/SLAM-Hive/slam_hive_results/mapping_results/1359/994_lio-sam+kitti_2011_09_30_drive_0028_synced_full.yamlBegin
... logging to /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/roslaunch-2fe34ba4c7a4-139.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://2fe34ba4c7a4:35111/[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 [153][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/liosam.launch http://localhost:11311
[1msetting /run_id to 1835ed80-2f1a-11ef-b663-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [166][0m
started core service [/rosout]
[1mprocess[lio_sam_imuPreintegration-2]: started with pid [183][0m
[0m[ INFO] [1718897461.918730185]: [1;32m----> IMU Preintegration Started.[0m[0m
[1mprocess[lio_sam_imageProjection-3]: started with pid [184][0m
[0m[ INFO] [1718897462.421666033]: [1;32m----> Image Projection Started.[0m[0m
[1mprocess[lio_sam_featureExtraction-4]: started with pid [456][0m
[0m[ INFO] [1718897462.975934104]: [1;32m----> Feature Extraction Started.[0m[0m
[1mprocess[lio_sam_mapOptmization-5]: started with pid [598][0m
[0m[ INFO] [1718897463.571816420]: [1;32m----> Map Optimization Started.[0m[0m
[1mprocess[robot_state_publisher-6]: started with pid [726][0m
[1mprocess[ekf_gps-7]: started with pid [878][0m
[1mprocess[navsat-8]: started with pid [904][0m
[1mprocess[rosbag_record_diag-9]: started with pid [1019][0m
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
[0m[ INFO] [1718897469.489880721]: Saving as binary PCD[0m
[0m[ INFO] [1718897469.493270704]: Listening for incoming data on topic /lio_sam/mapping/map_global[0m
[0m[ INFO] [1718897469.625883053]: 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: 401539708.21 
[33m[ WARN] [1718897470.380890451]: Point cloud timestamp not available, deskew function disabled, system will drift significantly![0m
[0m[ INFO] [1718897473.586982138]: Received 2158 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897473.587012288]: Data saved to 1317357764950808.pcd[0m
[0m[ INFO] [1718897478.576541425]: Received 4581 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897478.576575848]: Data saved to 1317357769942506.pcd[0m
[0m[ INFO] [1718897483.601393858]: Received 7010 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897483.601424002]: Data saved to 1317357775037261.pcd[0m
[0m[ INFO] [1718897488.651172221]: Received 9591 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897488.651211429]: Data saved to 1317357780023680.pcd[0m
[0m[ INFO] [1718897493.632523712]: Received 11981 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897493.632909051]: Data saved to 1317357785005759.pcd[0m
[0m[ INFO] [1718897498.623575414]: Received 14575 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897498.623604916]: Data saved to 1317357789996402.pcd[0m
[0m[ INFO] [1718897503.645767570]: Received 17924 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897503.645820065]: Data saved to 1317357794987287.pcd[0m
[0m[ INFO] [1718897508.678293533]: Received 19921 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897508.678321897]: Data saved to 1317357800080296.pcd[0m
[0m[ INFO] [1718897513.611604602]: Received 22206 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897513.611636646]: Data saved to 1317357804962480.pcd[0m
[0m[ INFO] [1718897518.626069776]: Received 25088 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897518.626117789]: Data saved to 1317357810048831.pcd[0m
[0m[ INFO] [1718897523.720106467]: Received 27378 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897523.720128310]: Data saved to 1317357815139436.pcd[0m
[0m[ INFO] [1718897528.724740658]: Received 30152 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897528.724772519]: Data saved to 1317357820125067.pcd[0m
[0m[ INFO] [1718897533.667141903]: Received 32215 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897533.667171740]: Data saved to 1317357825109875.pcd[0m
[0m[ INFO] [1718897538.696537686]: Received 33695 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897538.696576762]: Data saved to 1317357830094734.pcd[0m
[0m[ INFO] [1718897543.719439669]: Received 37454 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897543.719468442]: Data saved to 1317357835181931.pcd[0m
[0m[ INFO] [1718897548.658171957]: Received 41743 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897548.658195574]: Data saved to 1317357840066664.pcd[0m
[0m[ INFO] [1718897553.666937759]: Received 47066 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897553.666983964]: Data saved to 1317357845055079.pcd[0m
[0m[ INFO] [1718897558.707464250]: Received 51047 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897558.707492672]: Data saved to 1317357850037658.pcd[0m
[0m[ INFO] [1718897563.741623619]: Received 54412 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897563.741663942]: Data saved to 1317357855020572.pcd[0m
[0m[ INFO] [1718897568.726159558]: Received 57542 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897568.726189013]: Data saved to 1317357860105846.pcd[0m
