/SLAM-Hive/slam_hive_results/mapping_results/1341/994_lio-sam+kitti_2011_09_30_drive_0028_synced_full.yamlBegin
... logging to /root/.ros/log/ff50f376-2e3a-11ef-99e8-0242ac110003/roslaunch-b9660ff6b93a-140.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/liosam.launch
[1mstarted roslaunch server http://b9660ff6b93a:35941/[0m

SUMMARY
========

PARAMETERS
 * /ekf_gps/base_link_frame: base_link
 * /ekf_gps/frequency: 50
 * /ekf_gps/imu0: imu_correct
 * /ekf_gps/imu0_config: [False, False, Fa...
 * /ekf_gps/imu0_differential: False
 * /ekf_gps/imu0_queue_size: 50
 * /ekf_gps/imu0_remove_gravitational_acceleration: True
 * /ekf_gps/map_frame: map
 * /ekf_gps/odom0: odometry/gps
 * /ekf_gps/odom0_config: [True, True, True...
 * /ekf_gps/odom0_differential: False
 * /ekf_gps/odom0_queue_size: 10
 * /ekf_gps/odom_frame: odom
 * /ekf_gps/process_noise_covariance: [1.0, 0, 0, 0, 0,...
 * /ekf_gps/publish_tf: False
 * /ekf_gps/sensor_timeout: 0.01
 * /ekf_gps/two_d_mode: False
 * /ekf_gps/world_frame: odom
 * /lio_sam/Horizon_SCAN: 1800
 * /lio_sam/N_SCAN: 64
 * /lio_sam/baselinkFrame: base_link
 * /lio_sam/downsampleRate: 2
 * /lio_sam/edgeFeatureMinValidNum: 10
 * /lio_sam/edgeThreshold: 1.0
 * /lio_sam/extrinsicRPY: [0.9999976, 0.000...
 * /lio_sam/extrinsicRot: [0.9999976, 0.000...
 * /lio_sam/extrinsicTrans: [-0.8086759, 0.31...
 * /lio_sam/globalMapVisualizationLeafSize: 1.0
 * /lio_sam/globalMapVisualizationPoseDensity: 10.0
 * /lio_sam/globalMapVisualizationSearchRadius: 1000.0
 * /lio_sam/gpsCovThreshold: 2.0
 * /lio_sam/gpsTopic: odometry/gpsz
 * /lio_sam/historyKeyframeFitnessScore: 0.3
 * /lio_sam/historyKeyframeSearchNum: 25
 * /lio_sam/historyKeyframeSearchRadius: 15.0
 * /lio_sam/historyKeyframeSearchTimeDiff: 30.0
 * /lio_sam/imuAccBiasN: 6.43566593535e-05
 * /lio_sam/imuAccNoise: 0.00399395708882
 * /lio_sam/imuGravity: 9.80511
 * /lio_sam/imuGyrBiasN: 3.56403186964e-05
 * /lio_sam/imuGyrNoise: 0.00156363439497
 * /lio_sam/imuRPYWeight: 0.01
 * /lio_sam/imuTopic: imu_raw
 * /lio_sam/lidarFrame: base_link
 * /lio_sam/lidarMaxRange: 1000.0
 * /lio_sam/lidarMinRange: 1.0
 * /lio_sam/loopClosureEnableFlag: True
 * /lio_sam/loopClosureFrequency: 1.0
 * /lio_sam/mapFrame: map
 * /lio_sam/mappingCornerLeafSize: 0.2
 * /lio_sam/mappingProcessInterval: 0.15
 * /lio_sam/mappingSurfLeafSize: 0.4
 * /lio_sam/numberOfCores: 4
 * /lio_sam/odomTopic: odometry/imu
 * /lio_sam/odometryFrame: odom
 * /lio_sam/odometrySurfLeafSize: 0.4
 * /lio_sam/pointCloudTopic: points_raw
 * /lio_sam/poseCovThreshold: 25.0
 * /lio_sam/rotation_tollerance: 1000
 * /lio_sam/savePCD: False
 * /lio_sam/savePCDDirectory: /Downloads/LOAM/
 * /lio_sam/sensor: velodyne
 * /lio_sam/surfFeatureMinValidNum: 100
 * /lio_sam/surfThreshold: 0.1
 * /lio_sam/surroundingKeyframeDensity: 2.0
 * /lio_sam/surroundingKeyframeSearchRadius: 50.0
 * /lio_sam/surroundingKeyframeSize: 50
 * /lio_sam/surroundingkeyframeAddingAngleThreshold: 0.2
 * /lio_sam/surroundingkeyframeAddingDistThreshold: 1.0
 * /lio_sam/useGpsElevation: False
 * /lio_sam/useImuHeadingInitialization: True
 * /lio_sam/z_tollerance: 1000
 * /navsat/broadcast_utm_transform: False
 * /navsat/broadcast_utm_transform_as_parent_frame: False
 * /navsat/delay: 0.0
 * /navsat/frequency: 50
 * /navsat/magnetic_declination_radians: 0
 * /navsat/publish_filtered_gps: False
 * /navsat/wait_for_datum: False
 * /navsat/yaw_offset: 0
 * /navsat/zero_altitude: True
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /
    ekf_gps (robot_localization/ekf_localization_node)
    lio_sam_featureExtraction (lio_sam/lio_sam_featureExtraction)
    lio_sam_imageProjection (lio_sam/lio_sam_imageProjection)
    lio_sam_imuPreintegration (lio_sam/lio_sam_imuPreintegration)
    lio_sam_mapOptmization (lio_sam/lio_sam_mapOptmization)
    navsat (robot_localization/navsat_transform_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rosbag_record_diag (rosbag/record)

