[INFO] [launch]: All log files can be found below /home/jetson1/.ros/log/2025-07-09-11-20-43-116092-jetson1-36511 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [36524] [INFO] [robot_state_publisher-2]: process started with pid [36526] [INFO] [gdb-3]: process started with pid [36528] [robot_state_publisher-2] [INFO] [1752074443.881880644] [zed.zed_state_publisher]: got segment zed_camera_center [robot_state_publisher-2] [INFO] [1752074443.882059662] [zed.zed_state_publisher]: got segment zed_camera_link [robot_state_publisher-2] [INFO] [1752074443.882081103] [zed.zed_state_publisher]: got segment zed_left_camera_frame [robot_state_publisher-2] [INFO] [1752074443.882090576] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame [robot_state_publisher-2] [INFO] [1752074443.882097616] [zed.zed_state_publisher]: got segment zed_right_camera_frame [robot_state_publisher-2] [INFO] [1752074443.882103728] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame [gdb-3] [Thread debugging using libthread_db enabled] [gdb-3] Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1". [gdb-3] [New Thread 0xfffff664e8e0 (LWP 36562)] [gdb-3] [New Thread 0xfffff5e3e8e0 (LWP 36563)] [gdb-3] [New Thread 0xfffff55a78e0 (LWP 36564)] [gdb-3] [New Thread 0xfffff4d978e0 (LWP 36565)] [gdb-3] [New Thread 0xfffff45878e0 (LWP 36566)] [gdb-3] [New Thread 0xfffff3d778e0 (LWP 36567)] [gdb-3] [New Thread 0xfffff35678e0 (LWP 36568)] [gdb-3] [New Thread 0xfffff2c978e0 (LWP 36569)] [rviz2-1] [INFO] [1752074444.497497729] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1752074444.497662474] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-1] [INFO] [1752074444.558367976] [rviz2]: Stereo is NOT SUPPORTED [gdb-3] [New Thread 0xfffff246e8e0 (LWP 36571)] [gdb-3] [INFO] [1752074444.836622803] [zed.zed_aruco_localization]: Load Library: /home/jetson1/fg_ws/install/zed_components/lib/libzed_camera_component.so [rviz2-1] [INFO] [1752074444.999999753] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1752074445.027755289] [rviz2]: Stereo is NOT SUPPORTED [gdb-3] [New Thread 0xffffcc3e98e0 (LWP 36578)] [gdb-3] [INFO] [1752074447.522756770] [zed.zed_aruco_localization]: Found class: rclcpp_components::NodeFactoryTemplate [gdb-3] [INFO] [1752074447.522859016] [zed.zed_aruco_localization]: Instantiate class: rclcpp_components::NodeFactoryTemplate [gdb-3] [New Thread 0xffffc5aed8e0 (LWP 36579)] [gdb-3] [INFO] [1752074447.646701768] [zed.zed_node]: ================================ [gdb-3] [INFO] [1752074447.646769836] [zed.zed_node]: ZED Camera Component  [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_aruco_localization' [gdb-3] [INFO] [1752074447.646783660] [zed.zed_node]: ================================ [gdb-3] [INFO] [1752074447.646796141] [zed.zed_node]: * namespace: /zed [gdb-3] [INFO] [1752074447.646806510] [zed.zed_node]: * node name: zed_node [gdb-3] [INFO] [1752074447.646813806] [zed.zed_node]: ================================ [gdb-3] [INFO] [1752074447.650433396] [zed.zed_aruco_localization]: Load Library: /home/jetson1/fg_ws/install/zed_aruco_localization/lib/libzed_aruco_localization_component.so [gdb-3] [INFO] [1752074447.869956302] [zed.zed_aruco_localization]: Found class: rclcpp_components::NodeFactoryTemplate [gdb-3] [INFO] [1752074447.870053715] [zed.zed_aruco_localization]: Instantiate class: rclcpp_components::NodeFactoryTemplate [gdb-3] [INFO] [1752074447.876367213] [zed.aruco_node]: ********************************* [gdb-3] [INFO] [1752074447.876425552] [zed.aruco_node]: ZED ArUco Localization Component  [gdb-3] [INFO] [1752074447.876436721] [zed.aruco_node]: ********************************* [gdb-3] [INFO] [1752074447.876446162] [zed.aruco_node]: * namespace: /zed [gdb-3] [INFO] [1752074447.876455314] [zed.aruco_node]: * node name: aruco_node [gdb-3] [INFO] [1752074447.876467763] [zed.aruco_node]: ********************************* [gdb-3] [INFO] [1752074447.876768003] [zed.aruco_node]: +++ Debug Mode enabled +++ [gdb-3] [INFO] [1752074447.876791909] [zed.aruco_node]: *** GENERAL parameters *** [gdb-3] [INFO] [1752074447.876889866] [zed.aruco_node]: * Marker count: 1 [gdb-3] [INFO] [1752074447.877011857] [zed.aruco_node]: * Marker size [m]: 0.16 [gdb-3] [INFO] [1752074447.877088629] [zed.aruco_node]: * Detection rate [Hz]: 0.5 [gdb-3] [INFO] [1752074447.877180538] [zed.aruco_node]: * Camera name: zed [gdb-3] [INFO] [1752074447.877254814] [zed.aruco_node]: * World frame id: map [gdb-3] [INFO] [1752074447.877338914] [zed.aruco_node]: * Maximum distance [m]: 2 [gdb-3] [INFO] [1752074447.877406150] [zed.aruco_node]: * Refine detection: FALSE [gdb-3] [INFO] [1752074447.877425127] [zed.aruco_node]: *** MARKER parameters *** [gdb-3] [INFO] [1752074447.877480554] [zed.aruco_node]: * marker_000. [gdb-3] [INFO] [1752074447.877548622] [zed.aruco_node]: * ArUco idx: 1 [gdb-3] [INFO] [1752074447.877714263] [zed.aruco_node]: * Position: [0,0,0] [gdb-3] [INFO] [1752074447.877784827] [zed.aruco_node]: * Orientation: [0,0,0] [gdb-3] [New Thread 0xffffbfffe8e0 (LWP 36581)] [gdb-3] [INFO] [1752074447.913343863] [zed.aruco_node]: [getTransformFromTf] canTransform 'zed_left_camera_frame' -> 'zed_camera_link':Invalid frame ID "zed_left_camera_frame" passed to canTransform argument target_frame - frame does not exist. canTransform returned after 2.6689e-05 timeout was 0.. canTransform returned after 1.5681e-05 timeout was 0.. canTransform returned after 0.0101728 timeout was 1. [gdb-3] [INFO] [1752074447.916651020] [zed.aruco_node]: [getTransformFromTf] 'zed_camera_link' -> 'zed_left_camera_frame': [gdb-3] [0.010,-0.060,-0.015] - [0.000°,-0.000°,0.000°] [gdb-3] [INFO] [1752074447.916712175] [zed.aruco_node]: _img2aruco: 0.000°,-0.000°,180.000° [gdb-3] [INFO] [1752074447.916733617] [zed.aruco_node]: _aruco2img: 0.000°,-0.000°,180.000° [gdb-3] [INFO] [1752074447.916747345] [zed.aruco_node]: _ros2img: 0.000°,-90.000°,0.000° [gdb-3] [INFO] [1752074447.916758930] [zed.aruco_node]: _img2ros: -90.000°,-0.000°,-90.000° [gdb-3] [New Thread 0xffffb108e8e0 (LWP 36582)] [gdb-3] [New Thread 0xffffb087e8e0 (LWP 36583)] [gdb-3] [New Thread 0xffffac06e8e0 (LWP 36584)] [gdb-3] [New Thread 0xffffab85e8e0 (LWP 36585)] [gdb-3] [New Thread 0xffffa904e8e0 (LWP 36586)] [gdb-3] [DEBUG] [1752074448.316133896] [zed.aruco_node]: getTopicToAdvertise: /zed/out/aruco_result/compressed [gdb-3] [DEBUG] [1752074448.385177167] [zed.aruco_node]: getTopicToAdvertise: /zed/out/aruco_result/compressedDepth [gdb-3] [INFO] [1752074448.515638457] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074448.516128980] [zed.aruco_node]: getTopicToAdvertise: /zed/out/aruco_result/ffmpeg [gdb-3] [DEBUG] [1752074448.568603023] [zed.aruco_node]: getTopicToAdvertise: /zed/out/aruco_result [gdb-3] [DEBUG] [1752074448.605294121] [zed.aruco_node]: getTopicToAdvertise: /zed/out/aruco_result/theora [gdb-3] [INFO] [1752074448.627575598] [zed.aruco_node]: Advertised on topic: /zed/out/aruco_result [gdb-3] [INFO] [1752074448.627644401] [zed.aruco_node]: Advertised on topic: /zed/out/camera_info [gdb-3] [DEBUG] [1752074448.628154957] [zed.aruco_node]: Subscribing to: /zed/in/zed_image [gdb-3]  [gdb-3] [INFO] [1752074448.629417682] [zed.aruco_node]: Subscribed to topic: /zed/zed_node/rgb/image_rect_color [gdb-3] [INFO] [1752074448.629474038] [zed.aruco_node]: Subscribed to topic: /zed/zed_node/rgb/camera_info [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/aruco_node' in container '/zed/zed_aruco_localization' [gdb-3] [INFO] [1752074448.644691607] [zed.zed_node]: === DEBUG parameters === [gdb-3] [INFO] [1752074448.645128047] [zed.zed_node]: * SDK Verbose: 1 [gdb-3] [INFO] [1752074448.645285464] [zed.zed_node]: * SDK Verbose File:  [gdb-3] [INFO] [1752074448.645406142] [zed.zed_node]: * Debug Common: TRUE [gdb-3] [INFO] [1752074448.645490051] [zed.zed_node]: * Debug Simulation: FALSE [gdb-3] [INFO] [1752074448.645565735] [zed.zed_node]: * Debug Video/Depth: FALSE [gdb-3] [INFO] [1752074448.645646923] [zed.zed_node]: * Debug Control settings: FALSE [gdb-3] [INFO] [1752074448.645733648] [zed.zed_node]: * Debug Point Cloud: %sFALSE [gdb-3] [INFO] [1752074448.645809076] [zed.zed_node]: * Debug GNSS: FALSE [gdb-3] [INFO] [1752074448.645890329] [zed.zed_node]: * Debug Positional Tracking: TRUE [gdb-3] [INFO] [1752074448.645977470] [zed.zed_node]: * Debug sensors: FALSE [gdb-3] [INFO] [1752074448.646061602] [zed.zed_node]: * Debug Mapping: FALSE [gdb-3] [INFO] [1752074448.646143207] [zed.zed_node]: * Debug Object Detection: FALSE [gdb-3] [INFO] [1752074448.646225707] [zed.zed_node]: * Debug Body Tracking: FALSE [gdb-3] [INFO] [1752074448.646303375] [zed.zed_node]: * Debug Streaming: FALSE [gdb-3] [INFO] [1752074448.646389108] [zed.zed_node]: * Debug ROI: FALSE [gdb-3] [INFO] [1752074448.646481689] [zed.zed_node]: * Debug Advanced: TRUE [gdb-3] [INFO] [1752074448.646511803] [zed.zed_node]: + Debug Mode enabled + [gdb-3] [DEBUG] [1752074448.646530940] [zed.zed_node]: [ROS2] Using RMW_IMPLEMENTATION rmw_fastrtps_cpp [gdb-3] [INFO] [1752074448.646616801] [zed.zed_node]: === SVO INPUT parameters === [gdb-3] [INFO] [1752074448.646709926] [zed.zed_node]: === LOCAL STREAMING parameters === [gdb-3] [INFO] [1752074448.646784810] [zed.zed_node]: === GENERAL parameters === [gdb-3] [INFO] [1752074448.646886287] [zed.zed_node]: * Camera model: zed2i - ZED 2i [gdb-3] [INFO] [1752074448.646981973] [zed.zed_node]: * Camera name: zed [gdb-3] [INFO] [1752074448.647090779] [zed.zed_node]: * Camera SN: 0 [gdb-3] [INFO] [1752074448.647178879] [zed.zed_node]: * Camera ID: -1 [gdb-3] [INFO] [1752074448.647277413] [zed.zed_node]: * Camera timeout [sec]: 5 [gdb-3] [INFO] [1752074448.647366762] [zed.zed_node]: * Camera reconnection temptatives: 5 [gdb-3] [INFO] [1752074448.647449902] [zed.zed_node]: * Camera framerate: 30 [gdb-3] [INFO] [1752074448.647537043] [zed.zed_node]: * GPU ID: -1 [gdb-3] [INFO] [1752074448.647619000] [zed.zed_node]: * Asynchronous image retrieval: FALSE [gdb-3] [INFO] [1752074448.647705852] [zed.zed_node]: * Image Validity Check: 1 [gdb-3] [INFO] [1752074448.647839076] [zed.zed_node]: * Camera resolution: HD720 [gdb-3] [INFO] [1752074448.647947081] [zed.zed_node]: * Publishing resolution: CUSTOM [gdb-3] [INFO] [1752074448.648148917] [zed.zed_node]: * Publishing downscale factor: 2 [gdb-3] [INFO] [1752074448.648240026] [zed.zed_node]: * OpenCV custom calibration:  [gdb-3] [INFO] [1752074448.648325854] [zed.zed_node]: * Camera self calibration: TRUE [gdb-3] [INFO] [1752074448.648405571] [zed.zed_node]: * Camera flip: FALSE [gdb-3] [INFO] [1752074448.648513193] [zed.zed_node]: * Publish framerate [Hz]: 15 [gdb-3] [INFO] [1752074448.648537194] [zed.zed_node]: === VIDEO parameters === [gdb-3] [INFO] [1752074448.648641744] [zed.zed_node]: * Brightness: 4 [DYNAMIC] [gdb-3] [INFO] [1752074448.648727956] [zed.zed_node]: * Contrast: 4 [DYNAMIC] [gdb-3] [INFO] [1752074448.648825338] [zed.zed_node]: * Hue: 0 [DYNAMIC] [gdb-3] [INFO] [1752074448.648914526] [zed.zed_node]: * Saturation: 4 [DYNAMIC] [gdb-3] [INFO] [1752074448.649003683] [zed.zed_node]: * Sharpness: 4 [DYNAMIC] [gdb-3] [INFO] [1752074448.649101417] [zed.zed_node]: * Gamma: 8 [DYNAMIC] [gdb-3] [INFO] [1752074448.649191342] [zed.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.649278290] [zed.zed_node]: * Exposure: 80 [DYNAMIC] [gdb-3] [INFO] [1752074448.649411514] [zed.zed_node]: * Gain: 80 [DYNAMIC] [gdb-3] [INFO] [1752074448.649494366] [zed.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.649580611] [zed.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [gdb-3] [INFO] [1752074448.649612581] [zed.zed_node]: === DEPTH parameters === [gdb-3] [INFO] [1752074448.649776750] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4] [gdb-3] [INFO] [1752074448.649886516] [zed.zed_node]: * Min depth [m]: 0.3 [gdb-3] [INFO] [1752074448.649976057] [zed.zed_node]: * Max depth [m]: 10 [gdb-3] [INFO] [1752074448.650077982] [zed.zed_node]: * Depth Stabilization: 30 [gdb-3] [INFO] [1752074448.650164835] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE [gdb-3] [INFO] [1752074448.650260328] [zed.zed_node]: * Point cloud rate [Hz]: 10 [gdb-3] [INFO] [1752074448.650356974] [zed.zed_node]: * Point cloud resolution: COMPACT [gdb-3] [INFO] [1752074448.650446930] [zed.zed_node]: * Depth Confidence: 95 [DYNAMIC] [gdb-3] [INFO] [1752074448.650556312] [zed.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC] [gdb-3] [INFO] [1752074448.650648349] [zed.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.650677535] [zed.zed_node]: === GNSS FUSION parameters === [gdb-3] [INFO] [1752074448.650757603] [zed.zed_node]: * GNSS fusion enabled: FALSE [gdb-3] [INFO] [1752074448.650784037] [zed.zed_node]: === POSITIONAL TRACKING parameters === [gdb-3] [INFO] [1752074448.650868810] [zed.zed_node]: * Positional tracking enabled: TRUE [gdb-3] [DEBUG] [1752074448.650967279] [zed.zed_node]: Comparing 'GEN_1' to 'GEN_3' [gdb-3] [DEBUG] [1752074448.650988336] [zed.zed_node]: Comparing 'GEN_2' to 'GEN_3' [gdb-3] [DEBUG] [1752074448.651001649] [zed.zed_node]: Comparing 'GEN_3' to 'GEN_3' [gdb-3] [INFO] [1752074448.651015250] [zed.zed_node]: * Positional tracking mode: GEN 3 [gdb-3] [INFO] [1752074448.651106679] [zed.zed_node]: * Map frame id: map [gdb-3] [INFO] [1752074448.651189755] [zed.zed_node]: * Odometry frame id: odom [gdb-3] [INFO] [1752074448.651285344] [zed.zed_node]: * Broadcast Odometry TF: TRUE [gdb-3] [INFO] [1752074448.651385478] [zed.zed_node]: * Broadcast Pose TF: TRUE [gdb-3] [INFO] [1752074448.651512749] [zed.zed_node]: * Depth minimum range: 0 [gdb-3] [INFO] [1752074448.651614802] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [gdb-3] [INFO] [1752074448.651714872] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC] [gdb-3] [INFO] [1752074448.651811965] [zed.zed_node]: * Path history lenght: -1 [gdb-3] [INFO] [1752074448.651977670] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,] [gdb-3] [INFO] [1752074448.652074348] [zed.zed_node]: * Area Memory: TRUE [gdb-3] [INFO] [1752074448.652161520] [zed.zed_node]: * Area Memory File: ~/test_area_memory.area [gdb-3] [INFO] [1752074448.652268054] [zed.zed_node]: * Save Area Memory on closing: TRUE [gdb-3] [INFO] [1752074448.652440416] [zed.zed_node]: * Using the existing Area Memory file '/home/jetson1/test_area_memory.area' [gdb-3] [INFO] [1752074448.652458945] [zed.zed_node]: * The Area Memory file will be updated on node closing or by manually calling the `save_area_memory` service with empty parameter. [gdb-3] [INFO] [1752074448.652551654] [zed.zed_node]: * Camera is static: FALSE [gdb-3] [INFO] [1752074448.652646923] [zed.zed_node]: * Gravity as origin: FALSE [gdb-3] [INFO] [1752074448.652740368] [zed.zed_node]: * IMU Fusion: TRUE [gdb-3] [INFO] [1752074448.652832309] [zed.zed_node]: * Floor Alignment: FALSE [gdb-3] [INFO] [1752074448.652915482] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE [gdb-3] [INFO] [1752074448.653004927] [zed.zed_node]: * 2D mode: TRUE [gdb-3] [INFO] [1752074448.653113381] [zed.zed_node]: * Fixed Z value: 0 [gdb-3] [INFO] [1752074448.653210730] [zed.zed_node]: * Reset pose with SVO loop: TRUE [gdb-3] [INFO] [1752074448.653237227] [zed.zed_node]: === Region of Interest parameters === [gdb-3] [INFO] [1752074448.653330192] [zed.zed_node]: * Automatic ROI generation: FALSE [gdb-3] [INFO] [1752074448.653545884] [zed.zed_node]: * Manual ROI polygon: [] [gdb-3] [INFO] [1752074448.653577502] [zed.zed_node]: === SENSORS STACK parameters === [gdb-3] [INFO] [1752074448.653682116] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE [gdb-3] [INFO] [1752074448.653776777] [zed.zed_node]: * Sensors Camera Sync: FALSE [gdb-3] [INFO] [1752074448.653906736] [zed.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [gdb-3] [INFO] [1752074448.653969139] [zed.zed_node]: === Spatial Mapping parameters === [gdb-3] [INFO] [1752074448.654073625] [zed.zed_node]: * Spatial Mapping Enabled: FALSE [gdb-3] [INFO] [1752074448.654170654] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05 [gdb-3] [INFO] [1752074448.654272772] [zed.zed_node]: * 3D Max Mapping range [m]: 5 [gdb-3] [INFO] [1752074448.654382826] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [gdb-3] [INFO] [1752074448.654489808] [zed.zed_node]: * Clicked point topic: /clicked_point [gdb-3] [INFO] [1752074448.654606582] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [gdb-3] [INFO] [1752074448.654725725] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [gdb-3] [INFO] [1752074448.654778848] [zed.zed_node]: === OBJECT DETECTION parameters === [gdb-3] [INFO] [1752074448.654874085] [zed.zed_node]: * Object Det. enabled: FALSE [gdb-3] [INFO] [1752074448.654979499] [zed.zed_node]: * Object Det. allow reduced precision: FALSE [gdb-3] [INFO] [1752074448.655097425] [zed.zed_node]: * Object Det. maximum range [m]: 20 [gdb-3] [INFO] [1752074448.655203031] [zed.zed_node]: * Object Det. prediction timeout [sec]: 2 [gdb-3] [INFO] [1752074448.655297020] [zed.zed_node]: * Object Det. tracking: TRUE [gdb-3] [INFO] [1752074448.655439844] [zed.zed_node]: * Object Filtering mode: NMS3D [gdb-3] [INFO] [1752074448.655580396] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [gdb-3] [INFO] [1752074448.655710451] [zed.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.655820409] [zed.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.655921694] [zed.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.656011235] [zed.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.656100776] [zed.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.656193645] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.656292947] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [gdb-3] [INFO] [1752074448.656416857] [zed.zed_node]: * MultiClassBox people confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.656536448] [zed.zed_node]: * MultiClassBox vehicles confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.656668711] [zed.zed_node]: * MultiClassBox bags confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.656787310] [zed.zed_node]: * MultiClassBox animals confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.656905748] [zed.zed_node]: * MultiClassBox electronics confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.657026747] [zed.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.657139905] [zed.zed_node]: * MultiClassBox sport-related objects confidence: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.657169827] [zed.zed_node]: === Body Track. parameters === [gdb-3] [INFO] [1752074448.657267688] [zed.zed_node]: * Body Track. enabled: FALSE [gdb-3] [INFO] [1752074448.657407376] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [gdb-3] [INFO] [1752074448.657531543] [zed.zed_node]: * Body Track. format: BODY 38 [gdb-3] [INFO] [1752074448.657627196] [zed.zed_node]: * Body Track. allow reduced precision: FALSE [gdb-3] [INFO] [1752074448.657739298] [zed.zed_node]: * Body Track. maximum range [m]: 15 [gdb-3] [INFO] [1752074448.657836199] [zed.zed_node]: * Body Track. KP selection: FULL [gdb-3] [INFO] [1752074448.657954574] [zed.zed_node]: * Body fitting: FALSE [gdb-3] [INFO] [1752074448.658053299] [zed.zed_node]: * Body joints tracking: TRUE [gdb-3] [INFO] [1752074448.658163865] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [gdb-3] [INFO] [1752074448.658266815] [zed.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [gdb-3] [INFO] [1752074448.658387429] [zed.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [gdb-3] [INFO] [1752074448.658418823] [zed.zed_node]: === STREAMING SERVER parameters === [gdb-3] [INFO] [1752074448.658566479] [zed.zed_node]: * Streaming Server enabled: FALSE [gdb-3] [INFO] [1752074448.658682294] [zed.zed_node]: * Stream codec: H264 [gdb-3] [INFO] [1752074448.658787419] [zed.zed_node]: * Stream port: 30000 [gdb-3] [INFO] [1752074448.658884065] [zed.zed_node]: * Stream bitrate: 12500 [gdb-3] [INFO] [1752074448.659020552] [zed.zed_node]: * Stream GOP size: -1 [gdb-3] [INFO] [1752074448.659121582] [zed.zed_node]: * Stream Chunk size: 16084 [gdb-3] [INFO] [1752074448.659219891] [zed.zed_node]: * Adaptive bitrate: FALSE [gdb-3] [INFO] [1752074448.659318040] [zed.zed_node]: * Target frame rate:0 [gdb-3] [INFO] [1752074448.659346874] [zed.zed_node]: === ADVANCED parameters === [gdb-3] [INFO] [1752074448.659446943] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH [gdb-3] [INFO] [1752074448.660384723] [zed.zed_node]: === SERVICES === [gdb-3] [INFO] [1752074448.673901719] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_odometry' [gdb-3] [INFO] [1752074448.674754214] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_pos_tracking' [gdb-3] [INFO] [1752074448.676226167] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_pose' [gdb-3] [INFO] [1752074448.677774764] [zed.zed_node]: * Advertised on service: '/zed/zed_node/save_area_memory' [gdb-3] [INFO] [1752074448.679211962] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_obj_det' [gdb-3] [INFO] [1752074448.679927425] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_body_trk' [gdb-3] [INFO] [1752074448.680602918] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_mapping' [gdb-3] [INFO] [1752074448.681250890] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_streaming' [gdb-3] [INFO] [1752074448.682678840] [zed.zed_node]: * Advertised on service: '/zed/zed_node/start_svo_rec' [gdb-3] [INFO] [1752074448.683387807] [zed.zed_node]: * Advertised on service: '/zed/zed_node/stop_svo_rec' [gdb-3] [INFO] [1752074448.684088421] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_roi' [gdb-3] [INFO] [1752074448.684780587] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_roi' [gdb-3] [INFO] [1752074448.684844175] [zed.zed_node]: === STARTING CAMERA === [gdb-3] [New Thread 0xffffa029e8e0 (LWP 36587)] [gdb-3] [INFO] [1752074448.815874649] [zed.zed_node]: ZED SDK Version: 5.0.3 - Build 102179_b86b37e0 [gdb-3] [New Thread 0xffff9fa8e8e0 (LWP 36588)] [gdb-3] [INFO] [1752074448.821882306] [zed.zed_node]: === CAMERA OPENING === [gdb-3] [2025-07-09 15:20:49 UTC][ZED][INFO] Logging level INFO [gdb-3] [New Thread 0xffff9f27e8e0 (LWP 36589)] [gdb-3] [Thread 0xffff9f27e8e0 (LWP 36589) exited] [gdb-3] [New Thread 0xffff9f27e8e0 (LWP 36590)] [gdb-3] [New Thread 0xffff9dc5c8e0 (LWP 36591)] [gdb-3] [Thread 0xffff9dc5c8e0 (LWP 36591) exited] [gdb-3] [Thread 0xffff9f27e8e0 (LWP 36590) exited] [gdb-3] [New Thread 0xffff9f27e8e0 (LWP 36593)] [gdb-3] [2025-07-09 15:20:50 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [gdb-3] [New Thread 0xffff9dc5c8e0 (LWP 36612)] [gdb-3] [New Thread 0xffff9ea6e8e0 (LWP 36613)] [gdb-3] [Thread 0xffff9ea6e8e0 (LWP 36613) exited] [gdb-3] [New Thread 0xffff9ea6e8e0 (LWP 36614)] [gdb-3] [New Thread 0xffff9d0c88e0 (LWP 36615)] [gdb-3] [New Thread 0xffff9c8b88e0 (LWP 36616)] [gdb-3] [Thread 0xffff9c8b88e0 (LWP 36616) exited] [gdb-3] [New Thread 0xffff9c8b88e0 (LWP 36617)] [gdb-3] [Thread 0xffff9c8b88e0 (LWP 36617) exited] [gdb-3] [New Thread 0xffff9c8b88e0 (LWP 36618)] [gdb-3] [New Thread 0xffff8fffe8e0 (LWP 36621)] [gdb-3] [New Thread 0xffff8f7ee8e0 (LWP 36629)] [gdb-3] [Thread 0xffff8f7ee8e0 (LWP 36629) exited] [gdb-3] [New Thread 0xffff8f7ee8e0 (LWP 36630)] [gdb-3] [2025-07-09 15:20:51 UTC][ZED][INFO] [Init] Camera successfully opened. [gdb-3] [2025-07-09 15:20:51 UTC][ZED][INFO] [Init] Camera FW version: 1523 [gdb-3] [2025-07-09 15:20:51 UTC][ZED][INFO] [Init] Video mode: HD720@30 [gdb-3] [2025-07-09 15:20:51 UTC][ZED][INFO] [Init] Serial Number: S/N 36784393 [gdb-3] [New Thread 0xffff8efde8e0 (LWP 36631)] [gdb-3] [New Thread 0xffff762ae8e0 (LWP 36632)] [gdb-3] [Thread 0xffff8efde8e0 (LWP 36631) exited] [gdb-3] [Thread 0xffff8f7ee8e0 (LWP 36630) exited] [gdb-3] [New Thread 0xffff8f7ee8e0 (LWP 36633)] [gdb-3] [New Thread 0xffff8efde8e0 (LWP 36634)] [gdb-3] [New Thread 0xffff8e7ce8e0 (LWP 36635)] [gdb-3] [DEBUG] [1752074451.695262017] [zed.zed_node]: Opening successfull [gdb-3] [INFO] [1752074451.695389832] [zed.zed_node]: * ZED SDK running on GPU #0 [gdb-3] [INFO] [1752074451.695416233] [zed.zed_node]: * Camera Model -> ZED 2i [gdb-3] [INFO] [1752074451.695430986] [zed.zed_node]: * Serial Number -> 36784393 [gdb-3] [DEBUG] [1752074451.695625685] [zed.zed_node]: === Update Diagnostic === [gdb-3] [INFO] [1752074451.695962727] [zed.zed_node]: * Focal Lenght -> 2.13128 mm [gdb-3] [INFO] [1752074451.696011562] [zed.zed_node]: * Input -> USB [gdb-3] [INFO] [1752074451.696035339] [zed.zed_node]: * Camera FW Version -> 1523 [gdb-3] [INFO] [1752074451.696050060] [zed.zed_node]: * Sensors FW Version -> 777 [gdb-3] [INFO] [1752074451.696076589] [zed.zed_node]: * Camera grab size -> 1280x720 [gdb-3] [INFO] [1752074451.696091182] [zed.zed_node]: * Color/Depth publishing size -> 640x360 [gdb-3] [INFO] [1752074451.696114640] [zed.zed_node]: * Point Cloud publishing size -> 448x256 [gdb-3] [INFO] [1752074451.696284985] [zed.zed_node]: === TF FRAMES === [gdb-3] [INFO] [1752074451.696307226] [zed.zed_node]: * Map -> map [gdb-3] [INFO] [1752074451.696317915] [zed.zed_node]: * Odometry -> odom [gdb-3] [INFO] [1752074451.696326523] [zed.zed_node]: * Base -> zed_camera_link [gdb-3] [INFO] [1752074451.696334940] [zed.zed_node]: * Camera -> zed_camera_center [gdb-3] [INFO] [1752074451.696342140] [zed.zed_node]: * Left -> zed_left_camera_frame [gdb-3] [INFO] [1752074451.696350204] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame [gdb-3] [INFO] [1752074451.696358269] [zed.zed_node]: * RGB -> zed_left_camera_frame [gdb-3] [INFO] [1752074451.696366333] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame [gdb-3] [INFO] [1752074451.696373790] [zed.zed_node]: * Right -> zed_right_camera_frame [gdb-3] [INFO] [1752074451.696381918] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame [gdb-3] [INFO] [1752074451.696389855] [zed.zed_node]: * Depth -> zed_left_camera_frame [gdb-3] [INFO] [1752074451.696411232] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame [gdb-3] [INFO] [1752074451.696420288] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame [gdb-3] [INFO] [1752074451.696427937] [zed.zed_node]: * Disparity -> zed_left_camera_frame [gdb-3] [INFO] [1752074451.696487364] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame [gdb-3] [INFO] [1752074451.696499717] [zed.zed_node]: * Confidence -> zed_left_camera_frame [gdb-3] [INFO] [1752074451.696508101] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame [gdb-3] [INFO] [1752074451.696516518] [zed.zed_node]: * IMU -> zed_imu_link [gdb-3] [INFO] [1752074451.696524166] [zed.zed_node]: * Barometer -> zed_camera_center [gdb-3] [INFO] [1752074451.696532134] [zed.zed_node]: * Magnetometer -> zed_imu_link [gdb-3] [INFO] [1752074451.696539943] [zed.zed_node]: * Left Temperature -> zed_left_camera_frame [gdb-3] [INFO] [1752074451.696547655] [zed.zed_node]: * Right Temperature -> zed_right_camera_frame [gdb-3] [INFO] [1752074451.696695119] [zed.zed_node]: === PUBLISHED TOPICS === [gdb-3] [Thread 0xffff8e7ce8e0 (LWP 36635) exited] [gdb-3] [INFO] [1752074451.713830298] [zed.zed_node]: Advertised on topic: /zed/zed_node/status/health [gdb-3] [INFO] [1752074451.716129560] [zed.zed_node]: Advertised on topic: /zed/zed_node/status/heartbeat [gdb-3] [DEBUG] [1752074451.716389510] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/compressed [gdb-3] [DEBUG] [1752074451.717573287] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/compressedDepth [gdb-3] [INFO] [1752074451.718554685] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.719072377] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/ffmpeg [gdb-3] [DEBUG] [1752074451.719840163] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color [gdb-3] [DEBUG] [1752074451.720648368] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/theora [gdb-3] [INFO] [1752074451.722064893] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color [gdb-3] [INFO] [1752074451.722115904] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info [gdb-3] [DEBUG] [1752074451.722296010] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/compressed [gdb-3] [DEBUG] [1752074451.723382853] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/compressedDepth [gdb-3] [INFO] [1752074451.724202738] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.724696301] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/ffmpeg [gdb-3] [DEBUG] [1752074451.725513402] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray [gdb-3] [DEBUG] [1752074451.726238818] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/theora [gdb-3] [INFO] [1752074451.727590028] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray [gdb-3] [INFO] [1752074451.727638478] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info [gdb-3] [DEBUG] [1752074451.727850074] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/compressed [gdb-3] [DEBUG] [1752074451.728920469] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/compressedDepth [gdb-3] [INFO] [1752074451.729769795] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.730313281] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/ffmpeg [gdb-3] [DEBUG] [1752074451.731167184] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color [gdb-3] [DEBUG] [1752074451.731898552] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/theora [gdb-3] [INFO] [1752074451.733206848] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color [gdb-3] [INFO] [1752074451.733253602] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info [gdb-3] [DEBUG] [1752074451.733438828] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/compressed [gdb-3] [DEBUG] [1752074451.734523912] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth [gdb-3] [INFO] [1752074451.735416793] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.735961590] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/ffmpeg [gdb-3] [DEBUG] [1752074451.736780835] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray [gdb-3] [DEBUG] [1752074451.737472649] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/theora [gdb-3] [INFO] [1752074451.738815443] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray [gdb-3] [INFO] [1752074451.738859893] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info [gdb-3] [DEBUG] [1752074451.739037151] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/compressed [gdb-3] [DEBUG] [1752074451.740095385] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/compressedDepth [gdb-3] [INFO] [1752074451.740930375] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.741471428] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/ffmpeg [gdb-3] [DEBUG] [1752074451.742235918] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color [gdb-3] [DEBUG] [1752074451.742960982] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/theora [gdb-3] [INFO] [1752074451.744236028] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color [gdb-3] [INFO] [1752074451.744281438] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info [gdb-3] [DEBUG] [1752074451.744455944] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/compressed [gdb-3] [DEBUG] [1752074451.745553732] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/compressedDepth [gdb-3] [INFO] [1752074451.746411859] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.747017716] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/ffmpeg [gdb-3] [DEBUG] [1752074451.747729339] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray [gdb-3] [DEBUG] [1752074451.748483236] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/theora [gdb-3] [INFO] [1752074451.749760810] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray [gdb-3] [INFO] [1752074451.749800941] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info [gdb-3] [DEBUG] [1752074451.749979574] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/compressed [gdb-3] [DEBUG] [1752074451.751140758] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/compressedDepth [gdb-3] [INFO] [1752074451.751966371] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.752621671] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/ffmpeg [gdb-3] [DEBUG] [1752074451.753341839] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color [gdb-3] [DEBUG] [1752074451.754041813] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/theora [gdb-3] [INFO] [1752074451.755265272] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color [gdb-3] [INFO] [1752074451.755305818] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info [gdb-3] [DEBUG] [1752074451.755494020] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/compressed [gdb-3] [DEBUG] [1752074451.756594177] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/compressedDepth [gdb-3] [INFO] [1752074451.757426030] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.758195288] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/ffmpeg [gdb-3] [DEBUG] [1752074451.758975331] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray [gdb-3] [DEBUG] [1752074451.759694123] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/theora [gdb-3] [INFO] [1752074451.760979057] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray [gdb-3] [INFO] [1752074451.761024115] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info [gdb-3] [DEBUG] [1752074451.761270689] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/compressed [gdb-3] [DEBUG] [1752074451.762511045] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/compressedDepth [gdb-3] [INFO] [1752074451.763338610] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.764090235] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/ffmpeg [gdb-3] [DEBUG] [1752074451.764913768] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color [gdb-3] [DEBUG] [1752074451.765644849] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/theora [gdb-3] [INFO] [1752074451.766898997] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color [gdb-3] [INFO] [1752074451.766943288] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info [gdb-3] [DEBUG] [1752074451.767169476] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/compressed [gdb-3] [DEBUG] [1752074451.768303010] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/compressedDepth [gdb-3] [INFO] [1752074451.769180594] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.769954429] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/ffmpeg [gdb-3] [DEBUG] [1752074451.770687525] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray [gdb-3] [DEBUG] [1752074451.771345545] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/theora [gdb-3] [INFO] [1752074451.772567660] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray [gdb-3] [INFO] [1752074451.772608910] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info [gdb-3] [DEBUG] [1752074451.772818105] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/compressed [gdb-3] [DEBUG] [1752074451.774002842] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/compressedDepth [gdb-3] [INFO] [1752074451.774832040] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.775654805] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/ffmpeg [gdb-3] [DEBUG] [1752074451.776380861] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color [gdb-3] [DEBUG] [1752074451.777030688] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/theora [gdb-3] [INFO] [1752074451.778248323] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color [gdb-3] [INFO] [1752074451.778290117] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info [gdb-3] [DEBUG] [1752074451.778525842] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/compressed [gdb-3] [DEBUG] [1752074451.779756086] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/compressedDepth [gdb-3] [INFO] [1752074451.780622757] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.781459859] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/ffmpeg [gdb-3] [DEBUG] [1752074451.782177114] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray [gdb-3] [DEBUG] [1752074451.782837438] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/theora [gdb-3] [INFO] [1752074451.784071682] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray [gdb-3] [INFO] [1752074451.784115108] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info [gdb-3] [DEBUG] [1752074451.784331472] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressed [gdb-3] [DEBUG] [1752074451.785607318] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressedDepth [gdb-3] [INFO] [1752074451.786469669] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.787437978] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/ffmpeg [gdb-3] [DEBUG] [1752074451.788203844] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered [gdb-3] [DEBUG] [1752074451.788881161] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/theora [gdb-3] [INFO] [1752074451.790123309] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered [gdb-3] [INFO] [1752074451.790166384] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info [gdb-3] [INFO] [1752074451.792565203] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info [gdb-3] [DEBUG] [1752074451.792868644] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/compressed [gdb-3] [DEBUG] [1752074451.794374998] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/compressedDepth [gdb-3] [INFO] [1752074451.795297705] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.796274686] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/ffmpeg [gdb-3] [DEBUG] [1752074451.797075018] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color [gdb-3] [DEBUG] [1752074451.797773585] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/theora [gdb-3] [INFO] [1752074451.798495640] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color [gdb-3] [DEBUG] [1752074451.798750886] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/compressed [gdb-3] [DEBUG] [1752074451.800065966] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/compressedDepth [gdb-3] [INFO] [1752074451.800923773] [FFMPEGPublisher]: using encoder: libx264 [gdb-3] [DEBUG] [1752074451.801825935] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/ffmpeg [gdb-3] [DEBUG] [1752074451.802553526] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color [gdb-3] [DEBUG] [1752074451.803245180] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/theora [gdb-3] [INFO] [1752074451.803879711] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color [gdb-3] [INFO] [1752074451.805242570] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map [gdb-3] [INFO] [1752074451.831268411] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image [gdb-3] [DEBUG] [1752074451.876672179] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/draco [gdb-3] [DEBUG] [1752074451.948726558] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered [gdb-3] [DEBUG] [1752074451.983629014] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zlib [gdb-3] [DEBUG] [1752074452.016703690] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zstd [gdb-3] [INFO] [1752074452.018567120] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered [gdb-3] [INFO] [1752074452.031250119] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose [gdb-3] [INFO] [1752074452.033512739] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status [gdb-3] [INFO] [1752074452.035394890] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance [gdb-3] [INFO] [1752074452.062078751] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom [gdb-3] [INFO] [1752074452.064381598] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map [gdb-3] [INFO] [1752074452.065636930] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom [gdb-3] [INFO] [1752074452.092870294] [zed.zed_node]: Advertised on topic: /zed/plane_marker [gdb-3] [INFO] [1752074452.095640718] [zed.zed_node]: Advertised on topic: /zed/plane [gdb-3] [INFO] [1752074452.097509460] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data [gdb-3] [INFO] [1752074452.098836285] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw [gdb-3] [INFO] [1752074452.100618175] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu [gdb-3] [INFO] [1752074452.102400384] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag [gdb-3] [INFO] [1752074452.104164737] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press [gdb-3] [INFO] [1752074452.105359298] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left [gdb-3] [INFO] [1752074452.106434045] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right [gdb-3] [INFO] [1752074452.108161724] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform [gdb-3] [INFO] [1752074452.108227391] [zed.zed_node]: Camera-IMU Translation: [gdb-3] -0.002 -0.023061 0.000217 [gdb-3] [INFO] [1752074452.108313412] [zed.zed_node]: Camera-IMU Rotation: [gdb-3] FFFFFFFFC388 [gdb-3] 0.999842 -0.015940 -0.007903 [gdb-3] 0.016039 0.999792 0.012614 [gdb-3] 0.007700 -0.012739 0.999889 [gdb-3]  [gdb-3] [INFO] [1752074452.108344166] [zed.zed_node]: ===Subscribers === [gdb-3] [INFO] [1752074452.112631921] [zed.zed_node]: * Plane detection: '/clicked_point' [gdb-3] [New Thread 0xffff8e7ce8e0 (LWP 36636)] [gdb-3] [DEBUG] [1752074452.218712900] [zed.zed_node]: Sensors thread settings [gdb-3] [DEBUG] [1752074452.218847211] [zed.zed_node]: * Default Sensors thread (#281473072294112) settings - Policy: SCHED_OTHER - Priority: 0 [gdb-3] [DEBUG] [1752074452.218892878] [zed.zed_node]: * New Sensors thread (#281473072294112) settings - Policy: SCHED_BATCH - Priority: 0 [gdb-3] [New Thread 0xffff8db6e8e0 (LWP 36637)] [gdb-3] [DEBUG] [1752074452.222904682] [zed.zed_node]: Video/Depth thread settings [gdb-3] [DEBUG] [1752074452.222985358] [zed.zed_node]: * Default Video/Depth thread (#281473059317984) settings - Policy: SCHED_OTHER - Priority: 0 [gdb-3] [DEBUG] [1752074452.223026640] [zed.zed_node]: * New Video/Depth thread (#281473059317984) settings - Policy: SCHED_BATCH - Priority: 0 [gdb-3] [New Thread 0xffff75a9e8e0 (LWP 36638)] [gdb-3] [DEBUG] [1752074452.227243575] [zed.zed_node]: Point Cloud thread settings [gdb-3] [DEBUG] [1752074452.227339837] [zed.zed_node]: * Default Point Cloud thread (#281472655812832) settings - Policy: SCHED_OTHER - Priority: 0 [gdb-3] [DEBUG] [1752074452.227370686] [zed.zed_node]: Grab thread started [gdb-3] [New Thread 0xffff7528e8e0 (LWP 36639)] [gdb-3] [DEBUG] [1752074452.227383295] [zed.zed_node]: * New Point Cloud thread (#281472655812832) settings - Policy: SCHED_BATCH - Priority: 0 [gdb-3] [DEBUG] [1752074452.227415073] [zed.zed_node]: Grab thread settings [gdb-3] [DEBUG] [1752074452.227470724] [zed.zed_node]: * Default GRAB thread (#281472647358688) settings - Policy: SCHED_OTHER - Priority: 0 [gdb-3] [DEBUG] [1752074452.227495205] [zed.zed_node]: * New GRAB thread (#281472647358688) settings - Policy: SCHED_BATCH - Priority: 0 [gdb-3] [DEBUG] [1752074452.227688144] [zed.zed_node]: Depth extraction enabled [gdb-3] [DEBUG] [1752074452.228875761] [zed.zed_node]: === Update Diagnostic === [gdb-3] [DEBUG] [1752074452.239181477] [zed.zed_node]: POS. TRACKING required: enabled by param. [gdb-3] [INFO] [1752074452.239257641] [zed.zed_node]: === Starting Positional Tracking === [gdb-3] [INFO] [1752074452.239276522] [zed.zed_node]: * Waiting for valid static transformations... [gdb-3] [DEBUG] [1752074452.239327469] [zed.zed_node]: Getting static TF from 'zed_left_camera_frame' to 'zed_camera_link' [gdb-3] [INFO] [1752074452.239477685] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link] [gdb-3] [INFO] [1752074452.239504279] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015} [gdb-3] [INFO] [1752074452.239521624] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074452.239549209] [zed.zed_node]: Getting static TF from 'zed_left_camera_frame' to 'zed_camera_center' [gdb-3] [INFO] [1752074452.239585659] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [gdb-3] [INFO] [1752074452.239600636] [zed.zed_node]: * Translation: {0.010,-0.060,0.000} [gdb-3] [INFO] [1752074452.239612285] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074452.239627358] [zed.zed_node]: Getting static TF from 'zed_camera_center' to 'zed_camera_link' [gdb-3] [INFO] [1752074452.239651103] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link] [gdb-3] [INFO] [1752074452.239662592] [zed.zed_node]: * Translation: {0.000,0.000,-0.015} [gdb-3] [INFO] [1752074452.239672800] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074452.240918436] [zed.zed_node]: Time required to get valid static transforms: 4.62202e-07 sec [gdb-3] [INFO] [1752074452.241049260] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):  [gdb-3] [INFO] [1752074452.241093454] [zed.zed_node]: * T: [-0.01,0.06,0.015] [gdb-3] [INFO] [1752074452.241119183] [zed.zed_node]: * Q: [0,0,0,1] [gdb-3] [DEBUG] [1752074452.241153521] [zed.zed_node]: * Positional Tracking parameters: [gdb-3] [DEBUG] [1752074452.241822998] [zed.zed_node]: { [gdb-3] "PositionalTrackingParameters": { [gdb-3] "area_file_path": "/home/jetson1/test_area_memory.area", [gdb-3] "depth_min_range": 0.0, [gdb-3] "enable_area_memory": true, [gdb-3] "enable_imu_fusion": true, [gdb-3] "enable_pose_smoothing": false, [gdb-3] "initial_world_transform": "1.000000 0.000000 0.000000 -0.010000 0.000000 1.000000 0.000000 0.060000 0.000000 0.000000 1.000000 0.015000 0.000000 0.000000 0.000000 1.000000", [gdb-3] "mode": "GEN 3", [gdb-3] "set_as_static": false, [gdb-3] "set_floor_as_origin": false, [gdb-3] "set_gravity_as_origin": false [gdb-3] } [gdb-3] } [gdb-3] [Thread 0xffff8efde8e0 (LWP 36634) exited] [gdb-3] [Thread 0xffff8f7ee8e0 (LWP 36633) exited] [gdb-3] [New Thread 0xffff8f7ee8e0 (LWP 36640)] [gdb-3] [DEBUG] [1752074452.646626837] [zed.zed_node]: === Update Diagnostic === [gdb-3] [New Thread 0xffff8efde8e0 (LWP 36641)] [gdb-3] [New Thread 0xffff74a7e8e0 (LWP 36642)] [gdb-3] [New Thread 0xffff7426e8e0 (LWP 36643)] [gdb-3] [DEBUG] [1752074453.320861500] [zed.zed_node]: Positional Tracking started [gdb-3] [DEBUG] [1752074453.320980387] [zed.zed_node]: Starting path pub. timer [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36644)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36644) exited] [gdb-3] [DEBUG] [1752074453.337531662] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.337637620] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.337758554] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.337819837] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000000 0.000000 0.000000 [gdb-3] 0.000000 1.000000 0.000000 0.000000 [gdb-3] 0.000000 0.000000 1.000000 0.000000 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.337896738] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074453.337992519] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.338045834] [zed.zed_node]: MAP -> Tracking Status: SEARCHING [gdb-3] [DEBUG] [1752074453.338079276] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 1.000000 -0.000000 0.000000 -0.010000 [gdb-3] 0.000000 1.000000 -0.000000 0.060000 [gdb-3] 0.000000 -0.000000 1.000000 0.015000 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.338112558] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,-0.000,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074453.338137135] [zed.zed_node]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074453.338182513] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36645)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36645) exited] [gdb-3] [DEBUG] [1752074453.356064933] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.356180171] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.356258448] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.356317971] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000003 -0.000016 -0.000003 [gdb-3] -0.000003 1.000000 0.000001 -0.000002 [gdb-3] 0.000016 -0.000001 1.000000 -0.000036 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.356384182] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,-0.000,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074453.356448122] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.356487452] [zed.zed_node]: MAP -> Tracking Status: SEARCHING [gdb-3] [DEBUG] [1752074453.356516766] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 1.000000 0.000003 -0.000016 -0.010003 [gdb-3] -0.000003 1.000000 0.000001 0.059998 [gdb-3] 0.000016 -0.000001 1.000000 0.014964 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.356549215] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {-0.000,-0.000,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074453.356571041] [zed.zed_node]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074453.356607011] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36646)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36646) exited] [gdb-3] [DEBUG] [1752074453.372335392] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.372428965] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.372492425] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.372547436] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000003 0.000003 -0.000008 [gdb-3] 0.000003 1.000000 0.000006 -0.000026 [gdb-3] -0.000003 -0.000006 1.000000 -0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.372608271] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,-0.000,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074453.372648881] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.372685779] [zed.zed_node]: MAP -> Tracking Status: SEARCHING [gdb-3] [DEBUG] [1752074453.372716373] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 1.000000 0.000000 -0.000013 -0.010011 [gdb-3] -0.000000 1.000000 0.000008 0.059971 [gdb-3] 0.000013 -0.000008 1.000000 0.014963 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.372739766] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {-0.000,-0.000,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074453.372762296] [zed.zed_node]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074453.372878366] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36647)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36647) exited] [gdb-3] [DEBUG] [1752074453.406837506] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.406940520] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.407002379] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.407052718] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000153 -0.000005 -0.000132 [gdb-3] 0.000153 1.000000 0.000552 0.000160 [gdb-3] 0.000005 -0.000552 1.000000 0.000978 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.407111025] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.009} [gdb-3] [DEBUG] [1752074453.407155732] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.407194678] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.407226072] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019454 0.004334 -0.007373 [gdb-3] -0.019479 0.999793 0.005893 0.061869 [gdb-3] -0.004219 -0.005976 0.999973 0.012833 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.407255705] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.116} [gdb-3] [DEBUG] [1752074453.407280859] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.407316765] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36648)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36648) exited] [gdb-3] [DEBUG] [1752074453.433989554] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.434078583] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.434134554] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.434194877] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000000 0.000001 -0.000031 [gdb-3] -0.000000 1.000000 -0.000000 0.000041 [gdb-3] -0.000001 0.000000 1.000000 0.000012 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.434254336] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.009} [gdb-3] [DEBUG] [1752074453.434292930] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.434327492] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.434356102] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019454 0.004335 -0.007403 [gdb-3] -0.019479 0.999793 0.005892 0.061911 [gdb-3] -0.004220 -0.005976 0.999973 0.012845 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.434393192] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.116} [gdb-3] [DEBUG] [1752074453.434418441] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.434475500] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36649)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36649) exited] [gdb-3] [DEBUG] [1752074453.469065715] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.469177785] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.469254526] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.469309505] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000016 -0.000014 -0.000047 [gdb-3] -0.000016 1.000000 -0.000008 0.000015 [gdb-3] 0.000014 0.000008 1.000000 -0.000029 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.469372580] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074453.469437224] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.469478218] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.469507755] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019469 0.004321 -0.007449 [gdb-3] -0.019495 0.999793 0.005885 0.061926 [gdb-3] -0.004206 -0.005968 0.999973 0.012817 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.469538541] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.469562382] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.469598640] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36650)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36650) exited] [gdb-3] [DEBUG] [1752074453.500969351] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.501053228] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.501106382] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.501151473] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000006 0.000002 -0.000012 [gdb-3] -0.000006 1.000000 0.000001 0.000031 [gdb-3] -0.000002 -0.000001 1.000000 -0.000020 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.501210292] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.501247862] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.501283128] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.501311354] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019476 0.004323 -0.007460 [gdb-3] -0.019501 0.999792 0.005886 0.061958 [gdb-3] -0.004207 -0.005969 0.999973 0.012796 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.501337947] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.501362812] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.501398398] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36651)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36651) exited] [gdb-3] [DEBUG] [1752074453.535636018] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.535725431] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.535787770] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.535837053] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 0.000010 -0.000005 [gdb-3] -0.000002 1.000000 -0.000002 0.000013 [gdb-3] -0.000010 0.000002 1.000000 0.000044 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.535891936] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.535938019] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.535974725] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.536004870] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019477 0.004333 -0.007465 [gdb-3] -0.019503 0.999792 0.005884 0.061971 [gdb-3] -0.004217 -0.005968 0.999973 0.012841 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.536035304] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.536060745] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.536095531] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36652)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36652) exited] [gdb-3] [DEBUG] [1752074453.569331528] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.569434605] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.569497713] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.569550708] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000012 0.000006 -0.000053 [gdb-3] -0.000012 1.000000 -0.000010 0.000056 [gdb-3] -0.000006 0.000010 1.000000 0.000015 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.569612247] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.569667002] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.569702748] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.569732414] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019489 0.004339 -0.007517 [gdb-3] -0.019515 0.999792 0.005874 0.062028 [gdb-3] -0.004223 -0.005958 0.999973 0.012856 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.569754623] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.569775616] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.569810882] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36653)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36653) exited] [gdb-3] [DEBUG] [1752074453.600563543] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.600665564] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.600777954] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.600826533] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000010 -0.000007 0.000043 [gdb-3] 0.000010 1.000000 -0.000000 -0.000044 [gdb-3] 0.000007 0.000000 1.000000 -0.000007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.600881544] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.600920490] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.600955820] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.600986414] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019479 0.004332 -0.007475 [gdb-3] -0.019505 0.999792 0.005874 0.061983 [gdb-3] -0.004217 -0.005957 0.999973 0.012848 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.601014415] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.601040305] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.601078579] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36654)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36654) exited] [gdb-3] [DEBUG] [1752074453.634069410] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.634157735] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.634219530] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.634267437] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000010 0.000006 0.000017 [gdb-3] 0.000010 1.000000 0.000007 -0.000039 [gdb-3] -0.000006 -0.000007 1.000000 0.000007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.634319824] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074453.634364146] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.634397684] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.634428374] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019469 0.004338 -0.007458 [gdb-3] -0.019495 0.999793 0.005881 0.061943 [gdb-3] -0.004223 -0.005965 0.999973 0.012856 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.634497018] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.634539836] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.634580414] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36655)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36655) exited] [gdb-3] [DEBUG] [1752074453.667931681] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.668032295] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.668095114] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.668142957] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000016 0.000001 -0.000075 [gdb-3] -0.000016 1.000000 0.000001 0.000076 [gdb-3] -0.000001 -0.000001 1.000000 0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.668198800] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.668248659] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.668289333] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.668322551] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019485 0.004339 -0.007532 [gdb-3] -0.019510 0.999792 0.005882 0.062021 [gdb-3] -0.004224 -0.005966 0.999973 0.012857 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.668350360] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.668373945] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.668411388] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36656)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36656) exited] [gdb-3] [DEBUG] [1752074453.700863277] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.700958450] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.701019030] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.701131164] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000003 0.000039 [gdb-3] 0.000004 1.000000 -0.000016 -0.000030 [gdb-3] 0.000003 0.000016 1.000000 -0.000017 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.701187487] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.701237602] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.701274692] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.701304581] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019481 0.004336 -0.007494 [gdb-3] -0.019506 0.999792 0.005866 0.061990 [gdb-3] -0.004221 -0.005949 0.999973 0.012840 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.701332039] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.701357256] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.701392874] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36657)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36657) exited] [gdb-3] [DEBUG] [1752074453.733971587] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.734061384] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.734112843] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.734156205] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000001 0.000010 0.000013 [gdb-3] 0.000001 1.000000 0.000009 0.000008 [gdb-3] -0.000010 -0.000009 1.000000 0.000019 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.734212624] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.734248946] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.734285684] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.734315798] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019480 0.004347 -0.007481 [gdb-3] -0.019505 0.999792 0.005874 0.061998 [gdb-3] -0.004232 -0.005958 0.999973 0.012859 