/SLAM-Hive/slam_hive_results/mapping_results/3495/2472_lio-sam+kitti_2011_09_30_drive_0028_synced_full_save_map.yamlBegin
... logging to /root/.ros/log/0a83716c-f1b6-11ef-b7a9-75d08d305e05/roslaunch-xinzhe-139.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://xinzhe:43137/[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)

[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/liosam.launch http://localhost:11311
[1mprocess[lio_sam_imuPreintegration-1]: started with pid [152][0m
[0m[ INFO] [1740297321.452153536]: [1;32m----> IMU Preintegration Started.[0m[0m
[1mprocess[lio_sam_imageProjection-2]: started with pid [153][0m
[0m[ INFO] [1740297322.044031291]: [1;32m----> Image Projection Started.[0m[0m
[1mprocess[lio_sam_featureExtraction-3]: started with pid [163][0m
[0m[ INFO] [1740297322.613111953]: [1;32m----> Feature Extraction Started.[0m[0m
[1mprocess[lio_sam_mapOptmization-4]: started with pid [171][0m
[0m[ INFO] [1740297323.239561758]: [1;32m----> Map Optimization Started.[0m[0m
[1mprocess[robot_state_publisher-5]: started with pid [176][0m
[1mprocess[ekf_gps-6]: started with pid [183][0m
[1mprocess[navsat-7]: started with pid [189][0m
[1mprocess[rosbag_record_diag-8]: started with pid [195][0m
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
[0m[ INFO] [1740297330.258164515]: Saving as binary PCD[0m
[0m[ INFO] [1740297330.260399540]: Listening for incoming data on topic /lio_sam/mapping/map_global[0m
[0m[ INFO] [1740297330.379020912]: 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: 0.00 
[33m[ WARN] [1740297349.156235382, 1317357762.058147546]: Point cloud timestamp not available, deskew function disabled, system will drift significantly![0m
[0m[ INFO] [1740297353.929560657, 1317357766.837183781]: Received 3633 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297353.929618245, 1317357766.837183781]: Data saved to 1317357766508626.pcd[0m
[0m[ INFO] [1740297359.078895890, 1317357771.988273095]: Received 5698 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297359.078932223, 1317357771.988273095]: Data saved to 1317357771714620.pcd[0m
[0m[ INFO] [1740297363.934907689, 1317357776.847388132]: Received 7897 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297363.934931771, 1317357776.847388132]: Data saved to 1317357776595177.pcd[0m
[0m[ INFO] [1740297368.946245969, 1317357781.857016631]: Received 10488 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297368.946268976, 1317357781.857016631]: Data saved to 1317357781580327.pcd[0m
[0m[ INFO] [1740297373.942454888, 1317357786.847618808]: Received 13402 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297373.942478439, 1317357786.847618808]: Data saved to 1317357786564181.pcd[0m
[0m[ INFO] [1740297378.955528717, 1317357791.866531281]: Received 16251 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297378.955564951, 1317357791.866531281]: Data saved to 1317357791552110.pcd[0m
[0m[ INFO] [1740297383.955280619, 1317357796.862159486]: Received 19238 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297383.955306640, 1317357796.862159486]: Data saved to 1317357796547154.pcd[0m
[0m[ INFO] [1740297388.951380268, 1317357801.858666129]: Received 21381 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297388.951404222, 1317357801.858666129]: Data saved to 1317357801533207.pcd[0m
[0m[ INFO] [1740297393.984386357, 1317357806.891006907]: Received 23780 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297393.984438705, 1317357806.891006907]: Data saved to 1317357806623066.pcd[0m
[0m[ INFO] [1740297399.040828398, 1317357811.945872801]: Received 26238 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297399.040851991, 1317357811.945872801]: Data saved to 1317357811710020.pcd[0m
[0m[ INFO] [1740297404.061105938, 1317357816.967446710]: Received 28523 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297404.061159391, 1317357816.967446710]: Data saved to 1317357816696105.pcd[0m
[0m[ INFO] [1740297409.102081270, 1317357822.005679065]: Received 31180 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297409.102114992, 1317357822.005679065]: Data saved to 1317357821683271.pcd[0m
