/SLAM-Hive/slam_hive_results/mapping_results/1351/994_lio-sam+kitti_2011_09_30_drive_0028_synced_full.yamlBegin
... logging to /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/roslaunch-8636ca058d13-123.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://8636ca058d13:42523/[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 64d0f870-2f00-11ef-a8ca-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [167][0m
started core service [/rosout]
[1mprocess[lio_sam_imuPreintegration-2]: started with pid [170][0m
[0m[ INFO] [1718886424.168926528]: [1;32m----> IMU Preintegration Started.[0m[0m
[1mprocess[lio_sam_imageProjection-3]: started with pid [185][0m
[0m[ INFO] [1718886424.679185113]: [1;32m----> Image Projection Started.[0m[0m
[1mprocess[lio_sam_featureExtraction-4]: started with pid [457][0m
[0m[ INFO] [1718886425.220658707]: [1;32m----> Feature Extraction Started.[0m[0m
[1mprocess[lio_sam_mapOptmization-5]: started with pid [599][0m
[0m[ INFO] [1718886426.048436181]: [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] [1718886430.871362824]: Saving as binary PCD[0m
[0m[ INFO] [1718886430.874677658]: Listening for incoming data on topic /lio_sam/mapping/map_global[0m
[0m[ INFO] [1718886431.029822156]: 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: 401528690.82 
[33m[ WARN] [1718886453.014243036]: Point cloud timestamp not available, deskew function disabled, system will drift significantly![0m
[0m[ INFO] [1718886456.057762850]: Received 2158 data points in frame odom with the following fields: x y z intensity[0m[0m[ INFO] [1718886461.066528901]: Received 4578 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886461.066606659]: Data saved to 1317357769734045.pcd[0m
[0m[ INFO] [1718886466.083716409]: Received 7007 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886466.083748504]: Data saved to 1317357774829714.pcd[0m
[0m[ INFO] [1718886471.076444604]: Received 9506 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886471.076484008]: Data saved to 1317357779815890.pcd[0m
[0m[ INFO] [1718886476.116173497]: Received 11886 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886476.116247488]: Data saved to 1317357784901865.pcd[0m
[0m[ INFO] [1718886481.065556900]: Received 15168 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886481.065592665]: Data saved to 1317357789892626.pcd[0m
[0m[ INFO] [1718886486.122343406]: Received 17923 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886486.122365845]: Data saved to 1317357794883249.pcd[0m
[0m[ INFO] [1718886491.072677186]: Received 20031 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886491.072699986]: Data saved to 1317357799872764.pcd[0m
[0m[ INFO] [1718886496.074647632]: Received 22564 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886496.074671949]: Data saved to 1317357804858656.pcd[0m
[0m[ INFO] [1718886501.165257219]: Received 25297 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886501.165288052]: Data saved to 1317357809945010.pcd[0m
[0m[ INFO] [1718886506.138879686]: Received 27566 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886506.138932244]: Data saved to 1317357814932008.pcd[0m
[0m[ INFO] [1718886511.087490396]: Received 30297 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886511.087515513]: Data saved to 1317357819917227.pcd[0m
[0m[ INFO] [1718886516.175239448]: Received 32246 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886516.175264927]: Data saved to 1317357824902287.pcd[0m
[0m[ INFO] [1718886521.140784484]: Received 33896 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886521.140826970]: Data saved to 1317357829887283.pcd[0m
[0m[ INFO] [1718886526.251917490]: Received 37680 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886526.251956551]: Data saved to 1317357835077750.pcd[0m
[0m[ INFO] [1718886531.254436564]: Received 42434 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886531.254491672]: Data saved to 1317357840066664.pcd[0m
[0m[ INFO] [1718886536.243764973]: Received 47821 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886536.243798726]: Data saved to 1317357845055079.pcd[0m
[0m[ INFO] [1718886546.228341917]: Received 54763 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886546.228388651]: Data saved to 1317357854916771.pcd[0m
[0m[ INFO] [1718886551.250331386]: Received 58308 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886551.250360032]: Data saved to 1317357859898277.pcd[0m
[0m[ INFO] [1718886556.280674379]: Received 64284 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886556.280711481]: Data saved to 1317357864994374.pcd[0m
[0m[ INFO] [1718886561.257120750]: Received 69766 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886561.257167773]: Data saved to 1317357869976524.pcd[0m
[0m[ INFO] [1718886566.276052970]: Received 76101 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886566.276099941]: Data saved to 1317357874964297.pcd[0m