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.734344855] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.734371065] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.734407643] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36658)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36658) exited] [gdb-3] [DEBUG] [1752074453.768147699] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.768260089] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.768333597] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.768392929] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000010 -0.000046 [gdb-3] 0.000004 1.000000 -0.000001 -0.000006 [gdb-3] 0.000010 0.000001 1.000000 -0.000025 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.768456484] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.768528616] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.768571402] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.768603500] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019476 0.004336 -0.007527 [gdb-3] -0.019502 0.999793 0.005874 0.061993 [gdb-3] -0.004221 -0.005957 0.999973 0.012835 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.768635886] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.768662447] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.768700753] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36659)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36659) exited] [gdb-3] [DEBUG] [1752074453.800895445] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.800983354] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.801036893] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.801083967] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000006 -0.000006 0.000036 [gdb-3] 0.000006 1.000000 -0.000002 -0.000037 [gdb-3] 0.000006 0.000002 1.000000 -0.000030 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.801196902] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074453.801238920] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.801279178] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.801310796] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019470 0.004330 -0.007492 [gdb-3] -0.019495 0.999793 0.005871 0.061954 [gdb-3] -0.004215 -0.005955 0.999973 0.012804 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.801339629] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.801365103] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.801402289] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36660)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36660) exited] [gdb-3] [DEBUG] [1752074453.834270937] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.834365695] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.834424194] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.834489317] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000019 -0.000001 0.000023 [gdb-3] -0.000019 1.000000 -0.000000 0.000044 [gdb-3] 0.000001 0.000000 1.000000 -0.000016 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.834547177] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.834596363] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.834629837] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.834659791] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019489 0.004329 -0.007468 [gdb-3] -0.019514 0.999792 0.005871 0.061998 [gdb-3] -0.004214 -0.005954 0.999973 0.012788 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.834688560] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.834714130] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.834749364] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36661)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36661) exited] [gdb-3] [DEBUG] [1752074453.870859214] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.870976980] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.871052568] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.871104731] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 0.000014 0.000026 [gdb-3] -0.000002 1.000000 -0.000011 -0.000009 [gdb-3] -0.000014 0.000011 1.000000 0.000047 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.871165086] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074453.871242115] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.871279109] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.871310214] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019491 0.004343 -0.007442 [gdb-3] -0.019517 0.999792 0.005859 0.061988 [gdb-3] -0.004228 -0.005943 0.999973 0.012835 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.871337544] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074453.871359753] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.871395339] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36662)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36662) exited] [gdb-3] [DEBUG] [1752074453.904166062] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.904263028] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.904322327] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.904367481] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000018 -0.000006 -0.000085 [gdb-3] 0.000018 1.000000 0.000013 -0.000030 [gdb-3] 0.000006 -0.000013 1.000000 -0.000013 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.904426205] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074453.904524162] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.904563236] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.904592038] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019474 0.004337 -0.007527 [gdb-3] -0.019499 0.999793 0.005872 0.061960 [gdb-3] -0.004222 -0.005955 0.999973 0.012823 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.904618567] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.904640520] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.904674858] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36663)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36663) exited] [gdb-3] [DEBUG] [1752074453.933965839] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.934045011] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.934091798] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.934133976] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 0.000015 -0.000008 [gdb-3] -0.000001 1.000000 -0.000000 0.000015 [gdb-3] -0.000015 0.000000 1.000000 0.000023 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.934186907] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074453.934224541] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.934262655] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.934293057] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019475 0.004352 -0.007534 [gdb-3] -0.019500 0.999793 0.005872 0.061976 [gdb-3] -0.004237 -0.005955 0.999973 0.012846 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.934317634] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.934342467] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.934379781] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36664)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36664) exited] [gdb-3] [DEBUG] [1752074453.968054554] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074453.968162528] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074453.968237604] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074453.968309352] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000001 -0.000010 0.000060 [gdb-3] 0.000001 1.000000 -0.000003 -0.000025 [gdb-3] 0.000010 0.000003 1.000000 -0.000034 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074453.968370987] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074453.968426383] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074453.968467249] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074453.968500083] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019474 0.004342 -0.007475 [gdb-3] -0.019499 0.999793 0.005869 0.061949 [gdb-3] -0.004227 -0.005952 0.999973 0.012812 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074453.968529972] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074453.968556182] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074453.968597016] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36665)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36665) exited] [gdb-3] [DEBUG] [1752074454.000820477] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.000909282] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.000961829] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.001004519] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 -0.000016 -0.000073 [gdb-3] -0.000001 1.000000 0.000000 0.000033 [gdb-3] 0.000016 -0.000000 1.000000 -0.000026 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.001061290] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.001098028] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.001190897] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.001225587] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019475 0.004325 -0.007548 [gdb-3] -0.019501 0.999793 0.005869 0.061983 [gdb-3] -0.004210 -0.005952 0.999973 0.012786 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.001256405] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074454.001282198] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.001321241] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36666)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36666) exited] [gdb-3] [DEBUG] [1752074454.035394243] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.035484840] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.035546219] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.035596910] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000003 0.000003 0.000086 [gdb-3] -0.000003 1.000000 -0.000011 -0.000011 [gdb-3] -0.000003 0.000011 1.000000 -0.000006 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.035654577] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.035707316] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.035748726] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.035779000] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019478 0.004328 -0.007463 [gdb-3] -0.019504 0.999793 0.005858 0.061970 [gdb-3] -0.004213 -0.005941 0.999973 0.012780 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.035809402] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.035832027] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.035868093] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36667)] [rviz2-1] [INFO] [1752074454.062035702] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_optical_frame' at time 1752074453.297 for reason 'discarding message because the queue is full' [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36667) exited] [gdb-3] [DEBUG] [1752074454.072411183] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.074170191] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.074275701] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.074329048] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000004 -0.000010 -0.000010 [gdb-3] -0.000004 1.000000 -0.000002 -0.000009 [gdb-3] 0.000010 0.000002 1.000000 -0.000011 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.074387579] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.074484640] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.074538403] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.074572517] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019483 0.004318 -0.007473 [gdb-3] -0.019508 0.999793 0.005856 0.061961 [gdb-3] -0.004203 -0.005939 0.999973 0.012769 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.074600903] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.074623144] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.074658570] [zed.zed_node]: === publishTFs === [rviz2-1] [INFO] [1752074454.093269574] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_optical_frame' at time 1752074453.364 for reason 'discarding message because the queue is full' [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36668)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36668) exited] [gdb-3] [DEBUG] [1752074454.104530702] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.104613427] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.104666710] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.104714136] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000007 -0.000006 0.000011 [gdb-3] 0.000007 1.000000 0.000000 -0.000030 [gdb-3] 0.000006 -0.000000 1.000000 -0.000029 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.104771900] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.104809566] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.104844192] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.104872801] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019476 0.004312 -0.007463 [gdb-3] -0.019501 0.999793 0.005856 0.061931 [gdb-3] -0.004197 -0.005939 0.999973 0.012740 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.104968646] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074454.104995624] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.105037642] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36669)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36669) exited] [gdb-3] [DEBUG] [1752074454.139392836] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.139494570] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.139555213] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.139608624] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 0.000011 0.000012 [gdb-3] -0.000001 1.000000 0.000007 0.000003 [gdb-3] -0.000011 -0.000007 1.000000 0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.139667315] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.139726454] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.139766809] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.139799130] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019476 0.004324 -0.007451 [gdb-3] -0.019501 0.999793 0.005863 0.061933 [gdb-3] -0.004209 -0.005946 0.999973 0.012757 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.139829340] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074454.140183951] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.140362297] [zed.zed_node]: === publishTFs === [rviz2-1] [INFO] [1752074454.157815445] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_optical_frame' at time 1752074453.431 for reason 'discarding message because the queue is full' [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36670)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36670) exited] [gdb-3] [DEBUG] [1752074454.172298831] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.172403188] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.172476344] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.172528571] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 -0.000006 -0.000029 [gdb-3] -0.000005 1.000000 -0.000007 0.000020 [gdb-3] 0.000006 0.000007 1.000000 0.000008 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.172592383] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.172641922] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.172682692] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.172719494] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019481 0.004318 -0.007479 [gdb-3] -0.019506 0.999793 0.005855 0.061954 [gdb-3] -0.004203 -0.005938 0.999973 0.012765 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.172778409] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.172803402] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.172838924] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36671)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36671) exited] [gdb-3] [DEBUG] [1752074454.204413710] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.204515316] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.204578263] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.204633434] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000011 0.000007 -0.000076 [gdb-3] 0.000011 1.000000 0.000013 -0.000003 [gdb-3] -0.000007 -0.000013 1.000000 0.000015 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.204693629] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.008} [gdb-3] [DEBUG] [1752074454.204767681] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.204806500] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.204838021] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019469 0.004325 -0.007555 [gdb-3] -0.019495 0.999793 0.005868 0.061953 [gdb-3] -0.004210 -0.005951 0.999973 0.012780 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.204961612] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074454.204995790] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.205037968] [zed.zed_node]: === publishTFs === [gdb-3] [DEBUG] [1752074454.218964139] [zed.zed_node]: === Update Diagnostic === [gdb-3] [INFO] [1752074454.220620902] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.220683625] [zed.aruco_node]: ArUco detection [rviz2-1] [INFO] [1752074454.221797734] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_optical_frame' at time 1752074453.497 for reason 'discarding message because the queue is full' [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36672)] [gdb-3] [New Thread 0xffff7324e8e0 (LWP 36673)] [gdb-3] [New Thread 0xffff72e3e8e0 (LWP 36674)] [gdb-3] [New Thread 0xffff72a2e8e0 (LWP 36675)] [gdb-3] [INFO] [1752074454.270621593] [zed.aruco_node]: * Color conversion: 0.0498784 sec [gdb-3] [DEBUG] [1752074454.274831040] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.274925445] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.274992680] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.275043115] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000011 -0.000009 0.000001 [gdb-3] -0.000011 1.000000 -0.000013 0.000029 [gdb-3] 0.000009 0.000013 1.000000 -0.000016 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.275103118] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.275155345] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.275194963] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.275229141] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019481 0.004316 -0.007553 [gdb-3] -0.019506 0.999793 0.005855 0.061982 [gdb-3] -0.004201 -0.005938 0.999973 0.012764 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.275258551] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.275281720] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.275318714] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff7220e8e0 (LWP 36677)] [gdb-3] [New Thread 0xffff7261e8e0 (LWP 36676)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36672) exited] [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36678)] [gdb-3] [INFO] [1752074454.280643294] [zed.aruco_node]: * Marker detection: 0.009884 sec [gdb-3] [INFO] [1752074454.280764613] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.280783334] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.281614611] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.281656277] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.281984167] [zed.aruco_node]: * Color conversion: 0.000298865 sec [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36678) exited] [gdb-3] [DEBUG] [1752074454.284421453] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.284509234] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.284562837] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.284609879] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 -0.000007 0.000017 [gdb-3] -0.000005 1.000000 -0.000012 -0.000021 [gdb-3] 0.000007 0.000012 1.000000 -0.000023 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.284664378] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.284702940] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.284740190] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.284769792] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019485 0.004308 -0.007536 [gdb-3] -0.019510 0.999793 0.005843 0.061960 [gdb-3] -0.004194 -0.005926 0.999974 0.012741 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.284797153] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.284820643] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.284858117] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.288775099] [zed.aruco_node]: * Marker detection: 0.00673685 sec [gdb-3] [INFO] [1752074454.288861792] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.288877185] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.289691854] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.289794739] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.290160519] [zed.aruco_node]: * Color conversion: 0.000334962 sec [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36679)] [gdb-3] [INFO] [1752074454.295349188] [zed.aruco_node]: * Marker detection: 0.00513113 sec [gdb-3] [INFO] [1752074454.295433256] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.295448393] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.296317305] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.296353947] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.302631122] [zed.aruco_node]: * Color conversion: 0.00624629 sec [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36679) exited] [gdb-3] [DEBUG] [1752074454.303560965] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.303645738] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.303701549] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.303750352] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000008 -0.000001 0.000110 [gdb-3] 0.000008 1.000000 0.000005 -0.000049 [gdb-3] 0.000001 -0.000005 1.000000 -0.000039 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.303810003] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.303853333] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.303890039] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.303920409] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019477 0.004307 -0.007428 [gdb-3] -0.019502 0.999793 0.005848 0.061909 [gdb-3] -0.004192 -0.005931 0.999974 0.012701 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.303947387] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.117} [gdb-3] [DEBUG] [1752074454.303972508] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.304009534] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.309759929] [zed.aruco_node]: * Marker detection: 0.00705949 sec [gdb-3] [INFO] [1752074454.309845214] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.309863519] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.310558149] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.310602727] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.310948666] [zed.aruco_node]: * Color conversion: 0.000315761 sec [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36680)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36680) exited] [gdb-3] [INFO] [1752074454.316126422] [zed.aruco_node]: * Marker detection: 0.00512159 sec [gdb-3] [INFO] [1752074454.316206842] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.316222331] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.316910433] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.316946115] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.317340152] [zed.aruco_node]: * Color conversion: 0.000363572 sec [rviz2-1] [INFO] [1752074454.317729710] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_optical_frame' at time 1752074453.597 for reason 'discarding message because the queue is full' [gdb-3] [INFO] [1752074454.324426172] [zed.aruco_node]: * Marker detection: 0.00701331 sec [gdb-3] [INFO] [1752074454.324529698] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.324544163] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.325596860] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.325648543] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.326292451] [zed.aruco_node]: * Color conversion: 0.000601857 sec [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36681)] [gdb-3] [INFO] [1752074454.333594291] [zed.aruco_node]: * Marker detection: 0.00722209 sec [gdb-3] [INFO] [1752074454.333692280] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.333707673] [zed.aruco_node]: ***************************** [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36681) exited] [gdb-3] [INFO] [1752074454.334585321] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.334633196] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074454.334735825] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.334820310] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.334875097] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.335066179] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000010 0.000007 -0.000129 [gdb-3] -0.000010 1.000000 -0.000007 0.000055 [gdb-3] -0.000007 0.000007 1.000000 0.000068 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.335192906] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.335240205] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.335277391] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [INFO] [1752074454.335293232] [zed.aruco_node]: * Color conversion: 0.000625219 sec [gdb-3] [DEBUG] [1752074454.335342162] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019488 0.004314 -0.007555 [gdb-3] -0.019513 0.999793 0.005841 0.061966 [gdb-3] -0.004199 -0.005924 0.999974 0.012769 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.335420631] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.335447768] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.335484090] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.341858999] [zed.aruco_node]: * Marker detection: 0.00645066 sec [gdb-3] [INFO] [1752074454.341943164] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.341960253] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.342628674] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.342674340] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.343034776] [zed.aruco_node]: * Color conversion: 0.000330802 sec [gdb-3] [INFO] [1752074454.349671395] [zed.aruco_node]: * Marker detection: 0.00658065 sec [gdb-3] [INFO] [1752074454.349744903] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.349761000] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.350365929] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.350407532] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.350796929] [zed.aruco_node]: * Color conversion: 0.000354964 sec [gdb-3] [INFO] [1752074454.356384339] [zed.aruco_node]: * Marker detection: 0.00552097 sec [gdb-3] [INFO] [1752074454.356459831] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.356476536] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.357115227] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.357155197] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.357460462] [zed.aruco_node]: * Color conversion: 0.000276111 sec [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36682)] [gdb-3] [INFO] [1752074454.362335897] [zed.aruco_node]: * Marker detection: 0.00482218 sec [gdb-3] [INFO] [1752074454.362408701] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.362426334] [zed.aruco_node]: ***************************** [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36682) exited] [gdb-3] [DEBUG] [1752074454.368222972] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.368336962] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.368418310] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.368482858] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000003 0.000001 0.000041 [gdb-3] -0.000003 1.000000 0.000005 0.000014 [gdb-3] -0.000001 -0.000005 1.000000 -0.000010 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.368558382] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.007} [gdb-3] [DEBUG] [1752074454.368642003] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.368686325] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.368719255] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019491 0.004315 -0.007514 [gdb-3] -0.019516 0.999792 0.005846 0.061980 [gdb-3] -0.004200 -0.005929 0.999974 0.012759 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.368748312] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.118} [gdb-3] [DEBUG] [1752074454.368771546] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.368814044] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.368920930] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.368979845] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.369468512] [zed.aruco_node]: * Color conversion: 0.000368084 sec [gdb-3] [INFO] [1752074454.376875126] [zed.aruco_node]: * Marker detection: 0.00732562 sec [gdb-3] [INFO] [1752074454.376968283] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.376987292] [zed.aruco_node]: ***************************** [rviz2-1] [INFO] [1752074454.380932276] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_optical_frame' at time 1752074453.664 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1752074454.381983853] [zed2i_rviz2]: Message Filter dropping message: frame 'zed_left_camera_frame' at time 1752074453.297 for reason 'discarding message because the queue is full' [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36683)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36683) exited] [gdb-3] [DEBUG] [1752074454.400818453] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.400890649] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.400969661] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.401022080] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000016 0.000009 -0.000001 [gdb-3] -0.000016 1.000000 0.000004 0.000011 [gdb-3] -0.000009 -0.000004 1.000000 0.000004 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.401080676] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.401121510] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.401162216] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.401219723] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019507 0.004324 -0.007515 [gdb-3] -0.019532 0.999792 0.005849 0.061991 [gdb-3] -0.004209 -0.005933 0.999974 0.012763 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.401265774] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.401291823] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.401330481] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36684)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36684) exited] [gdb-3] [DEBUG] [1752074454.434807483] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.434914209] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.434983429] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.435036808] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000006 -0.000031 [gdb-3] 0.000004 1.000000 -0.000003 0.000032 [gdb-3] 0.000006 0.000003 1.000000 0.000014 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.435098891] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.435166543] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.435207409] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.435239923] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019503 0.004318 -0.007545 [gdb-3] -0.019528 0.999792 0.005846 0.062023 [gdb-3] -0.004203 -0.005929 0.999974 0.012777 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.435270388] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.435294806] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.435333912] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.436498520] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.436562299] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.436865964] [zed.aruco_node]: * Color conversion: 0.000265551 sec [gdb-3] [INFO] [1752074454.444215038] [zed.aruco_node]: * Marker detection: 0.00726712 sec [gdb-3] [INFO] [1752074454.444318884] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.444336517] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36685)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36685) exited] [gdb-3] [DEBUG] [1752074454.468115100] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.468189568] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.468238979] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.468280645] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000006 0.000006 -0.000016 [gdb-3] 0.000006 1.000000 0.000007 -0.000014 [gdb-3] -0.000006 -0.000007 1.000000 0.000007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.468334248] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.468372490] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.468474895] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.468509777] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999801 0.019497 0.004324 -0.007562 [gdb-3] -0.019522 0.999792 0.005853 0.062009 [gdb-3] -0.004209 -0.005936 0.999973 0.012784 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.468536595] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.468561908] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.468598198] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36686)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36686) exited] [gdb-3] [DEBUG] [1752074454.503053494] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.503152571] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.503213054] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.503260513] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000007 0.000001 0.000003 [gdb-3] -0.000007 1.000000 -0.000004 0.000020 [gdb-3] -0.000001 0.000004 1.000000 0.000017 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.503316420] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.503365159] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.503404105] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.503434955] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019504 0.004325 -0.007558 [gdb-3] -0.019529 0.999792 0.005848 0.062029 [gdb-3] -0.004210 -0.005932 0.999973 0.012800 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.503464236] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.503487693] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.503523759] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.504602763] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.504672334] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.505128263] [zed.aruco_node]: * Color conversion: 0.000354132 sec [gdb-3] [INFO] [1752074454.512942451] [zed.aruco_node]: * Marker detection: 0.00774164 sec [gdb-3] [INFO] [1752074454.513035352] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.513051385] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36687)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36687) exited] [gdb-3] [DEBUG] [1752074454.537388303] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.537492276] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.537550103] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.537600058] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 -0.000008 0.000011 [gdb-3] -0.000001 1.000000 -0.000008 -0.000010 [gdb-3] 0.000008 0.000008 1.000000 -0.000044 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.537655709] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.537707488] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.537745218] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.537778212] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019505 0.004316 -0.007547 [gdb-3] -0.019530 0.999792 0.005841 0.062018 [gdb-3] -0.004202 -0.005924 0.999974 0.012756 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.537806277] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.537828295] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.537863593] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.538605457] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.538672597] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.539046601] [zed.aruco_node]: * Color conversion: 0.000337586 sec [gdb-3] [INFO] [1752074454.543955414] [zed.aruco_node]: * Marker detection: 0.00483367 sec [gdb-3] [INFO] [1752074454.544043259] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.544133664] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36688)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36688) exited] [gdb-3] [DEBUG] [1752074454.571244173] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.571327378] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.571393973] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.571449176] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000009 0.000020 -0.000004 [gdb-3] 0.000009 1.000000 0.000008 -0.000003 [gdb-3] -0.000020 -0.000008 1.000000 0.000046 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.571514140] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.571566143] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.571607841] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.571642307] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019495 0.004337 -0.007551 [gdb-3] -0.019521 0.999792 0.005848 0.062016 [gdb-3] -0.004222 -0.005932 0.999973 0.012802 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.571673317] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.571698758] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.571735240] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36689)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36689) exited] [gdb-3] [DEBUG] [1752074454.604183610] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.604274495] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.604337090] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.604390341] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000014 0.000001 -0.000008 [gdb-3] -0.000014 1.000000 -0.000008 0.000027 [gdb-3] -0.000001 0.000008 1.000000 0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.604450440] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.006} [gdb-3] [DEBUG] [1752074454.604500299] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.604546189] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.604581007] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019510 0.004337 -0.007559 [gdb-3] -0.019535 0.999792 0.005840 0.062044 [gdb-3] -0.004223 -0.005924 0.999973 0.012821 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.604613681] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.119} [gdb-3] [DEBUG] [1752074454.604640147] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.604680949] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.605541988] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.605617224] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.606146789] [zed.aruco_node]: * Color conversion: 0.000497659 sec [gdb-3] [INFO] [1752074454.610435536] [zed.aruco_node]: * Marker detection: 0.00421428 sec [gdb-3] [INFO] [1752074454.610730176] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.610748193] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36690)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36690) exited] [gdb-3] [DEBUG] [1752074454.637439959] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.637527100] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.637583071] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.637629346] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000004 0.000003 -0.000068 [gdb-3] -0.000004 1.000000 0.000017 0.000039 [gdb-3] -0.000003 -0.000017 1.000000 0.000005 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.637687653] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.005} [gdb-3] [DEBUG] [1752074454.637729767] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.637767785] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.637799019] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019514 0.004341 -0.007626 [gdb-3] -0.019539 0.999792 0.005857 0.062084 [gdb-3] -0.004226 -0.005941 0.999973 0.012825 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.637883888] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.120} [gdb-3] [DEBUG] [1752074454.637918322] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.637961236] [zed.zed_node]: === publishTFs === [gdb-3] [DEBUG] [1752074454.646907614] [zed.zed_node]: === Update Diagnostic === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36691)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36691) exited] [gdb-3] [DEBUG] [1752074454.671333080] [zed.zed_node]: ================================================================ [gdb-3] [INFO] [1752074454.671941401] [zed.aruco_node]: ***************************** [gdb-3] [DEBUG] [1752074454.672015037] [zed.zed_node]: === processOdometry === [gdb-3] [INFO] [1752074454.672089922] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074454.672210536] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.672272140] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000007 -0.000003 0.000068 [gdb-3] -0.000007 1.000000 -0.000028 -0.000019 [gdb-3] 0.000003 0.000028 1.000000 0.000010 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [INFO] [1752074454.672431668] [zed.aruco_node]: * Color conversion: 0.000233325 sec [gdb-3] [DEBUG] [1752074454.672691139] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.005} [gdb-3] [DEBUG] [1752074454.672839915] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.672944048] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.672998931] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019521 0.004338 -0.007559 [gdb-3] -0.019546 0.999792 0.005829 0.062064 [gdb-3] -0.004223 -0.005913 0.999974 0.012835 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.673035765] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.120} [gdb-3] [DEBUG] [1752074454.673061111] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.673102425] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.676974317] [zed.aruco_node]: * Marker detection: 0.00426155 sec [gdb-3] [INFO] [1752074454.677055282] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.677071378] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36692)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36692) exited] [gdb-3] [DEBUG] [1752074454.700903244] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.700972432] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.701024723] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.701067957] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000015 -0.000002 -0.000016 [gdb-3] -0.000015 1.000000 0.000020 0.000092 [gdb-3] 0.000002 -0.000020 1.000000 -0.000007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.701126552] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074454.701164698] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.701201500] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.701231614] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019535 0.004336 -0.007573 [gdb-3] -0.019560 0.999792 0.005849 0.062156 [gdb-3] -0.004221 -0.005933 0.999973 0.012828 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.701260000] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.121} [gdb-3] [DEBUG] [1752074454.701285633] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.701322883] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36693)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36693) exited] [gdb-3] [DEBUG] [1752074454.734651173] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.734735977] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.734796301] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.734869329] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000013 0.000009 -0.000009 [gdb-3] 0.000013 1.000000 -0.000007 -0.000065 [gdb-3] -0.000009 0.000007 1.000000 -0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.734982519] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.005} [gdb-3] [DEBUG] [1752074454.735083932] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.735131647] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.735163425] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019522 0.004344 -0.007583 [gdb-3] -0.019547 0.999792 0.005842 0.062091 [gdb-3] -0.004230 -0.005926 0.999973 0.012828 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.735191490] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.120} [gdb-3] [DEBUG] [1752074454.735217348] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.735256102] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36694)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36694) exited] [gdb-3] [INFO] [1752074454.773109695] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.773218181] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074454.773647837] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.773715073] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.773793861] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.773888746] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000010 -0.000006 -0.000002 [gdb-3] -0.000010 1.000000 -0.000013 0.000033 [gdb-3] 0.000006 0.000013 1.000000 0.000006 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.773965294] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074454.774033586] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.774111926] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.774165369] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019532 0.004338 -0.007585 [gdb-3] -0.019557 0.999792 0.005829 0.062124 [gdb-3] -0.004223 -0.005913 0.999974 0.012833 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.774199707] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.121} [gdb-3] [DEBUG] [1752074454.774222236] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.774262559] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.778667984] [zed.aruco_node]: * Color conversion: 0.00539876 sec [gdb-3] [INFO] [1752074454.783904495] [zed.aruco_node]: * Marker detection: 0.0051103 sec [gdb-3] [INFO] [1752074454.783997780] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.784015477] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36695)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36695) exited] [gdb-3] [DEBUG] [1752074454.801436495] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.801521972] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.801579799] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.801623129] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000003 -0.000003 -0.000033 [gdb-3] 0.000003 1.000000 0.000016 0.000008 [gdb-3] 0.000003 -0.000016 1.000000 -0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.801681533] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074454.801721407] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.801760289] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.801789795] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019529 0.004335 -0.007618 [gdb-3] -0.019554 0.999792 0.005845 0.062133 [gdb-3] -0.004220 -0.005929 0.999973 0.012832 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.801813124] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.120} [gdb-3] [DEBUG] [1752074454.801833733] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.801870599] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36696)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36696) exited] [gdb-3] [DEBUG] [1752074454.834778226] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.834874615] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.835005054] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.835063297] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000011 0.000006 0.000010 [gdb-3] -0.000011 1.000000 -0.000009 0.000024 [gdb-3] -0.000006 0.000009 1.000000 -0.000004 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.835124517] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074454.835185096] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.835227082] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.835258060] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019540 0.004340 -0.007607 [gdb-3] -0.019566 0.999792 0.005836 0.062157 [gdb-3] -0.004226 -0.005920 0.999973 0.012828 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.835286478] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.121} [gdb-3] [DEBUG] [1752074454.835312495] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.835350961] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.836326663] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.836392810] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.836644312] [zed.aruco_node]: * Color conversion: 0.000205259 sec [gdb-3] [INFO] [1752074454.840946340] [zed.aruco_node]: * Marker detection: 0.0042435 sec [gdb-3] [INFO] [1752074454.841040361] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.841059370] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36697)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36697) exited] [gdb-3] [DEBUG] [1752074454.874057657] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.874158399] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.874232099] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.874286150] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 0.000000 0.000013 [gdb-3] -0.000002 1.000000 0.000006 0.000017 [gdb-3] -0.000000 -0.000006 1.000000 0.000003 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.874347401] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074454.874391788] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.874429070] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.874504850] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019542 0.004341 -0.007593 [gdb-3] -0.019568 0.999791 0.005841 0.062174 [gdb-3] -0.004226 -0.005925 0.999973 0.012831 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.874777025] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.121} [gdb-3] [DEBUG] [1752074454.874828356] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.874884231] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.874546932] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.875102611] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.875603854] [zed.aruco_node]: * Color conversion: 0.000457273 sec [gdb-3] [INFO] [1752074454.879812949] [zed.aruco_node]: * Marker detection: 0.00413783 sec [gdb-3] [INFO] [1752074454.879885465] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.879900826] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36698)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36698) exited] [gdb-3] [DEBUG] [1752074454.905055708] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.905145536] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.905201732] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.905248422] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 0.000004 0.000025 [gdb-3] 0.000004 1.000000 -0.000002 -0.000045 [gdb-3] -0.000004 0.000002 1.000000 0.000031 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.905305129] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074454.905342411] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.905376589] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.905472562] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999800 0.019538 0.004344 -0.007569 [gdb-3] -0.019563 0.999792 0.005839 0.062129 [gdb-3] -0.004229 -0.005923 0.999973 0.012862 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.905498548] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.121} [gdb-3] [DEBUG] [1752074454.905520725] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.905557719] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36699)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36699) exited] [gdb-3] [DEBUG] [1752074454.934862844] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.934951649] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.935008004] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.935053511] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000011 0.000008 -0.000085 [gdb-3] -0.000011 1.000000 0.000004 0.000059 [gdb-3] -0.000008 -0.000004 1.000000 0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.935111370] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074454.935148780] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.935184750] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.935213168] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019549 0.004353 -0.007653 [gdb-3] -0.019575 0.999791 0.005843 0.062190 [gdb-3] -0.004237 -0.005928 0.999973 0.012880 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.935236689] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074454.935257202] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.935292276] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36700)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36700) exited] [gdb-3] [INFO] [1752074454.972366851] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074454.972451720] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074454.972716118] [zed.aruco_node]: * Color conversion: 0.000227469 sec [gdb-3] [DEBUG] [1752074454.973124268] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074454.973188784] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074454.973257364] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074454.973310263] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000020 -0.000006 0.000065 [gdb-3] -0.000020 1.000000 -0.000008 0.000019 [gdb-3] 0.000006 0.000008 1.000000 -0.000033 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074454.973374362] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074454.973462399] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074454.973507233] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074454.973540323] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019570 0.004347 -0.007588 [gdb-3] -0.019595 0.999791 0.005835 0.062207 [gdb-3] -0.004232 -0.005919 0.999973 0.012847 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074454.973569989] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074454.973595942] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074454.973633992] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074454.978238181] [zed.aruco_node]: * Marker detection: 0.00543607 sec [gdb-3] [INFO] [1752074454.978324681] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074454.978344362] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36701)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36701) exited] [gdb-3] [DEBUG] [1752074455.005578206] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.005713574] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.005815627] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.005896240] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000025 0.000009 -0.000033 [gdb-3] 0.000025 1.000000 0.000010 -0.000034 [gdb-3] -0.000009 -0.000010 1.000000 0.000035 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.006116092] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.004} [gdb-3] [DEBUG] [1752074455.006225890] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.006310790] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.006410764] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019545 0.004356 -0.007622 [gdb-3] -0.019570 0.999791 0.005845 0.062174 [gdb-3] -0.004241 -0.005929 0.999973 0.012882 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.006497873] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.121} [gdb-3] [DEBUG] [1752074455.006551284] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.006617367] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.006864709] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.006924552] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.007402306] [zed.aruco_node]: * Color conversion: 0.000376917 sec [gdb-3] [INFO] [1752074455.012476120] [zed.aruco_node]: * Marker detection: 0.00490574 sec [gdb-3] [INFO] [1752074455.012561949] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.012580094] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36702)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36702) exited] [gdb-3] [DEBUG] [1752074455.038747607] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.038829372] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.038878270] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.038924353] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000004 -0.000006 0.000003 [gdb-3] -0.000004 1.000000 0.000001 0.000007 [gdb-3] 0.000006 -0.000001 1.000000 -0.000008 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.038977540] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.039014342] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.039052040] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.039080970] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019549 0.004350 -0.007619 [gdb-3] -0.019574 0.999791 0.005846 0.062181 [gdb-3] -0.004235 -0.005930 0.999973 0.012875 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.039106987] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.039131180] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.039166350] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36703)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36703) exited] [gdb-3] [DEBUG] [1752074455.072444077] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.072545267] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.072618679] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.072672186] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000012 0.000004 0.000012 [gdb-3] -0.000012 1.000000 -0.000008 0.000020 [gdb-3] -0.000004 0.000008 1.000000 0.000009 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.072734045] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.072806369] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.072846691] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.072877125] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019561 0.004354 -0.007607 [gdb-3] -0.019587 0.999791 0.005838 0.062201 [gdb-3] -0.004238 -0.005922 0.999973 0.012884 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.072905254] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.072928552] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.072964106] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.073653551] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.073786007] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.074251024] [zed.aruco_node]: * Color conversion: 0.000412694 sec [gdb-3] [INFO] [1752074455.079154717] [zed.aruco_node]: * Marker detection: 0.00479527 sec [gdb-3] [INFO] [1752074455.079258722] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.079278980] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36704)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36704) exited] [gdb-3] [DEBUG] [1752074455.102182346] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.102296304] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.102355956] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.102400854] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000013 -0.000063 [gdb-3] 0.000004 1.000000 -0.000003 -0.000006 [gdb-3] 0.000013 0.000003 1.000000 -0.000025 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.102474234] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.102520061] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.102559007] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.102614210] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019557 0.004341 -0.007669 [gdb-3] -0.019583 0.999791 0.005834 0.062196 [gdb-3] -0.004226 -0.005918 0.999974 0.012859 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.102647972] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.102674885] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.102717576] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36705)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36705) exited] [gdb-3] [DEBUG] [1752074455.138867044] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.138957193] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.139058702] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.139119602] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000010 0.000010 0.000011 [gdb-3] -0.000010 1.000000 -0.000002 0.000032 [gdb-3] -0.000010 0.000002 1.000000 0.000041 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.139177941] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.139271866] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.139324797] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.139359295] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019567 0.004351 -0.007657 [gdb-3] -0.019592 0.999791 0.005832 0.062228 [gdb-3] -0.004236 -0.005916 0.999973 0.012900 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.139391809] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.139414594] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.139451300] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.140212814] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.140267601] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.140503677] [zed.aruco_node]: * Color conversion: 0.000204716 sec [gdb-3] [INFO] [1752074455.144844299] [zed.aruco_node]: * Marker detection: 0.00428017 sec [gdb-3] [INFO] [1752074455.144920431] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.144938352] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36706)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36706) exited] [gdb-3] [DEBUG] [1752074455.168078116] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.168175721] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.168265102] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.168325394] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000012 0.000018 0.000025 [gdb-3] 0.000012 1.000000 0.000011 -0.000044 [gdb-3] -0.000018 -0.000011 1.000000 0.000038 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.168519260] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.168686949] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.168768298] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.168843374] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019555 0.004369 -0.007633 [gdb-3] -0.019581 0.999791 0.005842 