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/liosam.launch http://localhost:11311
[1msetting /run_id to ff50f376-2e3a-11ef-99e8-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [167][0m
started core service [/rosout]
[1mprocess[lio_sam_imuPreintegration-2]: started with pid [184][0m
[0m[ INFO] [1718801642.583150951]: [1;32m----> IMU Preintegration Started.[0m[0m
[1mprocess[lio_sam_imageProjection-3]: started with pid [185][0m
[0m[ INFO] [1718801643.113162790]: [1;32m----> Image Projection Started.[0m[0m
[1mprocess[lio_sam_featureExtraction-4]: started with pid [457][0m
[0m[ INFO] [1718801643.694261919]: [1;32m----> Feature Extraction Started.[0m[0m
[1mprocess[lio_sam_mapOptmization-5]: started with pid [599][0m
[0m[ INFO] [1718801644.296798469]: [1;32m----> Map Optimization Started.[0m[0m
[1mprocess[robot_state_publisher-6]: started with pid [727][0m
[1mprocess[ekf_gps-7]: started with pid [879][0m
[1mprocess[navsat-8]: started with pid [905][0m
[1mprocess[rosbag_record_diag-9]: started with pid [1020][0m
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
[0m[ INFO] [1718801649.942761774]: Saving as binary PCD[0m
[0m[ INFO] [1718801649.946196640]: Listening for incoming data on topic /lio_sam/mapping/map_global[0m
[0m[ INFO] [1718801650.071919307]: Opening /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1317357761.829826   Duration: 0.000000 / 538.070410   Delay: 401443888.64 
[33m[ WARN] [1718801650.814270465]: Point cloud timestamp not available, deskew function disabled, system will drift significantly![0m
[0m[ INFO] [1718801654.384222903]: Received 2295 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801654.384447993]: Data saved to 1317357765366508.pcd[0m
[0m[ INFO] [1718801659.395577488]: Received 5203 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801659.395602640]: Data saved to 1317357770359503.pcd[0m
[0m[ INFO] [1718801664.329094224]: Received 6989 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801664.329134316]: Data saved to 1317357775348706.pcd[0m
[0m[ INFO] [1718801669.475523907]: Data saved to 1317357780438875.pcd[0m
[0m[ INFO] [1718801674.353973686]: Received 12534 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801674.354031628]: Data saved to 1317357785317420.pcd[0m
[0m[ INFO] [1718801679.315115418]: Received 15436 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801679.315145864]: Data saved to 1317357790307270.pcd[0m
[0m[ INFO] [1718801684.320365261]: Received 18517 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801684.320396680]: Data saved to 1317357795299416.pcd[0m
[0m[ INFO] [1718801689.327291988]: Received 20507 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801689.327317421]: Data saved to 1317357800287847.pcd[0m
[0m[ INFO] [1718801699.434119618]: Received 25694 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801699.434154692]: Data saved to 1317357810360351.pcd[0m
[0m[ INFO] [1718801704.336211262]: Received 27810 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801704.336239118]: Data saved to 1317357815346915.pcd[0m
[0m[ INFO] [1718801709.432520139]: Received 30564 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801709.432552675]: Data saved to 1317357820332854.pcd[0m
[0m[ INFO] [1718801714.442393651]: Received 32690 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801714.442430161]: Data saved to 1317357825317522.pcd[0m
[0m[ INFO] [1718801719.399148928]: Received 34388 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801719.399176176]: Data saved to 1317357830405965.pcd[0m
[0m[ INFO] [1718801724.459342127]: Received 37912 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801724.459369204]: Data saved to 1317357835390320.pcd[0m
[0m[ INFO] [1718801729.442409142]: Received 43431 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801729.442433973]: Data saved to 1317357840377751.pcd[0m