[0m[ INFO] [1718897573.824670659]: Received 63281 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897573.824720104]: Data saved to 1317357865202357.pcd[0m
[0m[ INFO] [1718897578.782536659]: Received 68653 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897578.782567764]: Data saved to 1317357870184113.pcd[0m
[0m[ INFO] [1718897583.669422390]: Received 74987 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897583.669453266]: Data saved to 1317357875068239.pcd[0m
[0m[ INFO] [1718897588.713438744]: Received 78714 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897588.713509403]: Data saved to 1317357880058706.pcd[0m
[0m[ INFO] [1718897593.877017491]: Received 82809 data points in frame odom with the following fields: x y z intensity[0m[0m[ INFO] [1718897598.812540976]: Received 89345 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897603.752323692]: Received 95351 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897603.752382264]: Data saved to 1317357895123711.pcd[0m
[0m[ INFO] [1718897608.727389961]: Received 101987 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897608.727430086]: Data saved to 1317357900105114.pcd[0m
[0m[ INFO] [1718897613.767844327]: Received 107413 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897613.767873365]: Data saved to 1317357905090599.pcd[0m
[0m[ INFO] [1718897618.739920329]: Received 114811 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897618.739976672]: Data saved to 1317357910071527.pcd[0m
[0m[ INFO] [1718897623.834874318]: Received 120722 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897623.834922261]: Data saved to 1317357915259181.pcd[0m
[0m[ INFO] [1718897628.755313895]: Received 125511 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897628.755338127]: Data saved to 1317357920148180.pcd[0m
[0m[ INFO] [1718897633.958048912]: Received 130412 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897633.958076195]: Data saved to 1317357925337378.pcd[0m
[0m[ INFO] [1718897638.864054727]: Received 132984 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897638.864092295]: Data saved to 1317357930223556.pcd[0m
[0m[ INFO] [1718897643.750755772]: Received 135435 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897643.750787718]: Data saved to 1317357935204482.pcd[0m
[0m[ INFO] [1718897648.757704202]: Received 137638 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897648.757732195]: Data saved to 1317357940190040.pcd[0m
[0m[ INFO] [1718897653.808327808]: Received 139899 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897653.808365340]: Data saved to 1317357945175497.pcd[0m
[0m[ INFO] [1718897658.883971364]: Received 142415 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897658.884006983]: Data saved to 1317357950259979.pcd[0m
[0m[ INFO] [1718897663.772236546]: Received 145269 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897663.772276345]: Data saved to 1317357955045186.pcd[0m
[0m[ INFO] [1718897668.918822885]: Received 148316 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897668.918857900]: Data saved to 1317357960233661.pcd[0m
[0m[ INFO] [1718897673.892590076]: Received 150315 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897673.892627283]: Data saved to 1317357965331083.pcd[0m
[0m[ INFO] [1718897678.882884882]: Received 152367 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897678.882908106]: Data saved to 1317357970322326.pcd[0m
[0m[ INFO] [1718897683.871738625]: Received 154655 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897683.871762997]: Data saved to 1317357975311650.pcd[0m
[0m[ INFO] [1718897688.912094804]: Received 157325 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897688.912117817]: Data saved to 1317357980305389.pcd[0m
[0m[ INFO] [1718897693.964573188]: Received 162607 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897693.964598786]: Data saved to 1317357985394005.pcd[0m
[0m[ INFO] [1718897698.913819414]: Received 165566 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897698.913851208]: Data saved to 1317357990282622.pcd[0m
[0m[ INFO] [1718897703.880639919]: Received 168302 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897703.880663876]: Data saved to 1317357995264625.pcd[0m
[0m[ INFO] [1718897708.866877506]: Received 170760 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897708.866898211]: Data saved to 1317358000251087.pcd[0m
[0m[ INFO] [1718897713.823401228]: Received 172306 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897713.823424706]: Data saved to 1317358005242356.pcd[0m
[0m[ INFO] [1718897718.868316712]: Received 174725 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897718.868342491]: Data saved to 1317358010235814.pcd[0m
[0m[ INFO] [1718897724.013467769]: Received 176514 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897728.909494440]: Received 178837 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897728.909518194]: Data saved to 1317358020321767.pcd[0m
[0m[ INFO] [1718897733.999437905]: Received 178258 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897733.999497828]: Data saved to 1317358025314064.pcd[0m