0.062184 [gdb-3] -0.004254 -0.005927 0.999973 0.012938 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.169039321] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.169096732] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.169238820] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36707)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36707) exited] [gdb-3] [DEBUG] [1752074455.201900385] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.202001190] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.202055401] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.202102956] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 -0.000014 -0.000095 [gdb-3] -0.000002 1.000000 0.000001 0.000039 [gdb-3] 0.000014 -0.000001 1.000000 -0.000036 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.202158063] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.202200753] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.202264725] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.202298007] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019557 0.004355 -0.007727 [gdb-3] -0.019583 0.999791 0.005844 0.062225 [gdb-3] -0.004240 -0.005928 0.999973 0.012903 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.202435582] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.202494401] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.202538500] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36708)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36708) exited] [gdb-3] [DEBUG] [1752074455.238358766] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.238522967] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.238610876] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.238666079] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000013 0.000007 0.000039 [gdb-3] -0.000013 1.000000 -0.000010 0.000020 [gdb-3] -0.000007 0.000010 1.000000 0.000030 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.238766884] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.238837448] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.238883211] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.238921165] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019570 0.004362 -0.007688 [gdb-3] -0.019595 0.999791 0.005833 0.062244 [gdb-3] -0.004246 -0.005918 0.999973 0.012932 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.238957007] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.239021490] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.239065653] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.239698839] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.239750394] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.239982599] [zed.aruco_node]: * Color conversion: 0.000196779 sec [gdb-3] [INFO] [1752074455.244963864] [zed.aruco_node]: * Marker detection: 0.0049178 sec [gdb-3] [INFO] [1752074455.245037916] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.245054333] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36709)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36709) exited] [gdb-3] [DEBUG] [1752074455.268017095] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.268117036] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.268181776] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.268316279] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000003 -0.000005 0.000014 [gdb-3] 0.000003 1.000000 -0.000004 0.000001 [gdb-3] 0.000005 0.000004 1.000000 -0.000020 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.268381819] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.268439678] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.268482912] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.268513986] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019568 0.004356 -0.007673 [gdb-3] -0.019593 0.999791 0.005829 0.062245 [gdb-3] -0.004241 -0.005914 0.999973 0.012912 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.268547300] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.268588230] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.268632648] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36710)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36710) exited] [gdb-3] [DEBUG] [1752074455.301433773] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.301578037] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.301643289] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.301704124] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000001 -0.000041 [gdb-3] 0.000004 1.000000 0.000002 -0.000002 [gdb-3] 0.000001 -0.000002 1.000000 0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.301765663] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.301839460] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.301882374] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.301919304] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019564 0.004356 -0.007715 [gdb-3] -0.019589 0.999791 0.005832 0.062244 [gdb-3] -0.004241 -0.005916 0.999973 0.012930 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.301955082] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.301983531] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.302027182] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.303322197] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.303402937] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.305157081] [zed.aruco_node]: * Color conversion: 0.00167721 sec [gdb-3] [INFO] [1752074455.310693321] [zed.aruco_node]: * Marker detection: 0.00542702 sec [gdb-3] [INFO] [1752074455.310789134] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.310805167] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36711)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36711) exited] [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36712)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36712) exited] [gdb-3] [DEBUG] [1752074455.334975387] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.335056959] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.335109154] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.335156741] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 0.000014 0.000007 [gdb-3] 0.000005 1.000000 0.000002 -0.000045 [gdb-3] -0.000014 -0.000002 1.000000 0.000042 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.335213096] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.335253450] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.335292428] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.335325966] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019559 0.004370 -0.007709 [gdb-3] -0.019584 0.999791 0.005834 0.062199 [gdb-3] -0.004255 -0.005918 0.999973 0.012971 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.335358544] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.335386161] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.335476310] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36713)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36713) exited] [gdb-3] [DEBUG] [1752074455.368322269] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.368427523] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.368495431] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.368554090] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000006 -0.000018 -0.000039 [gdb-3] 0.000006 1.000000 -0.000002 0.000025 [gdb-3] 0.000018 0.000002 1.000000 -0.000045 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.368617614] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.368662448] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.368705586] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.368741972] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019553 0.004352 -0.007747 [gdb-3] -0.019578 0.999791 0.005832 0.062225 [gdb-3] -0.004237 -0.005916 0.999973 0.012927 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.368775798] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.368799960] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.368835770] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.369516415] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.369599619] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.369920725] [zed.aruco_node]: * Color conversion: 0.000275984 sec [gdb-3] [INFO] [1752074455.376399032] [zed.aruco_node]: * Marker detection: 0.00640323 sec [gdb-3] [INFO] [1752074455.376497117] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.376514110] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36714)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36714) exited] [gdb-3] [DEBUG] [1752074455.404438328] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.404523357] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.404574783] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.404628994] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000008 0.000004 0.000031 [gdb-3] -0.000008 1.000000 0.000003 0.000001 [gdb-3] -0.000004 -0.000003 1.000000 -0.000004 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.404682277] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.404721703] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.404758697] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.404795756] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019561 0.004357 -0.007716 [gdb-3] -0.019587 0.999791 0.005835 0.062225 [gdb-3] -0.004241 -0.005919 0.999973 0.012922 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.404829901] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.404856271] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.404893457] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.406785368] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.406857116] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.407157869] [zed.aruco_node]: * Color conversion: 0.000258606 sec [gdb-3] [INFO] [1752074455.419366314] [zed.aruco_node]: * Marker detection: 0.0121234 sec [gdb-3] [INFO] [1752074455.419463343] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.419482032] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36715)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36715) exited] [gdb-3] [DEBUG] [1752074455.437533709] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.437628914] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.437685589] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.437733592] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000000 -0.000004 -0.000010 [gdb-3] 0.000000 1.000000 -0.000010 -0.000026 [gdb-3] 0.000004 0.000010 1.000000 0.000011 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.437861151] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.000,0.000} {0.000,-0.000,0.003} [gdb-3] [DEBUG] [1752074455.437908577] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.437951940] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.437993350] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019561 0.004352 -0.007726 [gdb-3] -0.019586 0.999791 0.005825 0.062200 [gdb-3] -0.004237 -0.005909 0.999973 0.012934 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.438029704] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.122} [gdb-3] [DEBUG] [1752074455.438055177] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.438094284] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36716)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36716) exited] [gdb-3] [DEBUG] [1752074455.471948714] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.472057712] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.472137589] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.472195288] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000010 0.000031 -0.000020 [gdb-3] -0.000010 1.000000 0.000012 0.000035 [gdb-3] -0.000031 -0.000012 1.000000 0.000082 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.472265308] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.000,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.472327103] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.472382114] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.472421220] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019571 0.004383 -0.007746 [gdb-3] -0.019597 0.999791 0.005836 0.062236 [gdb-3] -0.004268 -0.005921 0.999973 0.013016 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.472462758] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.472492136] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.472536906] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.473165709] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.473239185] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.479888029] [zed.aruco_node]: * Color conversion: 0.00659079 sec [gdb-3] [INFO] [1752074455.486975137] [zed.aruco_node]: * Marker detection: 0.00698509 sec [gdb-3] [INFO] [1752074455.487052070] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.487068614] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36717)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36717) exited] [gdb-3] [DEBUG] [1752074455.504560549] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.504680907] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.504738798] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.504787345] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 -0.000010 -0.000030 [gdb-3] -0.000002 1.000000 0.000003 0.000043 [gdb-3] 0.000010 -0.000003 1.000000 -0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.504850261] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.504919448] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.504962043] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.504996253] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019573 0.004373 -0.007774 [gdb-3] -0.019598 0.999791 0.005840 0.062279 [gdb-3] -0.004258 -0.005924 0.999973 0.012998 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.505030078] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.505056480] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.505095682] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36718)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36718) exited] [gdb-3] [DEBUG] [1752074455.538042127] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.538141428] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.538278108] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.538348928] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 0.000003 -0.000000 [gdb-3] -0.000001 1.000000 -0.000005 -0.000019 [gdb-3] -0.000003 0.000005 1.000000 0.000009 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.538418147] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074455.538498216] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.538548811] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.538581772] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019574 0.004376 -0.007775 [gdb-3] -0.019600 0.999791 0.005835 0.062260 [gdb-3] -0.004261 -0.005919 0.999973 0.013007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.538618446] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.538645392] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.538687890] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.539419866] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.539484510] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.540021979] [zed.aruco_node]: * Color conversion: 0.000496667 sec [gdb-3] [INFO] [1752074455.546901684] [zed.aruco_node]: * Marker detection: 0.00679848 sec [gdb-3] [INFO] [1752074455.546991225] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.547009338] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36719)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36719) exited] [gdb-3] [DEBUG] [1752074455.572171196] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.572283427] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.572361799] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.572441419] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000014 -0.000002 -0.000006 [gdb-3] -0.000014 1.000000 -0.000005 0.000032 [gdb-3] 0.000002 0.000005 1.000000 0.000005 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.572515759] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.572610996] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.572686489] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.572732315] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019588 0.004374 -0.007780 [gdb-3] -0.019613 0.999791 0.005830 0.062292 [gdb-3] -0.004259 -0.005914 0.999973 0.013012 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.572772317] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.572798047] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.572839361] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36720)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36720) exited] [gdb-3] [DEBUG] [1752074455.601388861] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.601480130] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.601541733] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.601707950] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000007 -0.000016 0.000064 [gdb-3] 0.000007 1.000000 -0.000008 -0.000030 [gdb-3] 0.000016 0.000008 1.000000 -0.000052 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.601776882] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.601835125] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.601877336] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.601911226] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019581 0.004358 -0.007717 [gdb-3] -0.019606 0.999791 0.005822 0.062260 [gdb-3] -0.004243 -0.005906 0.999973 0.012960 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.601945019] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074455.602026272] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.602073890] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36721)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36721) exited] [gdb-3] [DEBUG] [1752074455.635419525] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.635499338] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.635558189] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.635634769] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 0.000015 0.000002 [gdb-3] -0.000002 1.000000 0.000005 -0.000018 [gdb-3] -0.000015 -0.000005 1.000000 0.000023 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.635700789] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.000,0.000,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.635759480] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.635799834] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.635830940] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999799 0.019583 0.004373 -0.007716 [gdb-3] -0.019609 0.999791 0.005827 0.062242 [gdb-3] -0.004258 -0.005911 0.999973 0.012983 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.635860349] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.635916448] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.635957731] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.637950256] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.638025940] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.638423402] [zed.aruco_node]: * Color conversion: 0.000360052 sec [gdb-3] [INFO] [1752074455.645607987] [zed.aruco_node]: * Marker detection: 0.00708333 sec [gdb-3] [INFO] [1752074455.645718233] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.645740379] [zed.aruco_node]: ***************************** [gdb-3] [DEBUG] [1752074455.646647116] [zed.zed_node]: === Update Diagnostic === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36722)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36722) exited] [gdb-3] [DEBUG] [1752074455.671873810] [zed.zed_node]: ================================================================ [gdb-3] [INFO] [1752074455.672946957] [zed.aruco_node]: ***************************** [gdb-3] [DEBUG] [1752074455.673065491] [zed.zed_node]: === processOdometry === [gdb-3] [INFO] [1752074455.673134615] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074455.673227004] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.673289600] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000011 0.000010 -0.000051 [gdb-3] -0.000011 1.000000 -0.000000 0.000073 [gdb-3] -0.000010 0.000000 1.000000 0.000055 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.673358307] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [INFO] [1752074455.673437288] [zed.aruco_node]: * Color conversion: 0.000231277 sec [gdb-3] [DEBUG] [1752074455.673469642] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.673526125] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.673560239] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019594 0.004383 -0.007765 [gdb-3] -0.019620 0.999790 0.005826 0.062316 [gdb-3] -0.004268 -0.005911 0.999973 0.013037 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.673602801] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.673632594] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.673711543] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.679195075] [zed.aruco_node]: * Marker detection: 0.00568121 sec [gdb-3] [INFO] [1752074455.679325034] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.679345387] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36723)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36723) exited] [gdb-3] [DEBUG] [1752074455.704319940] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.704405000] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.704465452] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.704584466] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000008 0.000001 0.000029 [gdb-3] 0.000008 1.000000 0.000006 -0.000049 [gdb-3] -0.000001 -0.000006 1.000000 -0.000027 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.704645013] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.704692216] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.704731354] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.704761532] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019586 0.004384 -0.007737 [gdb-3] -0.019611 0.999791 0.005833 0.062267 [gdb-3] -0.004269 -0.005917 0.999973 0.013010 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.704789501] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.704815775] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.704854337] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36724)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36724) exited] [gdb-3] [DEBUG] [1752074455.739884704] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.740006950] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.740079658] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.740131853] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 -0.000008 -0.000035 [gdb-3] -0.000001 1.000000 -0.000014 0.000027 [gdb-3] 0.000008 0.000014 1.000000 0.000017 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.740198577] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.740253524] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.740297238] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.740331352] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019587 0.004376 -0.007771 [gdb-3] -0.019613 0.999791 0.005819 0.062295 [gdb-3] -0.004261 -0.005903 0.999973 0.013027 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.740370586] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.740394780] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.740434046] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.741310286] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.741373937] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.741620255] [zed.aruco_node]: * Color conversion: 0.000213836 sec [gdb-3] [INFO] [1752074455.746333793] [zed.aruco_node]: * Marker detection: 0.00464563 sec [gdb-3] [INFO] [1752074455.746425158] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.746444231] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36725)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36725) exited] [gdb-3] [DEBUG] [1752074455.772525948] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.772627745] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.772702150] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.772759689] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000010 0.000002 -0.000012 [gdb-3] -0.000010 1.000000 -0.000004 0.000027 [gdb-3] -0.000002 0.000004 1.000000 0.000011 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.772821228] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074455.772883407] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.772923794] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.772955091] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019598 0.004379 -0.007783 [gdb-3] -0.019623 0.999790 0.005814 0.062322 [gdb-3] -0.004264 -0.005899 0.999973 0.013038 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.772989813] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.773015607] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.773144830] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36726)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36726) exited] [gdb-3] [DEBUG] [1752074455.804771522] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.804864199] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.804925387] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.804970861] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000003 0.000009 0.000042 [gdb-3] 0.000003 1.000000 -0.000002 -0.000038 [gdb-3] -0.000009 0.000002 1.000000 0.000002 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.805027632] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.805075475] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.805111029] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.805140887] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019595 0.004388 -0.007742 [gdb-3] -0.019620 0.999791 0.005812 0.062283 [gdb-3] -0.004273 -0.005897 0.999973 0.013041 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.805170456] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.805196026] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.805232604] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.806822067] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.806895191] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.807140324] [zed.aruco_node]: * Color conversion: 0.000209419 sec [gdb-3] [INFO] [1752074455.811513428] [zed.aruco_node]: * Marker detection: 0.00430824 sec [gdb-3] [INFO] [1752074455.811593144] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.811608281] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36727)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36727) exited] [gdb-3] [DEBUG] [1752074455.837476770] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.837567783] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.837617866] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.837666668] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 -0.000005 -0.000022 [gdb-3] -0.000001 1.000000 -0.000000 0.000005 [gdb-3] 0.000005 0.000000 1.000000 -0.000014 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.837723439] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.837765650] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.837821397] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.837856023] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019596 0.004383 -0.007764 [gdb-3] -0.019622 0.999791 0.005812 0.062289 [gdb-3] -0.004268 -0.005897 0.999973 0.013026 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.837890073] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.837920538] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.837964733] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36728)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36728) exited] [gdb-3] [DEBUG] [1752074455.868425025] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.868532871] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.868601675] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.868653774] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000010 -0.000035 [gdb-3] 0.000004 1.000000 -0.000005 0.000003 [gdb-3] 0.000010 0.000005 1.000000 0.000003 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.868721266] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.868780437] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.868821495] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.868856121] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019592 0.004373 -0.007799 [gdb-3] -0.019617 0.999791 0.005807 0.062292 [gdb-3] -0.004258 -0.005892 0.999973 0.013030 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.868938685] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.868978560] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.869025090] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36729)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36729) exited] [gdb-3] [DEBUG] [1752074455.903220339] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.903309016] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.903372092] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.903427967] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000009 0.000008 -0.000001 [gdb-3] -0.000009 1.000000 -0.000005 0.000035 [gdb-3] -0.000008 0.000005 1.000000 0.000021 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.903504995] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074455.903572903] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.903617545] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.903654187] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019601 0.004380 -0.007799 [gdb-3] -0.019626 0.999790 0.005803 0.062328 [gdb-3] -0.004265 -0.005887 0.999974 0.013051 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.903691693] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.903717615] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.903760881] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.904600639] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.904684868] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.904933617] [zed.aruco_node]: * Color conversion: 0.000214187 sec [gdb-3] [INFO] [1752074455.910098860] [zed.aruco_node]: * Marker detection: 0.005095 sec [gdb-3] [INFO] [1752074455.910220499] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.910236820] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36730)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36730) exited] [gdb-3] [DEBUG] [1752074455.935232589] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.935317490] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.935374101] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.935420983] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000002 0.000002 0.000027 [gdb-3] 0.000002 1.000000 0.000015 -0.000017 [gdb-3] -0.000002 -0.000015 1.000000 -0.000009 