh.937
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[ERROR] [1593087488.228991836, 1593060804.460135583]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
[ INFO] [1593087488.258507466, 1593060804.520723962]: Updating mesh.937
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[ INFO] [1593087491.601988169, 1593060811.206334244]: Updating mesh.937
[RUNNING] Bag Time: 1593060811.293223 Duration: 9.890178 / 9.896937
Done.
[player-1] process has finished cleanly
log file: /home/dszhang/.ros/log/ea3a07da-b6dd-11ea-82b1-b46921c40905/player-1*.log

Is it possible to make Kimera Semantics instance-aware?

If I use something like maks RCNN to generate images having instance segmentation, i.e. same class have different colors, will the Kimera-Semantics be able to handle it? If not, any suggestion about how to do that?
I noticed that in kimera semantics config file kimera_semantics_ros/cfg/tesse_multiscene_office1_segmentation_mapping you have something like

...
Painting_A,246,188,6,255,12
Painting_B,246,188,6,255,12
Painting_C,246,188,6,255,12
Painting_D,246,188,6,255,12
...

I am just wondering for the same class 12 if those paints can have a different color setting

I can't download the kimera_semantics_demo.bag

I can't download the kimera_semantics_demo.bag. Can you share me with other ways? Maybe email? [email protected]. Or how can I download it? Thanks very much.

Parametrize number of semantic labels

Hey @ToniRV,

First of all, thank you very much for this work, in simulation it works amazing, but would like to have some question about how to make the transition to real world data.

So I realized, when included a custom CNN ROS node for running the segmentation, that the number of labels in confidence matrices are fixed.

The Struct declaration where you declare this is here.

While I was inspecting how to change this to Dynamic size matrices I realized that the static struct is used several times and in multiple places. For the first try it didn't seem to be too straightforward to fix this problem, but if you could help with a few guiding ideas where to replace I would be able to provide a pull request with the fix.

My first guesses would be:

load this param from the Ros parameter server to SemanticConfig,
replace the Struct to dynamic template sizes,
resize in in the SemanticIntegratorBase::setSemanticProbabilities()
also initialize in the fast and merge implementations.
finally change the Constant initialization in multiple places with the parametrized log likelihood

Could you help what I would be missing and what could go wrong after change?

Thanks a lot,
David

Add explicit launch file to interface with Kimera-VIO

Currently, the launch file provided can be easily modified to connect with Kimera-VIO, but perhaps provide another launch file for simplicity (running in Euroc).
MIT-SPARK/Kimera-VIO-ROS#46

Error reading version line when launch kimera_semantics.launch play_bag:=true

dear repository,
I installed kimera-semantics and ros correctly following the instruction online, when I use the command : roslaunch kimera_semantics_ros kimera_semantic.launch play_bag:=true ,the error is throwed out: Error reading version line
what's wrong with this ?
my OS version is :ubunt16.04
ROS version: ros kinetic

Object_db new dependency?

Choosing a neural network for semantic segmentation

Can you please tell me which neural networks of segmentation do you recommend for use with kimera? What are the requirements for it? How to choose the right one? I collected a real dataset from my robot and launched it on kimera, now I need to select a neural network for semantic segmentation and run semantics together with kimera.

Allow for geometric-only reconstruction

how to create the kinera_semantics_demo.bag myself?

Hi,Thanks for sharing this awesome work, I wonder how you create the kinera_semantics_demo.bag, is it made from another module like Kimera-VIO ?

How to combine Kimera-Semantics with Kimera-VIO-ROS ?

Hi, thank you for your excellent work! @ToniRV
I followed the instructions from your video tutorial "Metric-Semantic SLAM with Kimera: A Hands-On Tutorial"

roslaunch kimera_vio_ros kimera_vio_ros_tesse.launch run_stereo_dense:=1
rosbag play kimera_semantics_demo.bag --pause --clock --rate 2
roslaunch kimera_semantics_ros kimera_semantics.launch
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_tesse.rviz