[0m[ INFO] [1740297414.039585970, 1317357826.945803251]: Received 33335 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297414.039623571, 1317357826.945803251]: Data saved to 1317357826668203.pcd[0m
[0m[ INFO] [1740297419.061040276, 1317357831.955377774]: Received 34596 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297419.061073320, 1317357831.955377774]: Data saved to 1317357831651165.pcd[0m
[0m[ INFO] [1740297431.985344599, 1317357844.895840849]: Received 47171 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297431.985393222, 1317357844.895840849]: Data saved to 1317357844535702.pcd[0m
[0m[ INFO] [1740297434.083863379, 1317357846.992555519]: Received 49213 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297434.083909582, 1317357846.992555519]: Data saved to 1317357846613136.pcd[0m
[0m[ INFO] [1740297439.067200879, 1317357851.970147670]: Received 52982 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297439.067234651, 1317357851.970147670]: Data saved to 1317357851698628.pcd[0m
[0m[ INFO] [1740297444.103297655, 1317357857.014052446]: Received 56219 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297444.103326810, 1317357857.014052446]: Data saved to 1317357856784939.pcd[0m
[0m[ INFO] [1740297449.070445821, 1317357861.974819216]: Received 60402 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297449.070487097, 1317357861.974819216]: Data saved to 1317357861663311.pcd[0m
[0m[ INFO] [1740297454.166994791, 1317357867.073056105]: Received 66762 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297454.167024211, 1317357867.073056105]: Data saved to 1317357866759315.pcd[0m
[0m[ INFO] [1740297459.084276491, 1317357871.987159367]: Received 71639 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297459.084325262, 1317357871.987159367]: Data saved to 1317357871742232.pcd[0m
[0m[ INFO] [1740297464.047089701, 1317357876.953945601]: Received 77780 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297464.047127757, 1317357876.953945601]: Data saved to 1317357876627418.pcd[0m
[0m[ INFO] [1740297469.084053456, 1317357881.992240338]: Received 81066 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297469.084094234, 1317357881.992240338]: Data saved to 1317357881615783.pcd[0m
[0m[ INFO] [1740297474.243228227, 1317357887.146876535]: Received 85381 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297474.243268991, 1317357887.146876535]: Data saved to 1317357886711836.pcd[0m
[0m[ INFO] [1740297479.166829334, 1317357892.070487880]: Received 92844 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297479.166856104, 1317357892.070487880]: Data saved to 1317357891801909.pcd[0m
[0m[ INFO] [1740297484.161372648, 1317357897.070417084]: Received 98501 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297484.161423899, 1317357897.070417084]: Data saved to 1317357896784012.pcd[0m
[0m[ INFO] [1740297489.208133604, 1317357902.118063474]: Received 105214 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297489.208168330, 1317357902.118063474]: Data saved to 1317357901766567.pcd[0m
[0m[ INFO] [1740297494.153644452, 1317357907.061480024]: Received 111454 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297494.153685635, 1317357907.061480024]: Data saved to 1317357906750757.pcd[0m
[0m[ INFO] [1740297499.204427684, 1317357912.109536959]: Received 118152 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297499.204467577, 1317357912.109536959]: Data saved to 1317357911731520.pcd[0m
[0m[ INFO] [1740297504.131351546, 1317357917.036988069]: Received 123836 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297504.131404985, 1317357917.036988069]: Data saved to 1317357916711982.pcd[0m
[0m[ INFO] [1740297509.192215988, 1317357922.101830715]: Received 129429 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297509.192263879, 1317357922.101830715]: Data saved to 1317357921703849.pcd[0m
[0m[ INFO] [1740297514.150056430, 1317357927.056596689]: Received 132876 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297514.150084525, 1317357927.056596689]: Data saved to 1317357926690773.pcd[0m