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.935479323] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074455.935523197] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.935561055] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.935589953] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019598 0.004382 -0.007773 [gdb-3] -0.019624 0.999790 0.005817 0.062310 [gdb-3] -0.004267 -0.005902 0.999973 0.013041 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.935621570] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.935645924] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.935683110] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36731)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36731) exited] [gdb-3] [DEBUG] [1752074455.968579984] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074455.968688310] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074455.968765818] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074455.968821469] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000008 0.000000 -0.000024 [gdb-3] 0.000008 1.000000 -0.000007 -0.000028 [gdb-3] -0.000000 0.000007 1.000000 0.000002 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074455.968888705] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074455.969041289] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074455.969113357] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074455.969162896] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019590 0.004382 -0.007797 [gdb-3] -0.019615 0.999791 0.005810 0.062282 [gdb-3] -0.004267 -0.005895 0.999973 0.013043 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074455.969210226] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074455.969235092] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074455.969279094] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074455.969808403] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074455.969879383] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074455.970126885] [zed.aruco_node]: * Color conversion: 0.000214124 sec [gdb-3] [INFO] [1752074455.974345196] [zed.aruco_node]: * Marker detection: 0.00415332 sec [gdb-3] [INFO] [1752074455.974431696] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074455.974466706] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36732)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36732) exited] [gdb-3] [DEBUG] [1752074456.001411894] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.001500315] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.001552670] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.001600001] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 0.000006 -0.000021 [gdb-3] -0.000005 1.000000 0.000004 0.000026 [gdb-3] -0.000006 -0.000004 1.000000 0.000034 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.001653828] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.001} [gdb-3] [DEBUG] [1752074456.001696390] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.001731784] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.001760425] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019595 0.004388 -0.007817 [gdb-3] -0.019621 0.999791 0.005814 0.062308 [gdb-3] -0.004273 -0.005899 0.999973 0.013077 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.001789867] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074456.001815852] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.001854543] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36733)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36733) exited] [gdb-3] [DEBUG] [1752074456.034671892] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.034762073] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.034823005] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.034879072] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000021 0.000003 0.000066 [gdb-3] -0.000021 1.000000 -0.000007 0.000046 [gdb-3] -0.000003 0.000007 1.000000 0.000003 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.034943939] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.035004135] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.035052489] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.035089291] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019616 0.004391 -0.007751 [gdb-3] -0.019641 0.999790 0.005807 0.062353 [gdb-3] -0.004276 -0.005892 0.999973 0.013079 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.035126349] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.035152815] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.035196369] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.036007614] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.036062273] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.036328239] [zed.aruco_node]: * Color conversion: 0.000233357 sec [gdb-3] [INFO] [1752074456.040354156] [zed.aruco_node]: * Marker detection: 0.00397459 sec [gdb-3] [INFO] [1752074456.040471986] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.040491795] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36734)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36734) exited] [gdb-3] [DEBUG] [1752074456.068293030] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.068384011] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.068449519] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.068504178] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000005 -0.000059 [gdb-3] 0.000004 1.000000 0.000002 0.000001 [gdb-3] 0.000005 -0.000002 1.000000 -0.000031 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.068564661] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074456.068626264] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.068666299] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.068707485] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019612 0.004385 -0.007810 [gdb-3] -0.019637 0.999790 0.005810 0.062356 [gdb-3] -0.004271 -0.005895 0.999973 0.013048 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.068746207] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.068772672] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.068817539] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36735)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36735) exited] [gdb-3] [DEBUG] [1752074456.104372831] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.104502406] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.104568457] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.104627405] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 0.000000 -0.000005 [gdb-3] 0.000004 1.000000 0.000002 -0.000008 [gdb-3] -0.000000 -0.000002 1.000000 0.000020 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.104734226] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074456.104790837] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.104834904] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.104868890] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019608 0.004386 -0.007814 [gdb-3] -0.019633 0.999790 0.005811 0.062348 [gdb-3] -0.004271 -0.005896 0.999973 0.013068 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.104935677] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.104965759] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.105010305] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.105783468] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.105837807] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.106139135] [zed.aruco_node]: * Color conversion: 0.000264718 sec [gdb-3] [INFO] [1752074456.110319236] [zed.aruco_node]: * Marker detection: 0.00411213 sec [gdb-3] [INFO] [1752074456.110403977] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.110422250] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36736)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36736) exited] [gdb-3] [DEBUG] [1752074456.134795073] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.134879142] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.134931657] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.134973899] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 0.000002 -0.000009 [gdb-3] -0.000002 1.000000 -0.000009 0.000012 [gdb-3] -0.000002 0.000009 1.000000 -0.000008 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.135029838] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074456.135069392] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.135105938] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.135134612] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019610 0.004387 -0.007823 [gdb-3] -0.019635 0.999790 0.005802 0.062360 [gdb-3] -0.004272 -0.005887 0.999973 0.013061 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.135213144] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.135247002] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.135285372] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36737)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36737) exited] [gdb-3] [DEBUG] [1752074456.171962805] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.172076539] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.172162112] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.172221539] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000011 -0.000002 -0.000042 [gdb-3] 0.000011 1.000000 0.000012 -0.000017 [gdb-3] 0.000002 -0.000012 1.000000 0.000004 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.172286407] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074456.172352010] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.172404845] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.172441103] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019599 0.004385 -0.007866 [gdb-3] -0.019624 0.999790 0.005813 0.062344 [gdb-3] -0.004270 -0.005898 0.999973 0.013065 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.172479729] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.124} [gdb-3] [DEBUG] [1752074456.172510195] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.172563638] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.172810180] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.172859558] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.173168215] [zed.aruco_node]: * Color conversion: 0.000258542 sec [gdb-3] [INFO] [1752074456.177677390] [zed.aruco_node]: * Marker detection: 0.00442376 sec [gdb-3] [INFO] [1752074456.177754898] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.177771091] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36738)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36738) exited] [gdb-3] [DEBUG] [1752074456.202132874] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.202212718] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.202263857] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.202306515] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 0.000004 0.000019 [gdb-3] -0.000005 1.000000 -0.000004 -0.000022 [gdb-3] -0.000004 0.000004 1.000000 0.000010 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.202361206] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.000} [gdb-3] [DEBUG] [1752074456.202398264] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.202433818] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.202481245] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019603 0.004389 -0.007847 [gdb-3] -0.019629 0.999790 0.005809 0.062321 [gdb-3] -0.004274 -0.005894 0.999973 0.013075 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.202517151] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.202541248] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.202578466] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36739)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36739) exited] [gdb-3] [DEBUG] [1752074456.235394312] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.235482189] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.235546448] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.235599987] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000019 0.000004 -0.000026 [gdb-3] -0.000019 1.000000 0.000000 0.000097 [gdb-3] -0.000004 -0.000000 1.000000 0.000027 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.235733083] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.235795198] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.235841824] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.235877826] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019622 0.004393 -0.007871 [gdb-3] -0.019648 0.999790 0.005810 0.062419 [gdb-3] -0.004278 -0.005895 0.999973 0.013102 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.235913668] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.235939622] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.235981224] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.236854392] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.236936124] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.237149384] [zed.aruco_node]: * Color conversion: 0.000177609 sec [gdb-3] [INFO] [1752074456.242186652] [zed.aruco_node]: * Marker detection: 0.0049811 sec [gdb-3] [INFO] [1752074456.242268577] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.242284737] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36740)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36740) exited] [gdb-3] [DEBUG] [1752074456.270961572] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.271199537] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.271260533] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.271336473] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000002 0.000002 0.000019 [gdb-3] 0.000002 1.000000 -0.000005 -0.000015 [gdb-3] -0.000002 0.000005 1.000000 0.000000 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.271394780] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.271477313] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.271561061] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.271610824] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019620 0.004396 -0.007853 [gdb-3] -0.019646 0.999790 0.005805 0.062404 [gdb-3] -0.004281 -0.005890 0.999973 0.013102 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.271651786] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.271677996] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.271721038] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36741)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36741) exited] [gdb-3] [DEBUG] [1752074456.303219243] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.303325137] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.303387829] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.303515452] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 -0.000001 0.000010 [gdb-3] 0.000004 1.000000 0.000002 -0.000002 [gdb-3] 0.000001 -0.000002 1.000000 0.000014 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.303580447] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.303705510] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.303770186] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.303813420] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019616 0.004394 -0.007843 [gdb-3] -0.019642 0.999790 0.005806 0.062402 [gdb-3] -0.004280 -0.005891 0.999973 0.013116 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.303853806] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.303885264] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.304012695] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.306364248] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.306436348] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.306781327] [zed.aruco_node]: * Color conversion: 0.000220492 sec [gdb-3] [INFO] [1752074456.311216994] [zed.aruco_node]: * Marker detection: 0.00435726 sec [gdb-3] [INFO] [1752074456.311319655] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.311336360] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36742)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36742) exited] [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36743)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36743) exited] [gdb-3] [DEBUG] [1752074456.339809184] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.339906917] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.339963848] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.340027116] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000000 -0.000009 0.000016 [gdb-3] -0.000000 1.000000 0.000015 -0.000018 [gdb-3] 0.000009 -0.000015 1.000000 -0.000051 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.340091151] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.340154643] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.340199381] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.340234583] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019617 0.004386 -0.007827 [gdb-3] -0.019642 0.999790 0.005821 0.062383 [gdb-3] -0.004271 -0.005906 0.999973 0.013064 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.340645230] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.340770036] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.340833400] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.341245807] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.341314610] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.341602402] [zed.aruco_node]: * Color conversion: 0.000251182 sec [gdb-3] [INFO] [1752074456.347080878] [zed.aruco_node]: * Marker detection: 0.00535789 sec [gdb-3] [INFO] [1752074456.347186484] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.347208213] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36744)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36744) exited] [gdb-3] [DEBUG] [1752074456.369854222] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.369960340] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.370036696] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.370093691] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 0.000015 0.000032 [gdb-3] -0.000001 1.000000 0.000001 -0.000004 [gdb-3] -0.000015 -0.000001 1.000000 0.000033 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.370159646] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.370219970] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.370261476] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.370295302] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019618 0.004401 -0.007795 [gdb-3] -0.019643 0.999790 0.005821 0.062379 [gdb-3] -0.004286 -0.005907 0.999973 0.013097 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.370329928] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.370356713] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.370400300] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36745)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36745) exited] [gdb-3] [DEBUG] [1752074456.407874832] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.407979478] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.408048826] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.408106269] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000003 -0.000007 -0.000025 [gdb-3] 0.000003 1.000000 -0.000006 0.000021 [gdb-3] 0.000007 0.000006 1.000000 0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.408181761] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074456.408244805] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.408385196] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.408431087] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019615 0.004394 -0.007820 [gdb-3] -0.019640 0.999790 0.005816 0.062400 [gdb-3] -0.004279 -0.005901 0.999973 0.013098 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.408471793] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.408501459] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.408542389] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.409393924] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.409451719] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.409726486] [zed.aruco_node]: * Color conversion: 0.000240333 sec [gdb-3] [INFO] [1752074456.415879911] [zed.aruco_node]: * Marker detection: 0.00607736 sec [gdb-3] [INFO] [1752074456.416023919] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.416043632] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36746)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36746) exited] [gdb-3] [DEBUG] [1752074456.439142561] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.439222758] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.439272232] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.439319563] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000014 -0.000003 -0.000020 [gdb-3] -0.000014 1.000000 0.000002 0.000053 [gdb-3] 0.000003 -0.000002 1.000000 0.000002 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.439373486] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.439411824] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.439448818] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.439479060] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019629 0.004392 -0.007839 [gdb-3] -0.019654 0.999790 0.005818 0.062454 [gdb-3] -0.004276 -0.005903 0.999973 0.013100 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.439511382] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.439536055] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.439572249] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36747)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36747) exited] [gdb-3] [DEBUG] [1752074456.474349642] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.474507859] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.474822660] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.474926090] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000011 0.000000 0.000038 [gdb-3] 0.000011 1.000000 -0.000010 -0.000063 [gdb-3] -0.000000 0.000010 1.000000 -0.000025 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.475003918] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.475093075] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.475148150] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.475183640] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019618 0.004392 -0.007802 [gdb-3] -0.019643 0.999790 0.005808 0.062390 [gdb-3] -0.004277 -0.005894 0.999973 0.013075 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.475218778] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.475243323] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.475279677] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.475993028] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.476052711] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.476318774] [zed.aruco_node]: * Color conversion: 0.000211308 sec [gdb-3] [INFO] [1752074456.482111763] [zed.aruco_node]: * Marker detection: 0.00571337 sec [gdb-3] [INFO] [1752074456.482204248] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.482330687] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36748)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36748) exited] [gdb-3] [DEBUG] [1752074456.506614353] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.506708951] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.506767994] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.506815900] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000020 -0.000012 -0.000084 [gdb-3] -0.000020 1.000000 0.000011 0.000089 [gdb-3] 0.000012 -0.000011 1.000000 -0.000016 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.506877120] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.506917474] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.506955716] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.506985030] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019637 0.004380 -0.007884 [gdb-3] -0.019663 0.999790 0.005819 0.062480 [gdb-3] -0.004265 -0.005904 0.999973 0.013059 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.507015751] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074456.507043017] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.507082507] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36749)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36749) exited] [gdb-3] [DEBUG] [1752074456.540380779] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.540525203] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.540631481] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.540694972] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000007 -0.000004 0.000027 [gdb-3] 0.000007 1.000000 -0.000006 -0.000025 [gdb-3] 0.000004 0.000006 1.000000 -0.000010 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.540764640] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.540854693] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.540900744] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.540933033] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019631 0.004377 -0.007858 [gdb-3] -0.019656 0.999790 0.005814 0.062455 [gdb-3] -0.004261 -0.005899 0.999973 0.013049 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.540969451] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.540996013] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.541068721] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.541993380] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.542051911] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.542296340] [zed.aruco_node]: * Color conversion: 0.000212907 sec [gdb-3] [INFO] [1752074456.546941011] [zed.aruco_node]: * Marker detection: 0.00458012 sec [gdb-3] [INFO] [1752074456.547024183] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.547040472] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36750)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36750) exited] [gdb-3] [DEBUG] [1752074456.574075969] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.574183399] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.574258699] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.574313582] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000008 0.000005 -0.000005 [gdb-3] 0.000008 1.000000 0.000016 -0.000037 [gdb-3] -0.000005 -0.000016 1.000000 -0.000021 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.574374577] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.574427604] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.574513273] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.574560188] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019623 0.004382 -0.007863 [gdb-3] -0.019649 0.999790 0.005829 0.062418 [gdb-3] -0.004266 -0.005914 0.999973 0.013028 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.574685314] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.574721572] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.574768743] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36751)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36751) exited] [gdb-3] [DEBUG] [1752074456.606738846] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.606850340] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.606920168] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.606977035] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 -0.000006 -0.000033 [gdb-3] 0.000005 1.000000 -0.000025 -0.000041 [gdb-3] 0.000006 0.000025 1.000000 0.000002 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.607078545] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.607156213] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.607208984] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.607246330] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019618 0.004375 -0.007898 [gdb-3] -0.019643 0.999790 0.005805 0.062378 [gdb-3] -0.004260 -0.005890 0.999974 0.013030 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.607280828] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.607348448] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.607394402] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.608379960] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.608437339] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.608689577] [zed.aruco_node]: * Color conversion: 0.000215916 sec [gdb-3] [INFO] [1752074456.613348616] [zed.aruco_node]: * Marker detection: 0.00459436 sec [gdb-3] [INFO] [1752074456.613426957] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.613444622] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36752)] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36752) exited] [gdb-3] [New Thread 0xffff73a5e8e0 (LWP 36753)] [gdb-3] [DEBUG] [1752074456.639691307] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.639776752] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.639836787] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.639883318] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000016 0.000002 0.000039 [gdb-3] -0.000016 1.000000 0.000017 0.000075 [gdb-3] -0.000002 -0.000017 1.000000 0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.639946617] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.639987740] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.640024542] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.640056063] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019634 0.004377 -0.007857 [gdb-3] -0.019659 0.999790 0.005822 0.062452 [gdb-3] -0.004262 -0.005907 0.999973 0.013047 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.640087009] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.640113635] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.640152229] [zed.zed_node]: === publishTFs === [gdb-3] [Detaching after vfork from child process 36754] [gdb-3] [Thread 0xffff73a5e8e0 (LWP 36753) exited] [gdb-3] [DEBUG] [1752074456.646866997] [zed.zed_node]: === Update Diagnostic === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36757)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36757) exited] [gdb-3] [DEBUG] [1752074456.672517394] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.672640280] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.672707004] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.672758879] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 -0.000014 -0.000041 [gdb-3] -0.000002 1.000000 -0.000010 0.000007 [gdb-3] 0.000014 0.000010 1.000000 -0.000042 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.673099346] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.673154677] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.673199863] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.673239321] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019636 0.004363 -0.007897 [gdb-3] -0.019661 0.999790 0.005812 0.062460 [gdb-3] -0.004248 -0.005897 0.999974 0.013006 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.673271899] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074456.673296956] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.673333758] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36758)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36758) exited] [gdb-3] [DEBUG] [1752074456.703000920] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.703096477] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.703162912] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.703217187] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000004 