hector_hokuyo_eth.launch log

hector_hokuyo_eth.launch.log

roboy@roboy:~/ros_catkin_ws$ roslaunch hector_slam_example hector_hokuyo_eth.launch
... logging to /home/roboy/.ros/log/4f2ea430-8e06-11e5-8ac2-fcaa141f0ea2/roslaunch-roboy-1748.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.

started roslaunch server http://roboy:45926/

SUMMARY
========

PARAMETERS
 * /base_frame: base_frame
 * /hector_geotiff_node/draw_background_checkerboard: True
 * /hector_geotiff_node/draw_free_space_grid: True
 * /hector_geotiff_node/geotiff_save_period: 0.0
 * /hector_geotiff_node/map_file_base_name: hector_slam_map
 * /hector_geotiff_node/map_file_path: /home/roboy/ros_c...
 * /hector_geotiff_node/plugins: hector_geotiff_pl...
 * /hector_mapping/advertise_map_service: True
 * /hector_mapping/base_frame: base_footprint
 * /hector_mapping/laser_z_max_value: 1.0
 * /hector_mapping/laser_z_min_value: -1.0
 * /hector_mapping/map_frame: map
 * /hector_mapping/map_multi_res_levels: 2
 * /hector_mapping/map_resolution: 0.05
 * /hector_mapping/map_size: 2048
 * /hector_mapping/map_start_x: 0.5
 * /hector_mapping/map_start_y: 0.5
 * /hector_mapping/map_update_angle_thresh: 0.06
 * /hector_mapping/map_update_distance_thresh: 0.4
 * /hector_mapping/odom_frame: nav
 * /hector_mapping/pub_map_odom_transform: True
 * /hector_mapping/scan_subscriber_queue_size: 5
 * /hector_mapping/scan_topic: scan
 * /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame
 * /hector_mapping/update_factor_free: 0.4
 * /hector_mapping/update_factor_occupied: 0.9
 * /hector_mapping/use_tf_pose_start_estimate: False
 * /hector_mapping/use_tf_scan_transformation: True
 * /hector_trajectory_server/source_frame_name: /base_link
 * /hector_trajectory_server/target_frame_name: /map
 * /hector_trajectory_server/trajectory_publish_rate: 0.25
 * /hector_trajectory_server/trajectory_update_rate: 4.0
 * /map_frame: map
 * /odom_frame: odom
 * /pub_map_odom_transform: True
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /urg_node/ip_address: 192.168.0.10

NODES
  /
    base_2_nav_link (tf/static_transform_publisher)
    base_footprint_2_base_link (tf/static_transform_publisher)
    base_frame_2_laser_link (tf/static_transform_publisher)
    base_link_2_base_stabilized_link (tf/static_transform_publisher)
    base_stablized_2_base_frame (tf/static_transform_publisher)
    hector_geotiff_node (hector_geotiff/geotiff_node)
    hector_mapping (hector_mapping/hector_mapping)
    hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
    map_2_odom (tf/static_transform_publisher)
    odom_2_base_footprint (tf/static_transform_publisher)
    rviz (rviz/rviz)
    urg_node (urg_node/urg_node)

auto-starting new master
process[master]: started with pid [1760]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4f2ea430-8e06-11e5-8ac2-fcaa141f0ea2
process[rosout-1]: started with pid [1773]
started core service [/rosout]
process[urg_node-2]: started with pid [1790]
process[map_2_odom-3]: started with pid [1812]
process[odom_2_base_footprint-4]: started with pid [1827]
process[base_footprint_2_base_link-5]: started with pid [1838]
process[base_link_2_base_stabilized_link-6]: started with pid [1878]
process[base_stablized_2_base_frame-7]: started with pid [1889]
process[base_frame_2_laser_link-8]: started with pid [1900]
process[base_2_nav_link-9]: started with pid [1912]
process[rviz-10]: started with pid [1924]
process[hector_mapping-11]: started with pid [1944]
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1447859351.647488387]: HectorSM p_base_frame_: base_footprint
[ INFO] [1447859351.647561275]: HectorSM p_map_frame_: map
[ INFO] [1447859351.647580680]: HectorSM p_odom_frame_: nav
[ INFO] [1447859351.647598202]: HectorSM p_scan_topic_: scan
[ INFO] [1447859351.647613429]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1447859351.647628689]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1447859351.647644348]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1447859351.647663264]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1447859351.647679100]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1447859351.647695563]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1447859351.647711073]: HectorSM p_map_update_distance_threshold_: 0.400000 
[ INFO] [1447859351.647727975]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1447859351.647745334]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1447859351.647760107]: HectorSM p_laser_z_max_value_: 1.000000
process[hector_trajectory_server-12]: started with pid [2195]
[ INFO] [1447859352.087763324]: Waiting for tf transform data between frames /map and /base_link to become available
[ INFO] [1447859352.349855130]: lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame.
process[hector_geotiff_node-13]: started with pid [2261]
[ INFO] [1447859352.652625053]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter.
[ INFO] [1447859352.652726174]: Geotiff node started
[ INFO] [1447859353.087950299]: Finished waiting for tf, waited 1.000217 seconds