[0m[ INFO] [1718801734.426730061]: Received 48618 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801734.426760955]: Data saved to 1317357845366686.pcd[0m
[0m[ INFO] [1718801739.451172452]: Received 52104 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801739.451194280]: Data saved to 1317357850452754.pcd[0m
[0m[ INFO] [1718801744.483838377]: Received 55912 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801744.483861379]: Data saved to 1317357855435647.pcd[0m
[0m[ INFO] [1718801749.479315280]: Received 59577 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801749.479344314]: Data saved to 1317357860417099.pcd[0m
[0m[ INFO] [1718801754.468154086]: Received 64523 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801759.606967605]: Received 69912 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801759.607010302]: Data saved to 1317357870495589.pcd[0m
[0m[ INFO] [1718801764.451546488]: Received 76312 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801764.451586701]: Data saved to 1317357875380059.pcd[0m
[0m[ INFO] [1718801769.493385374]: Received 79968 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801769.493413734]: Data saved to 1317357880370485.pcd[0m
[0m[ INFO] [1718801774.562614224]: Received 83953 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801774.562651838]: Data saved to 1317357885463296.pcd[0m
[0m[ INFO] [1718801779.420205116]: Received 90306 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801779.420244281]: Data saved to 1317357890349450.pcd[0m
[0m[ INFO] [1718801789.579858273]: Received 103909 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801794.553156821]: Received 108457 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801794.553200142]: Data saved to 1317357905505655.pcd[0m
[0m[ INFO] [1718801799.574923272]: Received 116846 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801799.574974972]: Data saved to 1317357910486442.pcd[0m
[0m[ INFO] [1718801804.506448366]: Received 122748 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801804.506482022]: Data saved to 1317357915466732.pcd[0m
[0m[ INFO] [1718801809.484621931]: Received 128241 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801809.484673449]: Data saved to 1317357920355820.pcd[0m
[0m[ INFO] [1718801814.486859089]: Received 131931 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801814.486898664]: Data saved to 1317357925441370.pcd[0m
[0m[ INFO] [1718801819.650491843]: Received 135017 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801819.650521598]: Data saved to 1317357930534737.pcd[0m
[0m[ INFO] [1718801824.562360094]: Received 137126 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801824.562395549]: Data saved to 1317357935515758.pcd[0m
[0m[ INFO] [1718801829.610651328]: Received 139214 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801829.610681901]: Data saved to 1317357940605477.pcd[0m
[0m[ INFO] [1718801834.544280483]: Received 141459 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801834.544338147]: Data saved to 1317357945487349.pcd[0m
[0m[ INFO] [1718801839.643995728]: Received 144140 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801839.644049093]: Data saved to 1317357950571186.pcd[0m
[0m[ INFO] [1718801849.638878256]: Received 149904 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801849.638917737]: Data saved to 1317357960650177.pcd[0m
[0m[ INFO] [1718801854.500130157]: Received 152195 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801854.500177575]: Data saved to 1317357965435048.pcd[0m
[0m[ INFO] [1718801859.546755304]: Received 154272 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801859.546787632]: Data saved to 1317357970530257.pcd[0m
[0m[ INFO] [1718801864.560374381]: Received 156291 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801864.560396430]: Data saved to 1317357975519608.pcd[0m