0.000033 0.000032 [gdb-3] 0.000004 1.000000 -0.000002 -0.000038 [gdb-3] -0.000033 0.000002 1.000000 0.000104 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.703285607] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.703345386] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.703395117] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.703431503] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019633 0.004396 -0.007865 [gdb-3] -0.019658 0.999790 0.005810 0.062422 [gdb-3] -0.004281 -0.005895 0.999973 0.013110 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.703470065] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.703572343] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.703634554] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.704364514] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.704417925] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.704632657] [zed.aruco_node]: * Color conversion: 0.000181642 sec [gdb-3] [INFO] [1752074456.709095781] [zed.aruco_node]: * Marker detection: 0.00439925 sec [gdb-3] [INFO] [1752074456.709177802] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.709193995] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36759)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36759) exited] [gdb-3] [DEBUG] [1752074456.735585937] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.735661173] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.735709815] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.735756890] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000003 -0.000013 -0.000028 [gdb-3] -0.000003 1.000000 0.000014 0.000008 [gdb-3] 0.000013 -0.000014 1.000000 -0.000033 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.735809885] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.735847039] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.735883585] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.735915587] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019635 0.004383 -0.007894 [gdb-3] -0.019661 0.999790 0.005824 0.062431 [gdb-3] -0.004268 -0.005908 0.999973 0.013077 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.735946372] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074456.735970982] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.736005704] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36760)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36760) exited] [gdb-3] [DEBUG] [1752074456.769499986] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.769599224] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.769774849] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.769840965] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000009 0.000006 0.000048 [gdb-3] 0.000009 1.000000 -0.000005 -0.000015 [gdb-3] -0.000006 0.000005 1.000000 0.000007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.769906441] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.769964140] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.770007982] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.770044016] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019626 0.004389 -0.007846 [gdb-3] -0.019651 0.999790 0.005819 0.062415 [gdb-3] -0.004273 -0.005904 0.999973 0.013084 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.770081426] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.770114516] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.770155062] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.770352833] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.770398148] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.770797081] [zed.aruco_node]: * Color conversion: 0.000362195 sec [gdb-3] [INFO] [1752074456.775203499] [zed.aruco_node]: * Marker detection: 0.00432744 sec [gdb-3] [INFO] [1752074456.775289424] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.775307184] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36761)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36761) exited] [gdb-3] [DEBUG] [1752074456.802276822] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.802366683] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.802419678] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.802480641] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 -0.000011 -0.000039 [gdb-3] -0.000005 1.000000 -0.000005 0.000008 [gdb-3] 0.000011 0.000005 1.000000 -0.000019 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.802543460] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.802584967] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.802621705] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.802652874] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019631 0.004378 -0.007885 [gdb-3] -0.019656 0.999790 0.005814 0.062423 [gdb-3] -0.004263 -0.005899 0.999973 0.013065 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.802683692] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.802708174] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.802746864] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36762)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36762) exited] [gdb-3] [DEBUG] [1752074456.835896872] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.835989709] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.836054064] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.836103891] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000006 -0.000002 -0.000032 [gdb-3] -0.000006 1.000000 -0.000005 0.000021 [gdb-3] 0.000002 0.000005 1.000000 -0.000006 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.836168566] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.836368225] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.836424485] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.836462471] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019637 0.004376 -0.007917 [gdb-3] -0.019662 0.999790 0.005809 0.062445 [gdb-3] -0.004261 -0.005894 0.999974 0.013059 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.836501513] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074456.836594222] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.836646321] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.837325686] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.837373625] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.837626118] [zed.aruco_node]: * Color conversion: 0.000219308 sec [gdb-3] [INFO] [1752074456.842014711] [zed.aruco_node]: * Marker detection: 0.00433544 sec [gdb-3] [INFO] [1752074456.842083707] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.842101307] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36763)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36763) exited] [gdb-3] [DEBUG] [1752074456.869462934] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.869564892] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.869632384] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.869685635] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 0.000006 0.000060 [gdb-3] -0.000002 1.000000 -0.000006 0.000003 [gdb-3] -0.000006 0.000006 1.000000 0.000010 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.869749798] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.869799721] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.869839467] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.869869293] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019639 0.004381 -0.007857 [gdb-3] -0.019664 0.999790 0.005803 0.062446 [gdb-3] -0.004266 -0.005888 0.999973 0.013069 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.869897678] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074456.869921295] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.869958193] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36764)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36764) exited] [gdb-3] [DEBUG] [1752074456.905369541] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.905461674] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.905517869] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.905575409] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000010 -0.000005 -0.000003 [gdb-3] 0.000010 1.000000 0.000004 -0.000040 [gdb-3] 0.000005 -0.000004 1.000000 -0.000006 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.905633588] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.905691063] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.905736185] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.905768475] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019629 0.004376 -0.007861 [gdb-3] -0.019654 0.999790 0.005807 0.062407 [gdb-3] -0.004261 -0.005892 0.999974 0.013063 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.905807581] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.905837055] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.905879041] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.906678765] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.906735824] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.906974333] [zed.aruco_node]: * Color conversion: 0.000206475 sec [gdb-3] [INFO] [1752074456.911490837] [zed.aruco_node]: * Marker detection: 0.00446386 sec [gdb-3] [INFO] [1752074456.911582778] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.911599931] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36765)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36765) exited] [gdb-3] [DEBUG] [1752074456.935662529] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.935778535] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.935832714] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.935878637] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000000 0.000005 -0.000119 [gdb-3] 0.000000 1.000000 0.000010 0.000069 [gdb-3] -0.000005 -0.000010 1.000000 0.000036 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.936016468] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074456.936062551] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.936102713] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.936133883] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019628 0.004381 -0.007978 [gdb-3] -0.019654 0.999790 0.005817 0.062478 [gdb-3] -0.004266 -0.005901 0.999973 0.013099 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.936165148] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.936215135] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.936259105] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36766)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36766) exited] [gdb-3] [DEBUG] [1752074456.969674568] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074456.969783598] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074456.969896756] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074456.969963256] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000006 0.000005 0.000026 [gdb-3] -0.000006 1.000000 -0.000007 -0.000026 [gdb-3] -0.000005 0.000007 1.000000 -0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074456.970031420] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074456.970117408] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074456.970168131] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074456.970201989] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019634 0.004385 -0.007953 [gdb-3] -0.019659 0.999790 0.005810 0.062452 [gdb-3] -0.004270 -0.005895 0.999973 0.013098 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074456.970248327] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074456.970276969] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074456.970347213] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074456.970584986] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074456.970729730] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074456.971041171] [zed.aruco_node]: * Color conversion: 0.000269135 sec [gdb-3] [INFO] [1752074456.975567403] [zed.aruco_node]: * Marker detection: 0.00446268 sec [gdb-3] [INFO] [1752074456.975655984] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074456.975677009] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36767)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36767) exited] [gdb-3] [DEBUG] [1752074457.006067282] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.006177176] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.006274461] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.006340449] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000001 -0.000001 0.000067 [gdb-3] -0.000001 1.000000 -0.000004 -0.000018 [gdb-3] 0.000001 0.000004 1.000000 -0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.006400324] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.006511594] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.006592942] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.006637809] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019635 0.004384 -0.007886 [gdb-3] -0.019660 0.999790 0.005806 0.062432 [gdb-3] -0.004269 -0.005891 0.999973 0.013080 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.006676179] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.006733366] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.006775064] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.008587868] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.008706594] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.008969841] [zed.aruco_node]: * Color conversion: 0.000225293 sec [gdb-3] [INFO] [1752074457.013715669] [zed.aruco_node]: * Marker detection: 0.00467994 sec [gdb-3] [INFO] [1752074457.013809306] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.013826395] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36768)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36768) exited] [gdb-3] [DEBUG] [1752074457.039766088] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.039905103] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.039958322] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.040003189] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000002 -0.000008 -0.000042 [gdb-3] 0.000002 1.000000 -0.000005 -0.000010 [gdb-3] 0.000008 0.000005 1.000000 -0.000007 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.040058008] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.040130300] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.040171454] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.040204672] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019633 0.004376 -0.007928 [gdb-3] -0.019658 0.999790 0.005801 0.062423 [gdb-3] -0.004262 -0.005886 0.999974 0.013073 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.040237953] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074457.040265027] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.040302757] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36769)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36769) exited] [gdb-3] [DEBUG] [1752074457.074017212] [zed.zed_node]: ================================================================ [gdb-3] [INFO] [1752074457.074826344] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.075239775] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.075695608] [zed.aruco_node]: * Color conversion: 0.000400182 sec [gdb-3] [DEBUG] [1752074457.075156762] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.076511909] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.076577128] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000003 -0.000001 -0.000042 [gdb-3] -0.000003 1.000000 0.000020 0.000037 [gdb-3] 0.000001 -0.000020 1.000000 -0.000006 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.076643628] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.076729392] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.076773171] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.076810901] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019636 0.004376 -0.007969 [gdb-3] -0.019662 0.999790 0.005821 0.062461 [gdb-3] -0.004261 -0.005906 0.999973 0.013067 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.076847511] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.076876473] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.076918555] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.080212623] [zed.aruco_node]: * Marker detection: 0.00443672 sec [gdb-3] [INFO] [1752074457.080289459] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.080308885] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36770)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36770) exited] [gdb-3] [DEBUG] [1752074457.106374600] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.106484462] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.106546610] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.106595989] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 0.000011 0.000005 [gdb-3] 0.000005 1.000000 -0.000007 -0.000019 [gdb-3] -0.000011 0.000007 1.000000 0.000024 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.106652824] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074457.106763006] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.106803712] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.106835938] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019631 0.004387 -0.007965 [gdb-3] -0.019656 0.999790 0.005813 0.062441 [gdb-3] -0.004272 -0.005898 0.999973 0.013091 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.106868675] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074457.106895429] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.106932679] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36771)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36771) exited] [gdb-3] [DEBUG] [1752074457.139601573] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.139706762] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.139770318] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.139826705] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000018 0.000009 0.000009 [gdb-3] -0.000018 1.000000 -0.000015 0.000059 [gdb-3] -0.000009 0.000015 1.000000 0.000033 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.140041245] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.140098208] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.140139394] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.140175844] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019649 0.004395 -0.007955 [gdb-3] -0.019674 0.999790 0.005798 0.062501 [gdb-3] -0.004280 -0.005883 0.999973 0.013124 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.140211302] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.140238888] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.140278666] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.141269664] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.141323715] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.141564208] [zed.aruco_node]: * Color conversion: 0.000209355 sec [gdb-3] [INFO] [1752074457.145962977] [zed.aruco_node]: * Marker detection: 0.00434417 sec [gdb-3] [INFO] [1752074457.146050150] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.146066919] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36772)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36772) exited] [gdb-3] [DEBUG] [1752074457.174045795] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.174155849] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.174230094] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.174282928] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000001 -0.000015 0.000004 [gdb-3] 0.000001 1.000000 0.000004 -0.000035 [gdb-3] 0.000015 -0.000004 1.000000 -0.000046 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.174345236] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.174424280] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.174484443] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.174523678] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019648 0.004381 -0.007951 [gdb-3] -0.019673 0.999790 0.005803 0.062466 [gdb-3] -0.004266 -0.005888 0.999974 0.013078 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.174562208] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.174591233] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.174637380] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36773)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36773) exited] [gdb-3] [DEBUG] [1752074457.206879594] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.206984368] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.207056500] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.207225181] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000001 -0.000016 -0.000026 [gdb-3] 0.000001 1.000000 -0.000006 0.000013 [gdb-3] 0.000016 0.000006 1.000000 -0.000018 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.207303233] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.207384966] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.207434889] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.207466986] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019647 0.004364 -0.007977 [gdb-3] -0.019673 0.999790 0.005797 0.062478 [gdb-3] -0.004249 -0.005881 0.999974 0.013060 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.207537838] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.207650100] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.207697975] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.209008543] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.209060962] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.209305135] [zed.aruco_node]: * Color conversion: 0.000209867 sec [gdb-3] [INFO] [1752074457.213294281] [zed.aruco_node]: * Marker detection: 0.00393269 sec [gdb-3] [INFO] [1752074457.213368686] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.213385358] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36774)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36774) exited] [gdb-3] [DEBUG] [1752074457.236530562] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.236689003] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.236747950] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.236799281] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000000 0.000007 0.000037 [gdb-3] -0.000000 1.000000 0.000006 -0.000005 [gdb-3] -0.000007 -0.000006 1.000000 -0.000027 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.236882326] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.236944729] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.237137060] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.237202503] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019648 0.004372 -0.007940 [gdb-3] -0.019673 0.999790 0.005803 0.062473 [gdb-3] -0.004257 -0.005887 0.999974 0.013033 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.237261130] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.237304845] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.237380689] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36775)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36775) exited] [gdb-3] [DEBUG] [1752074457.273406086] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.273541006] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.273615954] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.273670933] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 0.000017 -0.000047 [gdb-3] 0.000005 1.000000 0.000008 0.000025 [gdb-3] -0.000017 -0.000008 1.000000 0.000084 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.273754842] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.273827998] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.273867936] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.273899905] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019643 0.004389 -0.007987 [gdb-3] -0.019668 0.999790 0.005810 0.062499 [gdb-3] -0.004274 -0.005895 0.999973 0.013117 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.273933475] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.273985222] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.274091180] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36776)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36776) exited] [gdb-3] [DEBUG] [1752074457.306116390] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.307642810] [zed.zed_node]: === processOdometry === [gdb-3] [INFO] [1752074457.307777953] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.308541035] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074457.308559948] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.308648049] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000003 -0.000004 0.000045 [gdb-3] 0.000003 1.000000 -0.000016 -0.000062 [gdb-3] 0.000004 0.000016 1.000000 -0.000027 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.308715093] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.308793369] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.308862813] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [INFO] [1752074457.308892222] [zed.aruco_node]: * Color conversion: 0.000313457 sec [gdb-3] [DEBUG] [1752074457.308909087] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019640 0.004384 -0.007944 [gdb-3] -0.019665 0.999790 0.005794 0.062436 [gdb-3] -0.004269 -0.005879 0.999974 0.013090 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.310700929] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.310742084] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.310842569] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.313931762] [zed.aruco_node]: * Marker detection: 0.00497765 sec [gdb-3] [INFO] [1752074457.313999478] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.314017143] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36777)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36777) exited] [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36778)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36778) exited] [gdb-3] [DEBUG] [1752074457.340792754] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.340928569] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.340999485] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.341057344] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000025 0.000025 -0.000001 [gdb-3] -0.000025 1.000000 -0.000010 0.000078 [gdb-3] -0.000025 0.000010 1.000000 0.000073 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.341122084] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.341185703] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.341270636] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.341310830] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019665 0.004409 -0.007943 [gdb-3] -0.019691 0.999789 0.005784 0.062515 [gdb-3] -0.004295 -0.005870 0.999974 0.013162 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.341377202] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.341412404] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.341458166] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.342349607] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.342405066] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.342664952] [zed.aruco_node]: * Color conversion: 0.000226092 sec [gdb-3] [INFO] [1752074457.347189872] [zed.aruco_node]: * Marker detection: 0.00446728 sec [gdb-3] [INFO] [1752074457.347262644] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.347280021] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36779)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36779) exited] [gdb-3] [DEBUG] [1752074457.374071569] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.374185271] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.374255483] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.374307614] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000008 -0.000020 -0.000050 [gdb-3] 0.000008 1.000000 -0.000001 0.000009 [gdb-3] 0.000020 0.000001 1.000000 -0.000027 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.374444165] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.374539114] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.374581645] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.374615503] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019658 0.004390 -0.007992 [gdb-3] -0.019683 0.999789 0.005783 0.062525 [gdb-3] -0.004275 -0.005868 0.999974 0.013135 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.374649617] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.374675602] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.374714324] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36780)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36780) exited] [gdb-3] [DEBUG] [1752074457.406594022] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.406697260] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.406758255] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.406815187] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 -0.000006 -0.000007 [gdb-3] 0.000005 1.000000 -0.000003 0.000017 [gdb-3] 0.000006 0.000003 1.000000 -0.000037 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.406874646] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.406930297] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.406975099] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.407011837] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019653 0.004384 -0.007999 [gdb-3] -0.019678 0.999790 0.005780 0.062541 [gdb-3] -0.004269 -0.005865 0.999974 0.013098 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.407048127] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.407074721] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.407115555] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.408063351] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.408118874] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.408356775] [zed.aruco_node]: * Color conversion: 0.000205579 sec [gdb-3] [INFO] [1752074457.413028807] [zed.aruco_node]: * Marker detection: 0.00460534 sec [gdb-3] [INFO] [1752074457.413093130] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.413110187] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36781)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36781) exited] [gdb-3] [DEBUG] [1752074457.438155335] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.438234700] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.438287215] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.438338641] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 0.000009 0.000001 [gdb-3] -0.000005 1.000000 -0.000004 -0.000026 [gdb-3] -0.000009 0.000004 1.000000 0.000024 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.438396181] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.438434839] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.438493018] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.438526844] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019658 