[0m[ INFO] [1718886571.269745526]: Received 79803 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886571.269770650]: Data saved to 1317357880058706.pcd[0m
[0m[ INFO] [1718886576.327527049]: Received 83853 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886581.310739756]: Received 90314 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886581.310770048]: Data saved to 1317357889934252.pcd[0m
[0m[ INFO] [1718886586.274947561]: Received 96036 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886586.274985894]: Data saved to 1317357894916138.pcd[0m
[0m[ INFO] [1718886591.203897343]: Received 102683 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886591.203932594]: Data saved to 1317357899897492.pcd[0m
[0m[ INFO] [1718886596.303299636]: Received 108120 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886596.303328230]: Data saved to 1317357905090599.pcd[0m
[0m[ INFO] [1718886601.194821715]: Received 114751 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886601.194871890]: Data saved to 1317357909967799.pcd[0m
[0m[ INFO] [1718886606.396803280]: Received 122126 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886606.396851330]: Data saved to 1317357915155407.pcd[0m
[0m[ INFO] [1718886611.264137447]: Received 126928 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886611.264287266]: Data saved to 1317357919940383.pcd[0m
[0m[ INFO] [1718886616.262557761]: Received 131803 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886616.262602044]: Data saved to 1317357925025552.pcd[0m
[0m[ INFO] [1718886621.243284881]: Received 134446 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886621.243316872]: Data saved to 1317357930016149.pcd[0m
[0m[ INFO] [1718886626.342939326]: Received 136744 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886636.338008634]: Received 141175 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886636.338039521]: Data saved to 1317357945071530.pcd[0m
[0m[ INFO] [1718886641.389349701]: Received 143738 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886641.389368858]: Data saved to 1317357950156229.pcd[0m
[0m[ INFO] [1718886646.251947293]: Received 146566 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886646.251983181]: Data saved to 1317357954941315.pcd[0m
[0m[ INFO] [1718886651.383986781]: Received 149533 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886651.384024701]: Data saved to 1317357960129668.pcd[0m
[0m[ INFO] [1718886656.402567242]: Received 151739 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886656.402588320]: Data saved to 1317357965123147.pcd[0m
[0m[ INFO] [1718886661.384735184]: Received 153785 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886661.384762985]: Data saved to 1317357970218337.pcd[0m
[0m[ INFO] [1718886666.302156872]: Received 155820 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886666.302199541]: Data saved to 1317357975103717.pcd[0m
[0m[ INFO] [1718886671.407667301]: Received 158668 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886671.407704722]: Data saved to 1317357980201253.pcd[0m
[0m[ INFO] [1718886676.500306192]: Received 164064 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886676.500332398]: Data saved to 1317357985290182.pcd[0m
[0m[ INFO] [1718886681.427559100]: Received 167303 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886681.427589189]: Data saved to 1317357990178919.pcd[0m
[0m[ INFO] [1718886686.356404796]: Received 170275 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886686.356427693]: Data saved to 1317357995160826.pcd[0m
[0m[ INFO] [1718886691.324338319]: Received 172602 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886691.324368768]: Data saved to 1317358000147166.pcd[0m
[0m[ INFO] [1718886696.320801397]: Received 174233 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886696.320835149]: Data saved to 1317358005138340.pcd[0m
[0m[ INFO] [1718886701.380801780]: Received 176528 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886701.380836357]: Data saved to 1317358010131654.pcd[0m
[0m[ INFO] [1718886706.434677923]: Received 178386 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886706.434708709]: Data saved to 1317358015230707.pcd[0m
[0m[ INFO] [1718886711.312096349]: Received 181047 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886711.312124494]: Data saved to 1317358020113782.pcd[0m
[0m[ INFO] [1718886716.607474009]: Received 180005 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886716.607509806]: Data saved to 1317358025106107.pcd[0m
[0m[ INFO] [1718886721.369518435]: Received 180250 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886721.369551856]: Data saved to 1317358030093631.pcd[0m
[0m[ INFO] [1718886726.540218832]: Received 181200 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886726.540246165]: Data saved to 1317358035292834.pcd[0m