[0m[ INFO] [1718897739.037359301]: Received 178410 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897739.037394031]: Data saved to 1317358030405438.pcd[0m
[0m[ INFO] [1718897743.934316504]: Received 179718 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897743.934349958]: Data saved to 1317358035292834.pcd[0m
[0m[ INFO] [1718897749.065634838]: Received 182384 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897749.065690580]: Data saved to 1317358040382671.pcd[0m
[0m[ INFO] [1718897754.487869975]: Received 182854 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897754.487902529]: Data saved to 1317358045576256.pcd[0m
[0m[ INFO] [1718897759.110915760]: Received 182553 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897759.110950667]: Data saved to 1317358050465694.pcd[0m
[0m[ INFO] [1718897763.885153670]: Received 183057 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897763.885186942]: Data saved to 1317358055244539.pcd[0m
[0m[ INFO] [1718897774.020160290]: Received 183298 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897774.020205172]: Data saved to 1317358065109308.pcd[0m
[0m[ INFO] [1718897779.135039464]: Received 184264 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897779.135098818]: Data saved to 1317358070513151.pcd[0m
[0m[ INFO] [1718897783.979192089]: Received 186957 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897783.979230417]: Data saved to 1317358075404131.pcd[0m
[0m[ INFO] [1718897788.928944139]: Received 188551 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897788.929013039]: Data saved to 1317358080289083.pcd[0m
[0m[ INFO] [1718897793.919792245]: Received 189716 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897793.919825985]: Data saved to 1317358085276292.pcd[0m
[0m[ INFO] [1718897798.928653152]: Received 191348 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897798.928677012]: Data saved to 1317358090368721.pcd[0m
[0m[ INFO] [1718897803.920760648]: Received 192960 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897803.920784260]: Data saved to 1317358095357420.pcd[0m
[0m[ INFO] [1718897808.894561928]: Received 193901 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897808.894588448]: Data saved to 1317358100344515.pcd[0m
[0m[ INFO] [1718897813.882316978]: Received 195774 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897813.882358117]: Data saved to 1317358105337507.pcd[0m
[0m[ INFO] [1718897818.889656829]: Received 197350 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897818.889682176]: Data saved to 1317358110329210.pcd[0m
[0m[ INFO] [1718897823.883976155]: Received 199119 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897823.883996816]: Data saved to 1317358115318485.pcd[0m
[0m[ INFO] [1718897828.911335304]: Received 200255 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897828.911371513]: Data saved to 1317358120309905.pcd[0m
[0m[ INFO] [1718897833.892241072]: Received 202370 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897833.892278436]: Data saved to 1317358125301168.pcd[0m
[0m[ INFO] [1718897838.925510874]: Received 204459 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897838.925548363]: Data saved to 1317358130291188.pcd[0m
[0m[ INFO] [1718897843.974320132]: Received 207072 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897843.974342781]: Data saved to 1317358135388581.pcd[0m
[0m[ INFO] [1718897848.933095800]: Received 208080 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897848.933125505]: Data saved to 1317358140276459.pcd[0m
[0m[ INFO] [1718897853.917221455]: Received 209754 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897853.917246245]: Data saved to 1317358145368118.pcd[0m
[0m[ INFO] [1718897858.933895474]: Received 211838 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897858.933928002]: Data saved to 1317358150362747.pcd[0m
[0m[ INFO] [1718897864.099649563]: Received 215032 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897864.099684754]: Data saved to 1317358155449843.pcd[0m
[0m[ INFO] [1718897869.003363458]: Received 220756 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897869.003405303]: Data saved to 1317358160434349.pcd[0m
[0m[ INFO] [1718897874.093891207]: Received 225989 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897874.093923069]: Data saved to 1317358165417476.pcd[0m
[0m[ INFO] [1718897879.044688526]: Received 230348 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897879.044737815]: Data saved to 1317358170401328.pcd[0m
[0m[ INFO] [1718897884.044638237]: Received 235443 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897884.044686727]: Data saved to 1317358175385061.pcd[0m
[0m[ INFO] [1718897888.988888481]: Received 240461 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897888.988950111]: Data saved to 1317358180372802.pcd[0m
[0m[ INFO] [1718897894.030224321]: Received 245930 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897894.030256268]: Data saved to 1317358185364286.pcd[0m
[0m[ INFO] [1718897899.068295051]: Received 250138 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897899.068319088]: Data saved to 1317358190459115.pcd[0m