[0m[ INFO] [1740297519.146037867, 1317357932.056716248]: Received 135736 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297519.146059315, 1317357932.056716248]: Data saved to 1317357931779241.pcd[0m
[0m[ INFO] [1740297524.165141703, 1317357937.073467612]: Data saved to 1317357936761270.pcd[0m
[0m[ INFO] [1740297529.134244284, 1317357942.043801180]: Received 139719 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297529.134284046, 1317357942.043801180]: Data saved to 1317357941748073.pcd[0m
[0m[ INFO] [1740297534.263307758, 1317357947.171885104]: Received 142150 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297534.263339561, 1317357947.171885104]: Data saved to 1317357946837188.pcd[0m
[0m[ INFO] [1740297539.319395794, 1317357952.224100712]: Received 145453 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297539.319440953, 1317357952.224100712]: Data saved to 1317357951922367.pcd[0m
[0m[ INFO] [1740297544.204336694, 1317357957.112145482]: Received 148160 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297544.204385857, 1317357957.112145482]: Data saved to 1317357956810555.pcd[0m
[0m[ INFO] [1740297549.257609053, 1317357962.161691057]: Received 150896 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297549.257638541, 1317357962.161691057]: Data saved to 1317357961901352.pcd[0m
[0m[ INFO] [1740297554.331813801, 1317357967.238318806]: Received 153083 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297554.331845628, 1317357967.238318806]: Data saved to 1317357966995173.pcd[0m
[0m[ INFO] [1740297559.297525604, 1317357972.204327976]: Received 155248 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297559.297565562, 1317357972.204327976]: Data saved to 1317357971881203.pcd[0m
[0m[ INFO] [1740297564.234276310, 1317357977.141685837]: Received 157200 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297564.234311397, 1317357977.141685837]: Data saved to 1317357976870742.pcd[0m
[0m[ INFO] [1740297569.226176335, 1317357982.130167411]: Received 161717 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297569.226203023, 1317357982.130167411]: Data saved to 1317357981762557.pcd[0m
[0m[ INFO] [1740297574.301819239, 1317357987.205671913]: Received 165525 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297574.301844624, 1317357987.205671913]: Data saved to 1317357986952086.pcd[0m
[0m[ INFO] [1740297579.259841891, 1317357992.168247744]: Received 169066 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297579.259887555, 1317357992.168247744]: Data saved to 1317357991838594.pcd[0m
[0m[ INFO] [1740297584.235500684, 1317357997.147975753]: Received 171969 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297584.235537672, 1317357997.147975753]: Data saved to 1317357996821629.pcd[0m
[0m[ INFO] [1740297589.214587200, 1317358002.120170990]: Received 173930 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297589.214614037, 1317358002.120170990]: Data saved to 1317358001809894.pcd[0m
[0m[ INFO] [1740297594.289208478, 1317358007.192559593]: Received 175355 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297594.289248819, 1317358007.192559593]: Data saved to 1317358006906636.pcd[0m
[0m[ INFO] [1740297599.448203777, 1317358012.351098281]: Received 177455 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297599.448229854, 1317358012.351098281]: Data saved to 1317358012110264.pcd[0m
[0m[ INFO] [1740297604.218063059, 1317358017.129453212]: Received 179655 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297604.218119414, 1317358017.129453212]: Data saved to 1317358016890815.pcd[0m
[0m[ INFO] [1740297609.309784869, 1317358022.213163714]: Received 182151 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297609.309824658, 1317358022.213163714]: Data saved to 1317358021881827.pcd[0m
[0m[ INFO] [1740297614.475344429, 1317358027.386610983]: Received 180615 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297614.475382755, 1317358027.386610983]: Data saved to 1317358027079989.pcd[0m
[0m[ INFO] [1740297619.482169524, 1317358032.391732993]: Received 180871 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297619.482258205, 1317358032.391732993]: Data saved to 1317358032068451.pcd[0m