and I stuck in the first command

started core service [/rosout]
ERROR: cannot launch node of type [stereo_image_proc/stereo_image_proc]: stereo_image_proc
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/zss/Workspace/kimera_vio_ws/src/catkin_simple
ROS path [2]=/home/zss/Workspace/kimera_vio_ws/src/cmake_external_project_catkin
ROS path [3]=/home/zss/Workspace/kimera_vio_ws/src/dbow2_catkin
ROS path [4]=/home/zss/Workspace/kimera_vio_ws/src/disparity_image_proc
ROS path [5]=/home/zss/Workspace/kimera_vio_ws/src/gflags_catkin
ROS path [6]=/home/zss/Workspace/kimera_vio_ws/src/glog_catkin
ROS path [7]=/home/zss/Workspace/kimera_vio_ws/src/gtsam
ROS path [8]=/home/zss/Workspace/kimera_vio_ws/src/image_undistort
ROS path [9]=/home/zss/Workspace/kimera_vio_ws/src/Kimera-RPGO
ROS path [10]=/home/zss/Workspace/kimera_vio_ws/src/kimera_rviz_markers
ROS path [11]=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO
ROS path [12]=/home/zss/Workspace/kimera_vio_ws/src/mesh_rviz_plugins
ROS path [13]=/home/zss/Workspace/kimera_vio_ws/src/opencv3_catkin
ROS path [14]=/home/zss/Workspace/kimera_vio_ws/src/opengv_catkin
ROS path [15]=/home/zss/Workspace/kimera_vio_ws/src/pose_graph_tools
ROS path [16]=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO-ROS
ROS path [17]=/home/zss/Workspace/kimera_semantic_ws/src/catkin_boost_python_buildtool/catkin_boost_python_buildtool
ROS path [18]=/home/zss/Workspace/kimera_semantic_ws/src/catkin_simple
ROS path [19]=/home/zss/Workspace/kimera_semantic_ws/src/catkin_boost_python_buildtool/catkin_boost_python_buildtool_test
ROS path [20]=/home/zss/Workspace/kimera_semantic_ws/src/eigen_catkin
ROS path [21]=/home/zss/Workspace/kimera_semantic_ws/src/gflags_catkin
ROS path [22]=/home/zss/Workspace/kimera_semantic_ws/src/glog_catkin
ROS path [23]=/home/zss/Workspace/kimera_semantic_ws/src/eigen_checks
ROS path [24]=/home/zss/Workspace/kimera_semantic_ws/src/Kimera-Semantics/kimera
ROS path [25]=/home/zss/Workspace/kimera_semantic_ws/src/minkindr/minkindr
ROS path [26]=/home/zss/Workspace/kimera_semantic_ws/src/minkindr_ros/minkindr_conversions
ROS path [27]=/home/zss/Workspace/kimera_semantic_ws/src/pointcloud_recolor
ROS path [28]=/home/zss/Workspace/kimera_semantic_ws/src/protobuf_catkin
ROS path [29]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/python_module
ROS path [30]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/numpy_eigen
ROS path [31]=/home/zss/Workspace/kimera_semantic_ws/src/minkindr/minkindr_python
ROS path [32]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_common
ROS path [33]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_boost
ROS path [34]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_deprecation
ROS path [35]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_doc
ROS path [36]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_logging
ROS path [37]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_matrix_archive
ROS path [38]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_opencv
ROS path [39]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_property_tree
ROS path [40]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_random
ROS path [41]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_eigen
ROS path [42]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_kinematics
ROS path [43]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_matlab
ROS path [44]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_timing
ROS path [45]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_value_store
ROS path [46]=/home/zss/Workspace/kimera_semantic_ws/src/schweizer_messer/sm_python
ROS path [47]=/home/zss/Workspace/kimera_semantic_ws/src/voxblox/voxblox
ROS path [48]=/home/zss/Workspace/kimera_semantic_ws/src/Kimera-Semantics/kimera_semantics
ROS path [49]=/home/zss/Workspace/kimera_semantic_ws/src/voxblox/voxblox_msgs
ROS path [50]=/home/zss/Workspace/kimera_semantic_ws/src/voxblox/voxblox_rviz_plugin
ROS path [51]=/home/zss/Workspace/kimera_semantic_ws/src/voxblox/voxblox_ros
ROS path [52]=/home/zss/Workspace/kimera_semantic_ws/src/Kimera-Semantics/kimera_semantics_ros
ROS path [53]=/opt/ros/kinetic/share
process[kimera_vio_ros/kimera_vio_ros_node-3]: started with pid [2197]
process[kimera_vio_ros/posegraph_viewer-4]: started with pid [2198]
process[gt_logger_node-5]: started with pid [2199]
[ INFO] [1596597287.980138782]: Initializing pose graph visualizer
