/SLAM-Hive/slam_hive_results/mapping_results/1360/994_lio-sam+kitti_2011_09_30_drive_0028_synced_full.yamlBegin
... logging to /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/roslaunch-55f35785cf0f-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://55f35785cf0f:34287/[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 677b1496-2f1b-11ef-b42b-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] [1718898024.404646411]: [1;32m----> IMU Preintegration Started.[0m[0m
[1mprocess[lio_sam_imageProjection-3]: started with pid [184][0m
[0m[ INFO] [1718898024.931900660]: [1;32m----> Image Projection Started.[0m[0m
[1mprocess[lio_sam_featureExtraction-4]: started with pid [456][0m
[0m[ INFO] [1718898025.483926952]: [1;32m----> Feature Extraction Started.[0m[0m
[1mprocess[lio_sam_mapOptmization-5]: started with pid [598][0m
[0m[ INFO] [1718898026.072290261]: [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] [1718898032.003279777]: Saving as binary PCD[0m
[0m[ INFO] [1718898032.006786595]: Listening for incoming data on topic /lio_sam/mapping/map_global[0m
[0m[ INFO] [1718898032.129333021]: 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: 401540270.70 
[33m[ WARN] [1718898032.869716993]: Point cloud timestamp not available, deskew function disabled, system will drift significantly![0m
[0m[ INFO] [1718898036.081135875]: Received 2158 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898036.081229055]: Data saved to 1317357764950808.pcd[0m
[0m[ INFO] [1718898041.115076573]: Received 4579 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898041.115130088]: Data saved to 1317357770046736.pcd[0m
[0m[ INFO] [1718898046.109524703]: Received 6954 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898046.109674877]: Data saved to 1317357774933489.pcd[0m
[0m[ INFO] [1718898051.132808532]: Received 9511 data points in frame odom with the following fields: x y z intensity[0m[0m[ INFO] [1718898056.115769557]: Received 12301 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898056.115815374]: Data saved to 1317357785005759.pcd[0m
[0m[ INFO] [1718898061.165804529]: Received 14764 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898061.165832335]: Data saved to 1317357790100080.pcd[0m
[0m[ INFO] [1718898066.151504939]: Received 17880 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898066.151542950]: Data saved to 1317357795091326.pcd[0m
[0m[ INFO] [1718898071.164780509]: Received 20197 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898071.164818607]: Data saved to 1317357800080296.pcd[0m
[0m[ INFO] [1718898076.128881446]: Received 22686 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898076.128919083]: Data saved to 1317357805066301.pcd[0m
[0m[ INFO] [1718898081.106040694]: Received 25393 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898081.106069779]: Data saved to 1317357810048831.pcd[0m
[0m[ INFO] [1718898086.107122892]: Received 27625 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898086.107143156]: Data saved to 1317357815035712.pcd[0m
[0m[ INFO] [1718898091.136978414]: Received 30296 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898091.137022053]: Data saved to 1317357820021147.pcd[0m
[0m[ INFO] [1718898096.153930551]: Received 32252 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898096.153979633]: Data saved to 1317357825109875.pcd[0m
[0m[ INFO] [1718898101.121628556]: Received 33874 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898101.121657769]: Data saved to 1317357830094734.pcd[0m
[0m[ INFO] [1718898106.204520633]: Received 37595 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898111.198188611]: Received 42247 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898111.198236117]: Data saved to 1317357840066664.pcd[0m
[0m[ INFO] [1718898116.161170775]: Received 47541 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898116.161208227]: Data saved to 1317357845055079.pcd[0m
[0m[ INFO] [1718898121.271038841]: Received 51480 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898121.271107980]: Data saved to 1317357850245208.pcd[0m
[0m[ INFO] [1718898126.178235662]: Received 54836 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898126.178283732]: Data saved to 1317357855020572.pcd[0m
[0m[ INFO] [1718898131.219616319]: Received 57909 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898136.328743717]: Received 63956 data points in frame odom with the following fields: x y z intensity[0m[0m[ INFO] [1718898141.294525766]: Received 69098 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898141.294560356]: Data saved to 1317357870080318.pcd[0m
[0m[ INFO] [1718898146.242970601]: Received 75534 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898146.243002391]: Data saved to 1317357875172173.pcd[0m
[0m[ INFO] [1718898151.230252007]: Received 79133 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898151.230277973]: Data saved to 1317357880162650.pcd[0m