[0m[ INFO] [1718801869.719656280]: Received 159135 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801869.719686997]: Data saved to 1317357980617697.pcd[0m
[0m[ INFO] [1718801874.599528295]: Received 164239 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801874.599557010]: Data saved to 1317357985601624.pcd[0m
[0m[ INFO] [1718801879.568307724]: Received 167277 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801879.568338175]: Data saved to 1317357990593779.pcd[0m
[0m[ INFO] [1718801884.572400934]: Received 170362 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801884.572431407]: Data saved to 1317357995575949.pcd[0m
[0m[ INFO] [1718801889.567890662]: Received 172361 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801889.567933571]: Data saved to 1317358000562901.pcd[0m
[0m[ INFO] [1718801894.574900252]: Received 174001 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801894.574937915]: Data saved to 1317358005554400.pcd[0m
[0m[ INFO] [1718801899.570696026]: Received 176397 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801899.570727690]: Data saved to 1317358010548389.pcd[0m
[0m[ INFO] [1718801904.629612621]: Received 178226 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801904.629647234]: Data saved to 1317358015541697.pcd[0m
[0m[ INFO] [1718801909.757803068]: Received 180607 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801909.757877006]: Data saved to 1317358020737921.pcd[0m
[0m[ INFO] [1718801914.842642227]: Received 179560 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801914.842705191]: Data saved to 1317358025521879.pcd[0m
[0m[ INFO] [1718801919.618950447]: Received 180076 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801919.618987103]: Data saved to 1317358030509385.pcd[0m
[0m[ INFO] [1718801924.624435545]: Received 181025 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801924.624475623]: Data saved to 1317358035604134.pcd[0m
[0m[ INFO] [1718801929.770924448]: Received 183989 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801929.770955840]: Data saved to 1317358040694545.pcd[0m
[0m[ INFO] [1718801934.935039492]: Received 182659 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801934.935082354]: Data saved to 1317358045576256.pcd[0m
[0m[ INFO] [1718801939.831145089]: Received 183352 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801939.831181858]: Data saved to 1317358050465694.pcd[0m
[0m[ INFO] [1718801944.773550183]: Received 183325 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801944.773591849]: Data saved to 1317358055659833.pcd[0m
[0m[ INFO] [1718801949.765516612]: Received 183771 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801949.765551468]: Data saved to 1317358060641907.pcd[0m
[0m[ INFO] [1718801954.746561226]: Received 183861 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801954.746595318]: Data saved to 1317358065420706.pcd[0m
[0m[ INFO] [1718801959.714940054]: Received 185018 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801959.714993764]: Data saved to 1317358070721546.pcd[0m
[0m[ INFO] [1718801964.718438105]: Received 187867 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801964.718484433]: Data saved to 1317358075717036.pcd[0m
[0m[ INFO] [1718801969.723170683]: Received 189390 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801969.723199617]: Data saved to 1317358080704159.pcd[0m
[0m[ INFO] [1718801974.708155761]: Received 190497 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801974.708188378]: Data saved to 1317358085692158.pcd[0m
[0m[ INFO] [1718801984.665976819]: Received 194213 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801984.666010390]: Data saved to 1317358095669250.pcd[0m
[0m[ INFO] [1718801989.643235178]: Received 194969 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801989.643274275]: Data saved to 1317358100655694.pcd[0m
[0m[ INFO] [1718801994.671887282]: Received 196575 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801994.671926671]: Data saved to 1317358105649409.pcd[0m