I0805 11:14:48.164175 2197 Logger.cpp:58] Opening output file: output_frontend_stats.csv
I0805 11:14:48.164247 2197 Logger.cpp:58] Opening output file: output_frontend_ransac_mono.csv
I0805 11:14:48.164260 2197 Logger.cpp:58] Opening output file: output_frontend_ransac_stereo.csv
I0805 11:14:48.164572 2197 Logger.cpp:58] Opening output file: traj_vio.csv
I0805 11:14:48.164587 2197 Logger.cpp:58] Opening output file: output_smartFactors.csv
I0805 11:14:48.164597 2197 Logger.cpp:58] Opening output file: output_pim_navstates.csv
I0805 11:14:48.164605 2197 Logger.cpp:58] Opening output file: output_backendFactors.csv
I0805 11:14:48.164614 2197 Logger.cpp:58] Opening output file: output_backendTiming.csv
I0805 11:14:48.164865 2197 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0805 11:14:48.164985 2197 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
F0805 11:14:48.165057 2197 LoopClosureDetector.cpp:93] Check failed: f_vocab.good() LoopClosureDetector: Incorrect vocabulary path: /home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml
*** Check failure stack trace: ***
@ 0x7f85670fe43d google::LogMessage::Fail()
@ 0x7f8567100253 google::LogMessage::SendToLog()
@ 0x7f85670fdfcb google::LogMessage::Flush()
@ 0x7f8567100c3e google::LogMessageFatal::~LogMessageFatal()
@ 0x7f855c0fcc21 VIO::LoopClosureDetector::LoopClosureDetector()
@ 0x7f855c0dffee VIO::Pipeline::Pipeline()
@ 0x7f85666a475b ZN3VIO11make_uniqueINS_8PipelineEJRNS_9VioParamsESt10unique_ptrINS_13RosVisualizerESt14default_deleteIS5_EES4_INS_10RosDisplayES6_IS9_EEEEES4_IT_S6_ISC_EEDpOT0
@ 0x7f856669c1e6 VIO::KimeraVioRos::runKimeraVio()
@ 0x40bfbc main
@ 0x7f8563805830 __libc_start_main
@ 0x40c6b9 _start
[kimera_vio_ros/kimera_vio_ros_node-3] process has died [pid 2197, exit code -6, cmd /home/zss/Workspace/kimera_vio_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=true --vocabulary_path=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO/params/Tesse/flags/Mesher.flags --flagfile=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO/params/Tesse/flags/VioBackEnd.flags --flagfile=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO/params/Tesse/flags/RegularVioBackEnd.flags --flagfile=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO/params/Tesse/flags/Visualizer3D.flags --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --log_output=true --log_euroc_gt_data=true --output_path=/home/zss/Workspace/kimera_vio_ws/src/Kimera-VIO-ROS/output_logs/Tesse --viz_type=0 --visualize=true left_cam/image_raw:=/tesse/left_cam/image_raw right_cam/image_raw:=/tesse/right_cam/image_raw imu:=/tesse/imu gt_odom:=/tesse/odom left_cam/camera_info:=/tesse/left_cam/camera_info right_cam/camera_info:=/tesse/right_cam/camera_info reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/home/zss/.ros/log/d0f98c6c-d6c9-11ea-8975-4889e7b44eca/kimera_vio_ros-kimera_vio_ros_node-3.log].
log file: /home/zss/.ros/log/d0f98c6c-d6c9-11ea-8975-4889e7b44eca/kimera_vio_ros-kimera_vio_ros_node-3*.log

so I changed commands as following

roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch
rosbag play ./V1_01_easy.bag --pause --clock --rate 2
roslaunch kimera_semantics_ros kimera_semantics_euroc.launch
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz

It works well at this time, but generate local(not global) 3D mesh without semantic information. Could you give me some advice?

Accept camera streams with different frame id's

I'm making the metric reconstruction portion of Kimera-Semantics work with the Intel RealSense d435i. I've figured out how to feed the depth and left IR stream into Kimera-Semantics (see this PR), but receive this error.

[ERROR] [1586842960.894309340]: Depth image frame id [camera_depth_optical_frame] doesn't match RGB image frame id [camera_infra1_optical_frame]

It seems that there is a check to make sure the depth and rgb stream are aligned by ensuring they are on the same frame. According to tf_get, camera_depth_optical_frame and camera_infra1_optical_frame have a transform of zero-- they are on the same link in all but name.

Can we change the check such that it ensures the frames have zero relative translation/rotation relative to each other, instead of just checking that they are on the same frame?

catkin build error

Hi all! When I catkin build kimera_semantics_ros, 14/15 packages build, but the last package throws the following error. Any help is appreciated, thank you!

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