[0m[ INFO] [1718886731.544564442]: Received 183674 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886731.544611760]: Data saved to 1317358040278752.pcd[0m
[0m[ INFO] [1718886736.560945849]: Received 185663 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886736.561161864]: Data saved to 1317358045055799.pcd[0m
[0m[ INFO] [1718886741.425483564]: Received 183614 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886741.425526569]: Data saved to 1317358049945884.pcd[0m
[0m[ INFO] [1718886746.403164209]: Received 184161 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886751.466141246]: Received 184449 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886751.466194121]: Data saved to 1317358060226736.pcd[0m
[0m[ INFO] [1718886756.640742055]: Received 184814 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886756.640773413]: Data saved to 1317358065109308.pcd[0m
[0m[ INFO] [1718886761.591658456]: Received 186004 data points in frame odom with the following fields: x y z intensity[0m[0m[ INFO] [1718886766.401847919]: Received 188861 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886766.401893145]: Data saved to 1317358075195431.pcd[0m
[0m[ INFO] [1718886771.349940484]: Received 190674 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886771.349978286]: Data saved to 1317358080185355.pcd[0m
[0m[ INFO] [1718886776.383713854]: Received 191908 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886776.383738908]: Data saved to 1317358085172255.pcd[0m
[0m[ INFO] [1718886781.360203011]: Received 193669 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886781.360261412]: Data saved to 1317358090160811.pcd[0m
[0m[ INFO] [1718886786.372318217]: Received 195215 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886786.372373659]: Data saved to 1317358095149584.pcd[0m
[0m[ INFO] [1718886791.424471551]: Received 196100 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886791.424494466]: Data saved to 1317358100240787.pcd[0m
[0m[ INFO] [1718886796.348138025]: Received 197751 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886796.348167848]: Data saved to 1317358105129529.pcd[0m
[0m[ INFO] [1718886801.433237080]: Received 199375 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886801.433268161]: Data saved to 1317358110225171.pcd[0m
[0m[ INFO] [1718886806.380662890]: Received 201032 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886806.380690027]: Data saved to 1317358115214497.pcd[0m
[0m[ INFO] [1718886811.402682440]: Received 202112 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886811.402709538]: Data saved to 1317358120205862.pcd[0m
[0m[ INFO] [1718886816.402162085]: Received 204027 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886816.402185069]: Data saved to 1317358125197345.pcd[0m
[0m[ INFO] [1718886821.407273354]: Received 205836 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886821.407301161]: Data saved to 1317358130187244.pcd[0m
[0m[ INFO] [1718886826.461335515]: Received 208763 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886826.461360387]: Data saved to 1317358135284976.pcd[0m
[0m[ INFO] [1718886831.524483966]: Received 209908 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886831.524511258]: Data saved to 1317358140276459.pcd[0m
[0m[ INFO] [1718886836.504230423]: Received 211237 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886841.468665748]: Received 213339 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886841.468698381]: Data saved to 1317358150258827.pcd[0m
[0m[ INFO] [1718886846.430519556]: Received 216512 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886846.430561965]: Data saved to 1317358155242032.pcd[0m
[0m[ INFO] [1718886851.433616255]: Received 222129 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886851.433650633]: Data saved to 1317358160226577.pcd[0m
[0m[ INFO] [1718886856.434821348]: Received 226805 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886856.434856688]: Data saved to 1317358165209902.pcd[0m
[0m[ INFO] [1718886861.437274661]: Received 231246 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886861.437302548]: Data saved to 1317358170193708.pcd[0m
[0m[ INFO] [1718886866.526444312]: Received 237481 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886871.514105705]: Received 242712 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886871.514143541]: Data saved to 1317358180268886.pcd[0m
[0m[ INFO] [1718886876.623025257]: Received 247297 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886876.623060177]: Data saved to 1317358185364286.pcd[0m
[0m[ INFO] [1718886881.564886314]: Received 251017 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886881.564909409]: Data saved to 1317358190251107.pcd[0m
[0m[ INFO] [1718886886.544967234]: Received 256741 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886886.545002877]: Data saved to 1317358195238347.pcd[0m
[0m[ INFO] [1718886891.588041327]: Received 259386 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886891.588067314]: Data saved to 1317358200330846.pcd[0m