[0m[ INFO] [1718801999.631356046]: Received 198386 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718801999.631393621]: Data saved to 1317358110641253.pcd[0m
[0m[ INFO] [1718802004.658154495]: Received 200060 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802004.658195795]: Data saved to 1317358115630337.pcd[0m
[0m[ INFO] [1718802009.627065831]: Received 201493 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802009.627094912]: Data saved to 1317358120621990.pcd[0m
[0m[ INFO] [1718802014.613934158]: Received 203044 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802014.613983979]: Data saved to 1317358125612996.pcd[0m
[0m[ INFO] [1718802019.620153537]: Received 205228 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802019.620188733]: Data saved to 1317358130602988.pcd[0m
[0m[ INFO] [1718802024.633252536]: Received 207650 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802024.633287055]: Data saved to 1317358135595844.pcd[0m
[0m[ INFO] [1718802029.641444060]: Received 208756 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802029.641486730]: Data saved to 1317358140588529.pcd[0m
[0m[ INFO] [1718802034.654859183]: Received 210417 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802034.654878818]: Data saved to 1317358145575882.pcd[0m
[0m[ INFO] [1718802039.655796009]: Received 212065 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802039.655824634]: Data saved to 1317358150674381.pcd[0m
[0m[ INFO] [1718802044.654869898]: Received 215665 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802044.654903550]: Data saved to 1317358155657634.pcd[0m
[0m[ INFO] [1718802049.663450684]: Received 220831 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802049.663482174]: Data saved to 1317358160642064.pcd[0m
[0m[ INFO] [1718802054.791614199]: Received 226053 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802054.791650610]: Data saved to 1317358165728779.pcd[0m[0m[ INFO] [1718802059.735353641]: Received 230848 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802059.735388901]: Data saved to 1317358170712774.pcd[0m
[0m[ INFO] [1718802064.818180101]: Received 235994 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802064.818223923]: Data saved to 1317358175801769.pcd[0m
[0m[ INFO] [1718802069.730245865]: Received 242079 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802069.730273245]: Data saved to 1317358180684945.pcd[0m
[0m[ INFO] [1718802074.706052058]: Received 246331 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802074.706074377]: Data saved to 1317358185676022.pcd[0m
[0m[ INFO] [1718802079.711210278]: Received 249656 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802079.711242555]: Data saved to 1317358190667120.pcd[0m
[0m[ INFO] [1718802084.749699441]: Received 255209 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802084.749724424]: Data saved to 1317358195757339.pcd[0m
[0m[ INFO] [1718802089.745060078]: Received 257394 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802089.745102738]: Data saved to 1317358200746640.pcd[0m
[0m[ INFO] [1718802094.877927765]: Received 260653 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802094.877982320]: Data saved to 1317358205838850.pcd[0m
[0m[ INFO] [1718802099.872111140]: Received 265125 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802099.872150242]: Data saved to 1317358210822798.pcd[0m
[0m[ INFO] [1718802109.878421270]: Received 272578 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802109.878460091]: Data saved to 1317358220898142.pcd[0m
[0m[ INFO] [1718802114.787230289]: Received 276492 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802114.787254510]: Data saved to 1317358225776036.pcd[0m
[0m[ INFO] [1718802119.939960522]: Received 279579 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802119.939995705]: Data saved to 1317358230877389.pcd[0m