[0m[ INFO] [1740297624.278656507, 1317358037.190170941]: Received 182498 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297624.278688371, 1317358037.190170941]: Data saved to 1317358036849288.pcd[0m
[0m[ INFO] [1740297629.373417232, 1317358042.283882135]: Received 184886 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297634.395592163, 1317358047.304303064]: Received 182575 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297634.395628526, 1317358047.304303064]: Data saved to 1317358046720202.pcd[0m
[0m[ INFO] [1740297639.507165301, 1317358052.411980675]: Received 183453 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297639.507206215, 1317358052.411980675]: Data saved to 1317358052026407.pcd[0m
[0m[ INFO] [1740297644.244850296, 1317358057.148779427]: Received 183912 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297644.244882216, 1317358057.148779427]: Data saved to 1317358056801666.pcd[0m
[0m[ INFO] [1740297649.345118115, 1317358062.250204114]: Received 183713 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297649.345155592, 1317358062.250204114]: Data saved to 1317358061680015.pcd[0m
[0m[ INFO] [1740297654.407572366, 1317358067.316369525]: Received 184769 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297659.267222940, 1317358072.172172435]: Received 186192 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297659.267253312, 1317358072.172172435]: Data saved to 1317358071761934.pcd[0m
[0m[ INFO] [1740297664.355128061, 1317358077.264931789]: Received 189277 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297664.355162843, 1317358077.264931789]: Data saved to 1317358076965481.pcd[0m
[0m[ INFO] [1740297669.278727987, 1317358082.185244796]: Received 190056 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297669.278764445, 1317358082.185244796]: Data saved to 1317358081846590.pcd[0m
[0m[ INFO] [1740297674.302028181, 1317358087.206910949]: Received 192044 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297674.302064838, 1317358087.206910949]: Data saved to 1317358086938728.pcd[0m
[0m[ INFO] [1740297679.250611514, 1317358092.155016668]: Received 193368 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297679.250661465, 1317358092.155016668]: Data saved to 1317358091823513.pcd[0m
[0m[ INFO] [1740297684.353873355, 1317358097.262527769]: Received 194933 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297684.353896161, 1317358097.262527769]: Data saved to 1317358097020910.pcd[0m
[0m[ INFO] [1740297689.330450698, 1317358102.240686110]: Received 196323 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297689.330483294, 1317358102.240686110]: Data saved to 1317358101902504.pcd[0m
[0m[ INFO] [1740297694.255188617, 1317358107.161242903]: Received 197521 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297694.255219773, 1317358107.161242903]: Data saved to 1317358106897347.pcd[0m
[0m[ INFO] [1740297699.313081130, 1317358112.223399670]: Received 198934 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297699.313115260, 1317358112.223399670]: Data saved to 1317358111888854.pcd[0m
[0m[ INFO] [1740297704.314369508, 1317358117.226486914]: Received 200780 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297704.314392991, 1317358117.226486914]: Data saved to 1317358116982050.pcd[0m
[0m[ INFO] [1740297709.354135051, 1317358122.261618049]: Received 202036 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297709.354170643, 1317358122.261618049]: Data saved to 1317358121973917.pcd[0m
[0m[ INFO] [1740297714.632363586, 1317358127.482471097]: Received 203924 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297714.632395324, 1317358127.482471097]: Data saved to 1317358127174298.pcd[0m
[0m[ INFO] [1740297720.754403755, 1317358133.666407519]: Received 205930 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297720.754431784, 1317358133.666407519]: Data saved to 1317358133309101.pcd[0m
[0m[ INFO] [1740297724.293500021, 1317358137.198953814]: Received 208574 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297724.293543713, 1317358137.198953814]: Data saved to 1317358136943763.pcd[0m