[0m[ INFO] [1718897903.983127083]: Received 254948 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897903.983171575]: Data saved to 1317358195342119.pcd[0m
[0m[ INFO] [1718897909.012636354]: Received 257865 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897909.012667655]: Data saved to 1317358200330846.pcd[0m
[0m[ INFO] [1718897914.021859213]: Received 261069 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897914.021889986]: Data saved to 1317358205423223.pcd[0m
[0m[ INFO] [1718897919.003843302]: Received 265524 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897919.003864263]: Data saved to 1317358210407624.pcd[0m
[0m[ INFO] [1718897924.034357752]: Received 268718 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897924.034416286]: Data saved to 1317358215393978.pcd[0m
[0m[ INFO] [1718897929.064312887]: Received 273072 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897929.064357999]: Data saved to 1317358220482873.pcd[0m
[0m[ INFO] [1718897934.144425469]: Received 276150 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897934.144468585]: Data saved to 1317358225568603.pcd[0m
[0m[ INFO] [1718897939.049231568]: Received 279910 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897939.049256621]: Data saved to 1317358230461667.pcd[0m
[0m[ INFO] [1718897944.204911603]: Received 282556 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897944.204946171]: Data saved to 1317358235551697.pcd[0m
[0m[ INFO] [1718897949.137905944]: Received 284999 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897949.137930981]: Data saved to 1317358240537851.pcd[0m
[0m[ INFO] [1718897954.039382903]: Received 287848 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897954.039409838]: Data saved to 1317358245422489.pcd[0m
[0m[ INFO] [1718897959.030510101]: Received 291543 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897964.052709682]: Received 294259 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897964.052753144]: Data saved to 1317358255504817.pcd[0m
[0m[ INFO] [1718897969.175202705]: Received 296633 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897969.175225731]: Data saved to 1317358260596613.pcd[0m
[0m[ INFO] [1718897974.186781023]: Received 300278 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897974.186804352]: Data saved to 1317358265584049.pcd[0m
[0m[ INFO] [1718897979.160683242]: Received 302383 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897979.160709711]: Data saved to 1317358270470609.pcd[0m
[0m[ INFO] [1718897984.088686521]: Received 305161 data points in frame odom with the following fields: x y z intensity[0m[0m[ INFO] [1718897989.233365097]: Received 308316 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897989.233390784]: Data saved to 1317358280648164.pcd[0m
[0m[ INFO] [1718897999.199152725]: Received 313857 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718897999.199193792]: Data saved to 1317358290625734.pcd[0m
[0m[ INFO] [1718898004.170029385]: Received 315295 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898004.170063903]: Data saved to 1317358295514787.pcd[0m

Done.
killing:
 * /ekf_gps
 * /lio_sam_featureExtraction
 * /lio_sam_imageProjection
 * /lio_sam_imuPreintegration
 * /lio_sam_mapOptmization
 * /navsat
 * /pointcloud_to_pcd_1718897469476984080
 * /robot_state_publisher
 * /rosbag_record_diag
 * /rosout
[33m[ WARN] [1718898008.801107124]: Shutdown request received.[0m
[33m[ WARN] [1718898008.801147764]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898008.801652121]: Shutdown request received.[0m
[33m[ WARN] [1718898008.801706100]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898008.802162194]: Shutdown request received.[0m
[33m[ WARN] [1718898008.802188562]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898008.802629122]: Shutdown request received.[0m
[33m[ WARN] [1718898008.802659924]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898008.804082783]: Shutdown request received.[0m
[33m[ WARN] [1718898008.804116123]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/rosout-1*.log[0m
[1m[rosbag_record_diag-9] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/rosbag_record_diag-9*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1456][0m
[1m[lio_sam_imuPreintegration-2] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/lio_sam_imuPreintegration-2*.log[0m
[1m[lio_sam_imageProjection-3] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/lio_sam_imageProjection-3*.log[0m
[1m[lio_sam_featureExtraction-4] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/lio_sam_featureExtraction-4*.log[0m
[1m[robot_state_publisher-6] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/robot_state_publisher-6*.log[0m
[1m[ekf_gps-7] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/ekf_gps-7*.log[0m
[1m[navsat-8] process has finished cleanly
log file: /root/.ros/log/1835ed80-2f1a-11ef-b663-0242ac110003/navsat-8*.log[0m
[lio_sam_imuPreintegration-2] restarting process
wrote 2531 messages to the file: 
mv: cannot stat '/root/catkin_ws/traj.txt': No such file or directory
