Crash when running demos
Omegastick opened this issue · comments
Running any of the cartographer_turtlebot demos crashes cartographer for me, but the bag file continues running fine (and I can see the transforms and the like moving around in rviz)
Running Ubuntu 16.04, ROS Kinetic and the latest versions of Google Cartographer and cartographer_ros.
Running the command: roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag crashes with the following log file:
�[0m[ INFO] [1513646286.255300015]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua' for 'turtlebot_depth_camera_2d.lua'.�[0m
�[0m[ INFO] [1513646286.486297922]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.�[0m
�[0m[ INFO] [1513646286.486371499]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.�[0m
�[0m[ INFO] [1513646286.507305268]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.�[0m
�[0m[ INFO] [1513646286.507367056]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.�[0m
�[0m[ INFO] [1513646286.603565498]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.�[0m
�[0m[ INFO] [1513646286.603668116]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.�[0m
�[0m[ INFO] [1513646286.604016053]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.�[0m
�[0m[ INFO] [1513646286.604099415]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.�[0m
�[0m[ INFO] [1513646286.604532959]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.�[0m
�[0m[ INFO] [1513646286.604621262]: I1219 10:18:06.000000 6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.�[0m
�[0m[ INFO] [1513646286.621043376]: I1219 10:18:06.000000 6023 submaps.cc:190] Added submap 1�[0m
�[0m[ INFO] [1513646286.621118493]: I1219 10:18:06.000000 6023 map_builder_bridge.cc:86] Added trajectory with ID '0'.�[0m
�[33m[ WARN] [1513646354.416503026, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416630495, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416718073, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416794333, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416873029, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416959276, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.417033872, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.503171400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.417104863, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.503171400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.417182022, 1474964028.630227051]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.432292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
...
�[33m[ WARN] [1513646354.810388322, 1474964029.023642003]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964028.972893900 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.810486139, 1474964029.023642003]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964028.982893900 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.810572960, 1474964029.023642003]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964028.982893900 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.810663485, 1474964029.023642003]: W1219 10:19:14.000000 6023 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964028.992904
The file is very long (200 lines) so I took a large chunk out of the middle. It's the same few warnings that are at the end repeated over and over again.
Note the strange encoding and the way it cuts off half way through a warning without throwing any errors.
Running the command: roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
Outputs:
logging to /home/px046/.ros/log/57da5538-e45e-11e7-a597-1c666d94682f/roslaunch-PX046-01-7484.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://PX046-01:39267/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.12
* /use_sim_time: True
NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
flat_world_imu_node (cartographer_turtlebot/cartographer_flat_world_imu_node)
playbag (rosbag/play)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [7497]
ROS_MASTER_URI=http://PX046-01:11311
setting /run_id to 57da5538-e45e-11e7-a597-1c666d94682f
process[rosout-1]: started with pid [7511]
started core service [/rosout]
process[cartographer_node-2]: started with pid [7516]
process[flat_world_imu_node-3]: started with pid [7527]
process[rviz-4]: started with pid [7537]
process[playbag-5]: started with pid [7545]
process[cartographer_occupancy_grid_node-6]: started with pid [7563]
[ INFO] [1513647951.560906426]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua' for 'turtlebot_urg_lidar_2d.lua'.
[ INFO] [1513647951.586379785]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513647951.586436117]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513647951.586500590]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513647951.586554983]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513647951.586681860]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513647951.586725574]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513647951.586767743]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513647951.586793589]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513647951.586865370]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513647951.586894624]: I1219 10:45:51.000000 7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513647951.592618914]: I1219 10:45:51.000000 7516 submaps.cc:190] Added submap 1
[ INFO] [1513647951.592661303]: I1219 10:45:51.000000 7516 map_builder_bridge.cc:86] Added trajectory with ID '0'.
[ WARN] [1513647952.128497137, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.515544700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [plate_top_link] to frame [base_link]
[ WARN] [1513647952.128667067, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.128758763, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.128855126, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.432292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.128971748, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.432292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129044158, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129109577, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129204230, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129270025, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129320767, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.452238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129368833, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.452238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129416994, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129479446, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129541088, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129613533, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129703794, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.463235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129836892, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.463235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129904934, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.473235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129977583, 1474964028.626591778]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.473235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
...
[ WARN] [1513647952.564392946, 1474964029.059705825]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.052819300 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.564443770, 1474964029.059705825]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.062819300 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.564499596, 1474964029.059705825]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.062819300 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584066688, 1474964029.079839964]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.082797200 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.584127830, 1474964029.079839964]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.082797200 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.584187998, 1474964029.079839964]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.072821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584223980, 1474964029.079839964]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.072821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584300152, 1474964029.079839964]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.082821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584338233, 1474964029.079839964]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.082821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604117177, 1474964029.099951971]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.102792500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.604234696, 1474964029.099951971]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.102792500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.604337014, 1474964029.099951971]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.092812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604431671, 1474964029.099951971]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.092812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604529493, 1474964029.099951971]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.102812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604579855, 1474964029.099951971]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.102812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625348650, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.123770100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.625473218, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.123770100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.625624106, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.103791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625691458, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.103791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625757776, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.113791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625818651, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.113791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625903855, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.123791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625964074, 1474964029.120064181]: W1219 10:45:52.000000 7516 tf_bridge.cc:52] Lookup would require extrapolation into the past. Requested time 1474964029.123791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
F1219 10:45:52.643960 7516 sensor_bridge.cc:95] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.
[FATAL] [1513647952.644094185, 1474964029.140180331]: F1219 10:45:52.000000 7516 sensor_bridge.cc:95] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.
*** Check failure stack trace: ***
@ 0x7f4feec3726d google::LogMessage::Fail()
@ 0x7f4feec39083 google::LogMessage::SendToLog()
@ 0x7f4feec36dfb google::LogMessage::Flush()
@ 0x7f4feec39a6e google::LogMessageFatal::~LogMessageFatal()
@ 0x59ada2 cartographer_ros::SensorBridge::ToImuData()
@ 0x57b040 cartographer_ros::Node::HandleImuMessage()
@ 0x58a80e boost::detail::function::void_function_obj_invoker1<>::invoke()
@ 0x593b09 ros::SubscriptionCallbackHelperT<>::call()
@ 0x7f4fec8b044d ros::SubscriptionQueue::call()
@ 0x7f4fec856210 ros::CallbackQueue::callOneCB()
@ 0x7f4fec857683 ros::CallbackQueue::callAvailable()
@ 0x7f4fec8b4511 ros::SingleThreadedSpinner::spin()
@ 0x7f4fec8994cb ros::spin()
@ 0x573c90 cartographer_ros::(anonymous namespace)::Run()
@ 0x571264 main
@ 0x7f4feb2a6830 __libc_start_main
@ 0x573849 _start
[cartographer_node-2] process has died [pid 7516, exit code -6, cmd /home/px046/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/px046/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files -configuration_basename turtlebot_urg_lidar_2d.lua scan:=/laser_scan __name:=cartographer_node __log:=/home/px046/.ros/log/57da5538-e45e-11e7-a597-1c666d94682f/cartographer_node-2.log].
log file: /home/px046/.ros/log/57da5538-e45e-11e7-a597-1c666d94682f/cartographer_node-2*.log
Seems to the same as cartographer-project/cartographer_ros#278, but I don't understand the answer given there.