[0m[ INFO] [1740297729.272517218, 1317358142.183800663]: Received 209758 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297729.272578486, 1317358142.183800663]: Data saved to 1317358141939759.pcd[0m
[0m[ INFO] [1740297739.400606492, 1317358152.309759334]: Data saved to 1317358152024893.pcd[0m
[0m[ INFO] [1740297744.380720914, 1317358157.285122751]: Received 218704 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297744.380823902, 1317358157.285122751]: Data saved to 1317358157008578.pcd[0m
[0m[ INFO] [1740297754.339640209, 1317358167.250612159]: Received 228350 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297754.339664194, 1317358167.250612159]: Data saved to 1317358166974363.pcd[0m
[0m[ INFO] [1740297759.403059136, 1317358172.310879311]: Received 233099 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297764.492562071, 1317358177.398920966]: Received 239107 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297764.492594465, 1317358177.398920966]: Data saved to 1317358177050787.pcd[0m
[0m[ INFO] [1740297769.361831484, 1317358182.270383712]: Received 244274 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297769.361854323, 1317358182.270383712]: Data saved to 1317358181936266.pcd[0m
[0m[ INFO] [1740297774.493606784, 1317358187.399095996]: Received 248130 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297774.493637891, 1317358187.399095996]: Data saved to 1317358187131725.pcd[0m
[0m[ INFO] [1740297779.530732761, 1317358192.434776876]: Received 252330 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297779.530774307, 1317358192.434776876]: Data saved to 1317358192124408.pcd[0m
[0m[ INFO] [1740297784.501342098, 1317358197.406708603]: Received 257272 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297784.501374379, 1317358197.406708603]: Data saved to 1317358197108477.pcd[0m
[0m[ INFO] [1740297789.481355179, 1317358202.385934864]: Received 259558 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297789.481383626, 1317358202.385934864]: Data saved to 1317358202097892.pcd[0m
[0m[ INFO] [1740297794.478098938, 1317358207.384144641]: Received 263190 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297794.478152278, 1317358207.384144641]: Data saved to 1317358206981357.pcd[0m
[0m[ INFO] [1740297799.442987379, 1317358212.348636442]: Received 266933 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297799.443010332, 1317358212.348636442]: Data saved to 1317358212068624.pcd[0m
[0m[ INFO] [1740297804.437021546, 1317358217.344552153]: Received 270655 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297804.437047234, 1317358217.344552153]: Data saved to 1317358217056796.pcd[0m
[0m[ INFO] [1740297809.502982674, 1317358222.410298002]: Received 275066 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297809.503016003, 1317358222.410298002]: Data saved to 1317358222143799.pcd[0m
[0m[ INFO] [1740297814.444942592, 1317358227.349305451]: Received 278609 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297814.444987273, 1317358227.349305451]: Data saved to 1317358227022507.pcd[0m
[0m[ INFO] [1740297819.600625460, 1317358232.505503897]: Received 281367 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297819.600657622, 1317358232.505503897]: Data saved to 1317358232021503.pcd[0m
[0m[ INFO] [1740297824.511914638, 1317358237.423076145]: Received 283855 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297824.511956258, 1317358237.423076145]: Data saved to 1317358237109710.pcd[0m
[0m[ INFO] [1740297829.579620065, 1317358242.490794346]: Received 286353 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297829.579640616, 1317358242.490794346]: Data saved to 1317358242200308.pcd[0m
[0m[ INFO] [1740297834.754342190, 1317358247.661101555]: Received 289200 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297834.754390120, 1317358247.661101555]: Data saved to 1317358247396469.pcd[0m
[0m[ INFO] [1740297839.425154477, 1317358252.330716555]: Received 292717 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297839.425182338, 1317358252.330716555]: Data saved to 1317358252073848.pcd[0m