[0m[ INFO] [1718886896.622675624]: Received 262561 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886896.622712912]: Data saved to 1317358205423223.pcd[0m
[0m[ INFO] [1718886901.487848612]: Received 266238 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886901.487883930]: Data saved to 1317358210200005.pcd[0m
[0m[ INFO] [1718886906.553419428]: Received 270162 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886906.553451622]: Data saved to 1317358215290011.pcd[0m
[0m[ INFO] [1718886911.499768441]: Received 274456 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886911.499791741]: Data saved to 1317358220275326.pcd[0m
[0m[ INFO] [1718886916.498741403]: Received 277755 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886916.498764591]: Data saved to 1317358225257667.pcd[0m
[0m[ INFO] [1718886921.533621300]: Received 281470 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886921.533659368]: Data saved to 1317358230357700.pcd[0m
[0m[ INFO] [1718886926.659002046]: Received 283967 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886931.522698330]: Received 286195 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886931.522722826]: Data saved to 1317358240330086.pcd[0m
[0m[ INFO] [1718886936.518553318]: Received 288807 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886936.518586456]: Data saved to 1317358245318571.pcd[0m
[0m[ INFO] [1718886941.518590712]: Received 292852 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886941.518633609]: Data saved to 1317358250306674.pcd[0m
[0m[ INFO] [1718886946.612634126]: Received 295571 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886946.612681570]: Data saved to 1317358255400875.pcd[0m
[0m[ INFO] [1718886951.558615427]: Received 297870 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886951.558644275]: Data saved to 1317358260284770.pcd[0m
[0m[ INFO] [1718886956.594579821]: Received 301529 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886956.594598807]: Data saved to 1317358265376499.pcd[0m
[0m[ INFO] [1718886961.595694225]: Received 303554 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886961.595713187]: Data saved to 1317358270366617.pcd[0m
[0m[ INFO] [1718886966.607424871]: Received 306359 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886966.607463048]: Data saved to 1317358275351476.pcd[0m
[0m[ INFO] [1718886971.587732024]: Received 309098 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886971.587762503]: Data saved to 1317358280232826.pcd[0m
[0m[ INFO] [1718886976.541391356]: Received 311830 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886976.541422429]: Data saved to 1317358285323191.pcd[0m
[0m[ INFO] [1718886981.553543345]: Received 315070 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886986.580102324]: Received 316680 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718886986.580149685]: Data saved to 1317358295410605.pcd[0m

Done.
killing:
 * /ekf_gps
 * /lio_sam_featureExtraction
 * /lio_sam_imageProjection
 * /lio_sam_imuPreintegration
 * /lio_sam_mapOptmization
 * /navsat
 * /pointcloud_to_pcd_1718886430858863692
 * /robot_state_publisher
 * /rosbag_record_diag
 * /rosout
[33m[ WARN] [1718886991.389960017]: Shutdown request received.[0m
[33m[ WARN] [1718886991.389994893]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718886991.390408284]: Shutdown request received.[0m
[33m[ WARN] [1718886991.390432764]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718886991.390907476]: Shutdown request received.[0m
[33m[ WARN] [1718886991.390967896]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718886991.391569045]: Shutdown request received.[0m
[33m[ WARN] [1718886991.391611086]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718886991.392628377]: Shutdown request received.[0m
[33m[ WARN] [1718886991.392670062]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1434][0m
[1m[lio_sam_imuPreintegration-2] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/lio_sam_imuPreintegration-2*.log[0m
[1m[lio_sam_imageProjection-3] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/lio_sam_imageProjection-3*.log[0m
[1m[lio_sam_featureExtraction-4] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/lio_sam_featureExtraction-4*.log[0m
[1m[robot_state_publisher-6] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/robot_state_publisher-6*.log[0m
[1m[ekf_gps-7] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/ekf_gps-7*.log[0m
[1m[navsat-8] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/navsat-8*.log[0m
[1m[rosbag_record_diag-9] process has finished cleanly
log file: /root/.ros/log/64d0f870-2f00-11ef-a8ca-0242ac110003/rosbag_record_diag-9*.log[0m
[lio_sam_imuPreintegration-2] restarting process
wrote 2516 messages to the file: 
mv: cannot stat '/root/catkin_ws/traj.txt': No such file or directory