[0m[ INFO] [1718802125.010036702]: Received 282205 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802125.010073571]: Data saved to 1317358235967010.pcd[0m
[0m[ INFO] [1718802129.793252824]: Received 284476 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802129.793294386]: Data saved to 1317358240745641.pcd[0m
[0m[ INFO] [1718802134.838961320]: Received 287476 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802134.838987441]: Data saved to 1317358245838165.pcd[0m
[0m[ INFO] [1718802139.828369078]: Received 291181 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802139.828399123]: Data saved to 1317358250826338.pcd[0m
[0m[ INFO] [1718802144.877195013]: Received 294691 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802144.877250023]: Data saved to 1317358255816668.pcd[0m
[0m[ INFO] [1718802149.860306348]: Received 296838 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802149.860355690]: Data saved to 1317358260804532.pcd[0m
[0m[ INFO] [1718802154.898721205]: Received 299928 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802154.898755547]: Data saved to 1317358265895399.pcd[0m
[0m[ INFO] [1718802159.821225314]: Received 301981 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802159.821272261]: Data saved to 1317358270782531.pcd[0m
[0m[ INFO] [1718802164.880971780]: Received 304769 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802164.881020393]: Data saved to 1317358275869988.pcd[0m
[0m[ INFO] [1718802169.843462693]: Received 307334 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802169.843493122]: Data saved to 1317358280855838.pcd[0m
[0m[ INFO] [1718802174.810535657]: Received 309831 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802174.810575936]: Data saved to 1317358285738936.pcd[0m
[0m[ INFO] [1718802179.837274974]: Received 314010 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802179.837326764]: Data saved to 1317358290833884.pcd[0m
[0m[ INFO] [1718802184.939123984]: Received 314345 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718802184.939148288]: Data saved to 1317358295827191.pcd[0m

Done.
killing:
 * /ekf_gps
 * /lio_sam_featureExtraction
 * /lio_sam_imageProjection
 * /lio_sam_imuPreintegration
 * /lio_sam_mapOptmization
 * /navsat
 * /pointcloud_to_pcd_1718801649930294320
 * /robot_state_publisher
 * /rosbag_record_diag
 * /rosout
[33m[ WARN] [1718802189.254716895]: Shutdown request received.[0m
[33m[ WARN] [1718802189.254739878]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802189.255232524]: Shutdown request received.[0m
[33m[ WARN] [1718802189.255273903]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802189.255741838]: Shutdown request received.[0m
[33m[ WARN] [1718802189.255797832]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802189.256400281]: Shutdown request received.[0m
[33m[ WARN] [1718802189.256433823]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802189.257384405]: Shutdown request received.[0m
[33m[ WARN] [1718802189.257462531]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/ff50f376-2e3a-11ef-99e8-0242ac110003/rosout-1*.log[0m
[1m[lio_sam_imageProjection-3] process has finished cleanly
log file: /root/.ros/log/ff50f376-2e3a-11ef-99e8-0242ac110003/lio_sam_imageProjection-3*.log[0m
[1m[lio_sam_featureExtraction-4] process has finished cleanly
log file: /root/.ros/log/ff50f376-2e3a-11ef-99e8-0242ac110003/lio_sam_featureExtraction-4*.log[0m
[1m[robot_state_publisher-6] process has finished cleanly
log file: /root/.ros/log/ff50f376-2e3a-11ef-99e8-0242ac110003/robot_state_publisher-6*.log[0m
[1m[rosbag_record_diag-9] process has finished cleanly
log file: /root/.ros/log/ff50f376-2e3a-11ef-99e8-0242ac110003/rosbag_record_diag-9*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1484][0m
[lio_sam_imageProjection-3] restarting process
wrote 2526 messages to the file: 
mv: cannot stat '/root/catkin_ws/traj.txt': No such file or directory