[0m[ INFO] [1718898156.418904648]: Received 83235 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898156.418935259]: Data saved to 1317357885254765.pcd[0m
[0m[ INFO] [1718898161.245455687]: Received 89877 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898161.245481689]: Data saved to 1317357890141896.pcd[0m
[0m[ INFO] [1718898166.259317222]: Received 95782 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898166.259357900]: Data saved to 1317357895123711.pcd[0m
[0m[ INFO] [1718898171.198730818]: Received 102096 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898171.198791724]: Data saved to 1317357900105114.pcd[0m
[0m[ INFO] [1718898176.280137245]: Received 107794 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898176.280182931]: Data saved to 1317357905194374.pcd[0m
[0m[ INFO] [1718898181.279091450]: Received 115624 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898181.279125548]: Data saved to 1317357910175254.pcd[0m
[0m[ INFO] [1718898186.246462800]: Received 121877 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898186.246514892]: Data saved to 1317357915155407.pcd[0m
[0m[ INFO] [1718898191.356751827]: Received 127752 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898191.356793612]: Data saved to 1317357920251995.pcd[0m
[0m[ INFO] [1718898196.394250500]: Received 131553 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898196.394288736]: Data saved to 1317357925233412.pcd[0m
[0m[ INFO] [1718898201.371106581]: Received 134666 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898201.371141938]: Data saved to 1317357930223556.pcd[0m
[0m[ INFO] [1718898206.375588974]: Received 136703 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898206.375614596]: Data saved to 1317357935308254.pcd[0m
[0m[ INFO] [1718898211.408518822]: Received 138828 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898211.408541267]: Data saved to 1317357940293910.pcd[0m
[0m[ INFO] [1718898216.337131693]: Received 141067 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898216.337163168]: Data saved to 1317357945279463.pcd[0m
[0m[ INFO] [1718898221.388286482]: Received 144019 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898221.388341465]: Data saved to 1317357950259979.pcd[0m
[0m[ INFO] [1718898226.308205602]: Received 146793 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898226.308229550]: Data saved to 1317357955252928.pcd[0m
[0m[ INFO] [1718898231.356482666]: Received 149649 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898231.356509341]: Data saved to 1317357960233661.pcd[0m
[0m[ INFO] [1718898236.295229384]: Received 151862 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898236.295256511]: Data saved to 1317357965227113.pcd[0m
[0m[ INFO] [1718898241.374261865]: Received 153906 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898241.374304940]: Data saved to 1317357970322326.pcd[0m
[0m[ INFO] [1718898246.286512294]: Received 156242 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898246.286535003]: Data saved to 1317357975207681.pcd[0m
[0m[ INFO] [1718898251.406202367]: Received 158884 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898251.406233751]: Data saved to 1317357980305389.pcd[0m[0m[ INFO] [1718898256.319032235]: Received 164003 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898256.319087791]: Data saved to 1317357985186357.pcd[0m
[0m[ INFO] [1718898261.327234767]: Received 166891 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898261.327268222]: Data saved to 1317357990282622.pcd[0m
[0m[ INFO] [1718898266.424723144]: Received 169451 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898266.424743623]: Data saved to 1317357995368424.pcd[0m
[0m[ INFO] [1718898271.349073054]: Received 171795 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898271.349107366]: Data saved to 1317358000251087.pcd[0m
[0m[ INFO] [1718898276.329022701]: Received 173273 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898276.329054282]: Data saved to 1317358005242356.pcd[0m
[0m[ INFO] [1718898281.418219436]: Received 175695 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898281.418252642]: Data saved to 1317358010235814.pcd[0m
[0m[ INFO] [1718898286.455220896]: Received 177594 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898286.455264925]: Data saved to 1317358015334362.pcd[0m
[0m[ INFO] [1718898291.478923461]: Received 180233 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898291.478951692]: Data saved to 1317358020425757.pcd[0m
[0m[ INFO] [1718898296.360827450]: Received 178932 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898296.360866967]: Data saved to 1317358025314064.pcd[0m
[0m[ INFO] [1718898301.340008114]: Received 179019 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898301.340113798]: Data saved to 1317358030093631.pcd[0m[0m[ INFO] [1718898306.509672218]: Received 179932 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898306.509713532]: Data saved to 1317358035396657.pcd[0m