[0m[ INFO] [1740297844.449578196, 1317358257.355968678]: Received 296048 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297844.449610575, 1317358257.355968678]: Data saved to 1317358257063381.pcd[0m
[0m[ INFO] [1740297849.473955125, 1317358262.380730204]: Received 298613 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297849.473986812, 1317358262.380730204]: Data saved to 1317358262052635.pcd[0m
[0m[ INFO] [1740297854.492764576, 1317358267.397424401]: Received 301819 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297854.492821939, 1317358267.397424401]: Data saved to 1317358267140551.pcd[0m
[0m[ INFO] [1740297859.576006088, 1317358272.478520018]: Received 303937 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297859.576043895, 1317358272.478520018]: Data saved to 1317358272237587.pcd[0m
[0m[ INFO] [1740297864.570263781, 1317358277.481700951]: Received 306326 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297864.570297955, 1317358277.481700951]: Data saved to 1317358277218823.pcd[0m
[0m[ INFO] [1740297869.556742792, 1317358282.467324203]: Received 309119 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297869.556773950, 1317358282.467324203]: Data saved to 1317358282206037.pcd[0m
[0m[ INFO] [1740297874.528770035, 1317358287.431488317]: Received 311705 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297874.528801691, 1317358287.431488317]: Data saved to 1317358287193896.pcd[0m
[0m[ INFO] [1740297879.548723627, 1317358292.459215690]: Received 315445 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297879.548759226, 1317358292.459215690]: Data saved to 1317358292186675.pcd[0m
[0m[ INFO] [1740297884.667779241, 1317358297.571240916]: Received 315663 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1740297884.667812157, 1317358297.571240916]: Data saved to 1317358297284668.pcd[0m

Done.
killing:
 * /ekf_gps
 * /lio_sam_featureExtraction
 * /lio_sam_imageProjection
 * /lio_sam_imuPreintegration
 * /lio_sam_mapOptmization
 * /navsat
 * /pointcloud_to_pcd_1740297330245199009
 * /robot_state_publisher
 * /rosbag_record_diag
 * /rosout
[33m[ WARN] [1740297887.644407622, 1317358299.893056864]: Shutdown request received.[0m
[33m[ WARN] [1740297887.644445733, 1317358299.893056864]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1740297887.644907905, 1317358299.893056864]: Shutdown request received.[0m
[33m[ WARN] [1740297887.644946887, 1317358299.893056864]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1740297887.645421448, 1317358299.893056864]: Shutdown request received.[0m
[33m[ WARN] [1740297887.645458182, 1317358299.893056864]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1740297887.646100941, 1317358299.893056864]: Shutdown request received.[0m
[33m[ WARN] [1740297887.646138893, 1317358299.893056864]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1740297887.647042970, 1317358299.893056864]: Shutdown request received.[0m
[33m[ WARN] [1740297887.647176463, 1317358299.893056864]: Reason given for shutdown: [user request][0m
killed
[1m[lio_sam_imuPreintegration-1] process has finished cleanly
log file: /root/.ros/log/0a83716c-f1b6-11ef-b7a9-75d08d305e05/lio_sam_imuPreintegration-1*.log[0m
[1m[robot_state_publisher-5] process has finished cleanly
log file: /root/.ros/log/0a83716c-f1b6-11ef-b7a9-75d08d305e05/robot_state_publisher-5*.log[0m
[1m[ekf_gps-6] process has finished cleanly
log file: /root/.ros/log/0a83716c-f1b6-11ef-b7a9-75d08d305e05/ekf_gps-6*.log[0m
[1m[navsat-7] process has finished cleanly
log file: /root/.ros/log/0a83716c-f1b6-11ef-b7a9-75d08d305e05/navsat-7*.log[0m
[lio_sam_imuPreintegration-1] restarting process
[1mprocess[lio_sam_imuPreintegration-1]: started with pid [415][0m
[robot_state_publisher-5] restarting process
[0m[ INFO] [1740297888.511410118]: [1;32m----> IMU Preintegration Started.[0m[0m
[1mprocess[robot_state_publisher-5]: started with pid [416][0m
[ekf_gps-6] restarting process
wrote 2487 messages to the file: 
mv: cannot stat '/root/catkin_ws/traj.txt': No such file or directory