[0m[ INFO] [1718898311.394767408]: Received 182347 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898311.394797378]: Data saved to 1317358040278752.pcd[0m
[0m[ INFO] [1718898316.701241942]: Received 182444 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898316.701279416]: Data saved to 1317358045263976.pcd[0m
[0m[ INFO] [1718898321.668591356]: Received 182806 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898321.668621761]: Data saved to 1317358050569684.pcd[0m
[0m[ INFO] [1718898326.602883392]: Received 183070 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898326.602904629]: Data saved to 1317358055452187.pcd[0m
[0m[ INFO] [1718898331.436277698]: Received 182750 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898331.436314176]: Data saved to 1317358060330534.pcd[0m
[0m[ INFO] [1718898336.561248970]: Received 182822 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898346.465282040]: Received 186813 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898346.465331140]: Data saved to 1317358075404131.pcd[0m
[0m[ INFO] [1718898351.457630355]: Received 188359 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898351.457663181]: Data saved to 1317358080392808.pcd[0m
[0m[ INFO] [1718898356.417282364]: Received 189555 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898356.417324129]: Data saved to 1317358085380306.pcd[0m
[0m[ INFO] [1718898361.415043643]: Received 191384 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898361.415103635]: Data saved to 1317358090368721.pcd[0m
[0m[ INFO] [1718898366.384600241]: Received 193245 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898366.384647380]: Data saved to 1317358095253503.pcd[0m
[0m[ INFO] [1718898371.391421241]: Received 193827 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898371.391446762]: Data saved to 1317358100344515.pcd[0m
[0m[ INFO] [1718898376.377811460]: Received 195686 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898376.377854323]: Data saved to 1317358105337507.pcd[0m
[0m[ INFO] [1718898381.385755213]: Received 197237 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898381.385803448]: Data saved to 1317358110329210.pcd[0m
[0m[ INFO] [1718898386.399304548]: Received 198923 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898386.399341641]: Data saved to 1317358115318485.pcd[0m
[0m[ INFO] [1718898391.457654116]: Received 199954 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898391.457677483]: Data saved to 1317358120413943.pcd[0m
[0m[ INFO] [1718898396.392203119]: Received 202220 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898396.392232390]: Data saved to 1317358125301168.pcd[0m
[0m[ INFO] [1718898401.425735270]: Received 204407 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898401.425759001]: Data saved to 1317358130395128.pcd[0m
[0m[ INFO] [1718898406.541218534]: Received 206972 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898406.541239884]: Data saved to 1317358135492187.pcd[0m
[0m[ INFO] [1718898411.451929254]: Received 208192 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898411.451959804]: Data saved to 1317358140380497.pcd[0m
[0m[ INFO] [1718898416.445252833]: Received 209797 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898416.445289160]: Data saved to 1317358145368118.pcd[0m
[0m[ INFO] [1718898421.451400470]: Received 211808 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898421.451434532]: Data saved to 1317358150362747.pcd[0m
[0m[ INFO] [1718898426.535625845]: Received 215506 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898426.535657947]: Data saved to 1317358155449843.pcd[0m
[0m[ INFO] [1718898431.517771994]: Received 220695 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898431.517802953]: Data saved to 1317358160434349.pcd[0m
[0m[ INFO] [1718898436.539781017]: Received 226003 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898436.539824906]: Data saved to 1317358165417476.pcd[0m
[0m[ INFO] [1718898441.563465355]: Received 230606 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898441.563487836]: Data saved to 1317358170505129.pcd[0m
[0m[ INFO] [1718898446.568690388]: Received 236348 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898446.568728348]: Data saved to 1317358175489244.pcd[0m
[0m[ INFO] [1718898451.565970158]: Received 241288 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898451.566012594]: Data saved to 1317358180476769.pcd[0m
[0m[ INFO] [1718898456.501035229]: Received 246483 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898456.501068733]: Data saved to 1317358185364286.pcd[0m
[0m[ INFO] [1718898461.566817929]: Received 250788 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898461.566848975]: Data saved to 1317358190459115.pcd[0m
[0m[ INFO] [1718898466.553550247]: Received 255616 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898466.553570737]: Data saved to 1317358195445919.pcd[0m
[0m[ INFO] [1718898471.533051044]: Received 258096 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898471.533077876]: Data saved to 1317358200434813.pcd[0m
[0m[ INFO] [1718898476.544299767]: Received 261373 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898476.544325403]: Data saved to 1317358205423223.pcd[0m
[0m[ INFO] [1718898481.506469008]: Received 265846 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898481.506499207]: Data saved to 1317358210407624.pcd[0m
[0m[ INFO] [1718898486.526979756]: Received 269075 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898486.527021752]: Data saved to 1317358215393978.pcd[0m
[0m[ INFO] [1718898491.527413255]: Received 272973 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898491.527460039]: Data saved to 1317358220482873.pcd[0m
[0m[ INFO] [1718898496.589337778]: Received 276241 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898501.753180606]: Received 279978 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898501.753212580]: Data saved to 1317358230669553.pcd[0m
[0m[ INFO] [1718898506.616669974]: Received 282724 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898506.616726059]: Data saved to 1317358235551697.pcd[0m
[0m[ INFO] [1718898511.564885185]: Received 285190 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898511.564930361]: Data saved to 1317358240433981.pcd[0m
[0m[ INFO] [1718898516.564600544]: Received 287951 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898516.564633255]: Data saved to 1317358245526408.pcd[0m
[0m[ INFO] [1718898521.515350627]: Received 291753 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898521.515376243]: Data saved to 1317358250410590.pcd[0m
[0m[ INFO] [1718898526.575642190]: Received 294219 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898526.575690640]: Data saved to 1317358255504817.pcd[0m
[0m[ INFO] [1718898531.578821846]: Received 296618 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898531.578852489]: Data saved to 1317358260492655.pcd[0m
[0m[ INFO] [1718898536.573100171]: Received 300367 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898536.573149997]: Data saved to 1317358265480273.pcd[0m
[0m[ INFO] [1718898541.538150264]: Received 302216 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898541.538184470]: Data saved to 1317358270470609.pcd[0m
[0m[ INFO] [1718898546.690921827]: Received 305275 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898546.690950922]: Data saved to 1317358275558881.pcd[0m
[0m[ INFO] [1718898551.709082671]: Received 307632 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898551.709126031]: Data saved to 1317358280648164.pcd[0m
[0m[ INFO] [1718898561.600772118]: Received 313395 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898561.600806262]: Data saved to 1317358290521670.pcd[0m
[0m[ INFO] [1718898566.655881961]: Received 314827 data points in frame odom with the following fields: x y z intensity[0m
[0m[ INFO] [1718898566.655914678]: 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_1718898031990852904
 * /robot_state_publisher
 * /rosbag_record_diag
 * /rosout
[33m[ WARN] [1718898571.327663070]: Shutdown request received.[0m
[33m[ WARN] [1718898571.327697016]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898571.328165998]: Shutdown request received.[0m
[33m[ WARN] [1718898571.328190950]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898571.328674356]: Shutdown request received.[0m
[33m[ WARN] [1718898571.328742230]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898571.329419289]: Shutdown request received.[0m
[33m[ WARN] [1718898571.329468945]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718898571.330680734]: Shutdown request received.[0m
[33m[ WARN] [1718898571.330893148]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1483][0m
[1m[lio_sam_imuPreintegration-2] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/lio_sam_imuPreintegration-2*.log[0m
[1m[lio_sam_imageProjection-3] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/lio_sam_imageProjection-3*.log[0m
[1m[lio_sam_featureExtraction-4] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/lio_sam_featureExtraction-4*.log[0m
[1m[robot_state_publisher-6] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/robot_state_publisher-6*.log[0m
[1m[ekf_gps-7] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/ekf_gps-7*.log[0m
[1m[navsat-8] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/navsat-8*.log[0m
[1m[rosbag_record_diag-9] process has finished cleanly
log file: /root/.ros/log/677b1496-2f1b-11ef-b42b-0242ac110003/rosbag_record_diag-9*.log[0m
[lio_sam_imuPreintegration-2] restarting process
wrote 2530 messages to the file: 
mv: cannot stat '/root/catkin_ws/traj.txt': No such file or directory