0.004393 -0.007999 [gdb-3] -0.019683 0.999790 0.005776 0.062515 [gdb-3] -0.004279 -0.005861 0.999974 0.013122 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.438558205] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.438582687] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.438617665] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36782)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36782) exited] [gdb-3] [DEBUG] [1752074457.469554175] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.469734473] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.469810765] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.469862672] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000008 -0.000011 -0.000042 [gdb-3] -0.000008 1.000000 0.000016 0.000075 [gdb-3] 0.000011 -0.000016 1.000000 -0.000000 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.469924468] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.469964694] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.470005208] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.470039386] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019666 0.004382 -0.008039 [gdb-3] -0.019691 0.999789 0.005792 0.062591 [gdb-3] -0.004267 -0.005877 0.999974 0.013122 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.470074428] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.470100381] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.470136959] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36783)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36783) exited] [gdb-3] [DEBUG] [1752074457.502593617] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.502689015] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.502752154] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.502803517] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 0.000005 -0.000006 [gdb-3] 0.000005 1.000000 -0.000026 -0.000067 [gdb-3] -0.000005 0.000026 1.000000 0.000011 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.502872417] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.502928836] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.502977350] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.503015048] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019661 0.004387 -0.008047 [gdb-3] -0.019686 0.999790 0.005765 0.062524 [gdb-3] -0.004273 -0.005850 0.999974 0.013133 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.503050058] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.503077356] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.503118190] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.504716166] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.504777001] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.505025879] [zed.aruco_node]: * Color conversion: 0.000216396 sec [gdb-3] [INFO] [1752074457.509378661] [zed.aruco_node]: * Marker detection: 0.00428484 sec [gdb-3] [INFO] [1752074457.509460457] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.509478634] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36784)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36784) exited] [gdb-3] [DEBUG] [1752074457.535962517] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.536053018] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.536106237] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.536158208] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000018 0.000012 0.000046 [gdb-3] -0.000018 1.000000 0.000016 0.000067 [gdb-3] -0.000012 -0.000016 1.000000 0.000032 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.536218019] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.536258918] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.536295848] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.536326249] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019679 0.004399 -0.008000 [gdb-3] -0.019704 0.999789 0.005781 0.062591 [gdb-3] -0.004284 -0.005866 0.999974 0.013164 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.536352843] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.536420942] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.536464305] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36785)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36785) exited] [gdb-3] [DEBUG] [1752074457.569743504] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.569838549] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.569916409] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.569972060] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000006 -0.000011 -0.000012 [gdb-3] 0.000006 1.000000 0.000008 -0.000013 [gdb-3] 0.000011 -0.000008 1.000000 -0.000049 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.570037920] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.570095331] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.570136645] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.570171687] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019673 0.004388 -0.008012 [gdb-3] -0.019698 0.999789 0.005789 0.062578 [gdb-3] -0.004273 -0.005874 0.999974 0.013115 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.570205705] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.570232427] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.570271597] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.570611519] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.570668322] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.570952594] [zed.aruco_node]: * Color conversion: 0.00025131 sec [gdb-3] [INFO] [1752074457.575544686] [zed.aruco_node]: * Marker detection: 0.00453452 sec [gdb-3] [INFO] [1752074457.575620626] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.575638611] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36786)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36786) exited] [gdb-3] [DEBUG] [1752074457.602383532] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.602493778] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.602552341] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.602601560] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000005 0.000007 -0.000045 [gdb-3] -0.000005 1.000000 -0.000008 0.000005 [gdb-3] -0.000007 0.000008 1.000000 0.000024 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.602661723] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.602703613] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.602743456] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.602774849] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019678 0.004395 -0.008057 [gdb-3] -0.019703 0.999789 0.005781 0.062583 [gdb-3] -0.004280 -0.005866 0.999974 0.013139 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.602805987] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.602829668] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.602867590] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36787)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36787) exited] [gdb-3] [DEBUG] [1752074457.636095523] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.636191528] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.636259756] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.636325711] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000001 0.000003 0.000015 [gdb-3] 0.000001 1.000000 -0.000004 0.000013 [gdb-3] -0.000003 0.000004 1.000000 0.000002 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.636389715] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.636453622] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.636502777] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [INFO] [1752074457.637498511] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.637647992] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074457.638541449] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019677 0.004398 -0.008042 [gdb-3] -0.019702 0.999789 0.005777 0.062596 [gdb-3] -0.004283 -0.005862 0.999974 0.013141 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.638695697] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.638734995] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.638844761] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.641590448] [zed.aruco_node]: * Color conversion: 0.00389042 sec [gdb-3] [INFO] [1752074457.646763819] [zed.aruco_node]: * Marker detection: 0.00505119 sec [gdb-3] [INFO] [1752074457.646872113] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.646894386] [zed.aruco_node]: ***************************** [gdb-3] [DEBUG] [1752074457.647514100] [zed.zed_node]: === Update Diagnostic === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36788)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36788) exited] [gdb-3] [DEBUG] [1752074457.671130466] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.671273002] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.671343085] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.671398128] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000014 0.000007 0.000016 [gdb-3] 0.000014 1.000000 0.000001 -0.000035 [gdb-3] -0.000007 -0.000001 1.000000 0.000036 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.671460052] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.671573178] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.671645342] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.671683456] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019663 0.004405 -0.008027 [gdb-3] -0.019689 0.999789 0.005778 0.062560 [gdb-3] -0.004291 -0.005863 0.999974 0.013177 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.671719746] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.671746116] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.671784102] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36789)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36789) exited] [gdb-3] [DEBUG] [1752074457.702627071] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.702718660] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.702779303] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.702832586] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000014 -0.000013 -0.000101 [gdb-3] -0.000014 1.000000 0.000009 0.000078 [gdb-3] 0.000013 -0.000009 1.000000 -0.000055 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.702892622] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.702939152] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.702982995] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.703015348] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019678 0.004392 -0.008127 [gdb-3] -0.019703 0.999789 0.005787 0.062640 [gdb-3] -0.004278 -0.005872 0.999974 0.013122 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.703053783] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.703079256] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.703118842] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.704367839] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.704436290] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.706804612] [zed.aruco_node]: * Color conversion: 0.00232237 sec [gdb-3] [INFO] [1752074457.712006241] [zed.aruco_node]: * Marker detection: 0.0050677 sec [gdb-3] [INFO] [1752074457.712100774] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.712187275] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36790)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36790) exited] [gdb-3] [DEBUG] [1752074457.735772375] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.735873404] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.735921983] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.735970626] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000014 0.000000 0.000031 [gdb-3] 0.000014 1.000000 0.000018 -0.000032 [gdb-3] -0.000000 -0.000018 1.000000 0.000003 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.736023941] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.736063847] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.736103753] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.736268498] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019664 0.004393 -0.008097 [gdb-3] -0.019689 0.999789 0.005804 0.062608 [gdb-3] -0.004278 -0.005890 0.999973 0.013126 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.736318933] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.736350039] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.736393721] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36791)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36791) exited] [gdb-3] [DEBUG] [1752074457.769872291] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.769971752] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.770045676] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.770099407] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000015 -0.000013 -0.000019 [gdb-3] 0.000015 1.000000 -0.000024 -0.000063 [gdb-3] 0.000013 0.000024 1.000000 -0.000030 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.770164147] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074457.770220982] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.770270361] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.770323676] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019650 0.004379 -0.008117 [gdb-3] -0.019675 0.999790 0.005780 0.062546 [gdb-3] -0.004265 -0.005865 0.999974 0.013096 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.770368734] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074457.770392991] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.770441442] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.771099046] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.771149289] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.774609926] [zed.aruco_node]: * Color conversion: 0.00340396 sec [gdb-3] [INFO] [1752074457.780290750] [zed.aruco_node]: * Marker detection: 0.00553653 sec [gdb-3] [INFO] [1752074457.780411588] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.780430053] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36792)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36792) exited] [gdb-3] [DEBUG] [1752074457.802143915] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.802227919] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.802281586] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.802327541] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000028 0.000014 0.000018 [gdb-3] -0.000028 1.000000 -0.000009 0.000062 [gdb-3] -0.000014 0.000009 1.000000 0.000056 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.802384568] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.802425178] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.802479933] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.802516607] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019677 0.004393 -0.008098 [gdb-3] -0.019703 0.999789 0.005771 0.062608 [gdb-3] -0.004279 -0.005856 0.999974 0.013151 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.802600740] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.802636390] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.802680168] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36793)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36793) exited] [gdb-3] [DEBUG] [1752074457.836073069] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.836163602] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.836228502] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.836284121] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000015 0.000001 0.000042 [gdb-3] 0.000015 1.000000 -0.000001 -0.000047 [gdb-3] -0.000001 0.000001 1.000000 -0.000012 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.836347932] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.836401119] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.836449122] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.836483172] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019663 0.004394 -0.008057 [gdb-3] -0.019688 0.999789 0.005769 0.062560 [gdb-3] -0.004279 -0.005854 0.999974 0.013139 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.836515590] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.836539687] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.836584137] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.837384629] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.837448281] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.846678482] [zed.aruco_node]: * Color conversion: 0.00918479 sec [gdb-3] [INFO] [1752074457.851247181] [zed.aruco_node]: * Marker detection: 0.00444331 sec [gdb-3] [INFO] [1752074457.851350098] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.851368371] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36794)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36794) exited] [gdb-3] [DEBUG] [1752074457.871697293] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.871795890] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.871869494] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.871924025] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000002 -0.000007 0.000018 [gdb-3] -0.000002 1.000000 -0.000011 -0.000015 [gdb-3] 0.000007 0.000011 1.000000 -0.000001 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.871986525] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074457.872041536] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.872081218] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.872111876] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019664 0.004386 -0.008039 [gdb-3] -0.019690 0.999790 0.005758 0.062545 [gdb-3] -0.004272 -0.005844 0.999974 0.013138 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.872144613] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074457.872169575] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.872206953] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36795)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36795) exited] [gdb-3] [DEBUG] [1752074457.902617291] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.902706672] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.902776339] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.902835287] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000024 -0.000022 0.000115 [gdb-3] -0.000024 1.000000 -0.000022 0.000056 [gdb-3] 0.000022 0.000022 1.000000 -0.000056 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.902900570] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074457.903027649] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.903089124] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.903126055] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019689 0.004364 -0.007924 [gdb-3] -0.019714 0.999789 0.005737 0.062598 [gdb-3] -0.004251 -0.005822 0.999974 0.013082 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.903168361] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074457.903197706] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.903242189] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.904488433] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.904550805] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.904794626] [zed.aruco_node]: * Color conversion: 0.000213356 sec [gdb-3] [INFO] [1752074457.909309657] [zed.aruco_node]: * Marker detection: 0.0044429 sec [gdb-3] [INFO] [1752074457.909408351] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.909425920] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36796)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36796) exited] [gdb-3] [DEBUG] [1752074457.935580216] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074457.935674622] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.935740257] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.935794532] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000009 0.000001 -0.000042 [gdb-3] 0.000009 1.000000 -0.000002 0.000012 [gdb-3] -0.000001 0.000002 1.000000 0.000016 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.935856936] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074457.935905194] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.935944428] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.935974062] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019679 0.004366 -0.007965 [gdb-3] -0.019704 0.999789 0.005734 0.062611 [gdb-3] -0.004252 -0.005819 0.999974 0.013098 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.936004016] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074457.936029297] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.936067091] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36797)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36797) exited] [gdb-3] [DEBUG] [1752074457.973916876] [zed.zed_node]: ================================================================ [gdb-3] [INFO] [1752074457.974812093] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074457.975286583] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074457.975549670] [zed.aruco_node]: * Color conversion: 0.000222221 sec [gdb-3] [DEBUG] [1752074457.975232533] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074457.976542556] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074457.976604832] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000009 -0.000023 -0.000061 [gdb-3] -0.000009 1.000000 -0.000030 -0.000002 [gdb-3] 0.000023 0.000030 1.000000 -0.000044 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074457.976706117] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074457.976792970] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074457.976833804] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074457.976892879] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019689 0.004342 -0.008027 [gdb-3] -0.019713 0.999789 0.005705 0.062610 [gdb-3] -0.004229 -0.005789 0.999974 0.013055 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074457.976931858] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074457.976960243] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074457.977004470] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074457.980044092] [zed.aruco_node]: * Marker detection: 0.00443855 sec [gdb-3] [INFO] [1752074457.980163587] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074457.980182500] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36798)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36798) exited] [gdb-3] [DEBUG] [1752074458.002602448] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.002704437] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.002765305] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.002814363] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000017 0.000000 -0.000009 [gdb-3] 0.000017 1.000000 -0.000006 -0.000053 [gdb-3] -0.000000 0.000006 1.000000 -0.000002 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.002875199] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074458.002919553] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.002958595] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.002991045] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019671 0.004342 -0.008037 [gdb-3] -0.019696 0.999790 0.005699 0.062557 [gdb-3] -0.004229 -0.005783 0.999974 0.013054 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.003025575] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074458.003050888] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.003090763] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36799)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36799) exited] [gdb-3] [DEBUG] [1752074458.036600566] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.036702268] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.036771296] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.036828835] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000012 -0.000016 0.000065 [gdb-3] -0.000012 1.000000 -0.000019 0.000030 [gdb-3] 0.000016 0.000019 1.000000 -0.000025 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.036898087] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074458.036958730] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.037015725] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.037050383] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019683 0.004326 -0.007971 [gdb-3] -0.019707 0.999790 0.005680 0.062586 [gdb-3] -0.004213 -0.005764 0.999974 0.013028 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.037087825] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074458.037116691] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.037159221] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.038873875] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.038936950] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.039182948] [zed.aruco_node]: * Color conversion: 0.00021774 sec [gdb-3] [INFO] [1752074458.044068655] [zed.aruco_node]: * Marker detection: 0.00481882 sec [gdb-3] [INFO] [1752074458.044161812] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.044180565] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36800)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36800) exited] [gdb-3] [DEBUG] [1752074458.073078821] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.073181482] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.073257294] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.073314929] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000008 0.000013 0.000010 [gdb-3] -0.000008 1.000000 -0.000000 -0.000002 [gdb-3] -0.000013 0.000000 1.000000 0.000017 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.073374389] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074458.073456857] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.073545822] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.073587360] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019691 0.004339 -0.007961 [gdb-3] -0.019715 0.999789 0.005680 0.062584 [gdb-3] -0.004226 -0.005764 0.999974 0.013045 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.073698118] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074458.073731912] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.073783147] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36801)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36801) exited] [gdb-3] [DEBUG] [1752074458.106348867] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.106439720] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.106521613] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.106573775] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000018 -0.000013 -0.000009 [gdb-3] -0.000018 1.000000 0.000011 0.000087 [gdb-3] 0.000013 -0.000011 1.000000 -0.000033 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.106629874] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.006} [gdb-3] [DEBUG] [1752074458.106671957] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.106713143] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.106752121] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019709 0.004326 -0.007968 [gdb-3] -0.019733 0.999789 0.005691 0.062671 [gdb-3] -0.004213 -0.005775 0.999974 0.013011 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.106785211] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.131} [gdb-3] [DEBUG] [1752074458.106814877] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.106853631] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.107673452] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.107726959] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.107961787] [zed.aruco_node]: * Color conversion: 0.000205644 sec [gdb-3] [INFO] [1752074458.112486803] [zed.aruco_node]: * Marker detection: 0.00446408 sec [gdb-3] [INFO] [1752074458.112556503] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.112573464] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36802)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36802) exited] [gdb-3] [DEBUG] [1752074458.140916297] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.141011182] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.141065489] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.141117012] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000007 0.000009 0.000041 [gdb-3] -0.000007 1.000000 -0.000012 -0.000015 [gdb-3] -0.000009 0.000012 1.000000 0.000034 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.141171959] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.006} [gdb-3] [DEBUG] [1752074458.141212185] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.141252667] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.141282141] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019716 0.004335 -0.007927 [gdb-3] -0.019741 0.999789 0.005679 0.062655 [gdb-3] -0.004222 -0.005763 0.999974 0.013044 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.141312798] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.131} [gdb-3] [DEBUG] [1752074458.141339552] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.141375650] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.142182158] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.142239441] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.142533057] [zed.aruco_node]: * Color conversion: 0.000258894 sec [gdb-3] [INFO] [1752074458.146854222] [zed.aruco_node]: * Marker detection: 0.00425342 sec [gdb-3] [INFO] [1752074458.146941715] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.146960340] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36803)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36803) exited] [gdb-3] [DEBUG] [1752074458.172680885] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.172805500] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.172871807] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.172929602] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000029 -0.000003 -0.000130 [gdb-3] 0.000029 1.000000 0.000006 -0.000037 [gdb-3] 0.000003 -0.000006 1.000000 0.000009 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.172989318] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074458.173073770] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.173115469] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.173147790] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019688 0.004332 -0.008058 [gdb-3] -0.019712 0.999789 0.005685 0.062620 [gdb-3] -0.004219 -0.005769 0.999974 0.013055 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.173181808] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074458.173208626] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.173271285] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36804)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36804) exited] [gdb-3] [DEBUG] [1752074458.204775091] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.204862488] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.204916123] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.204966045] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000012 0.000012 0.000019 [gdb-3] -0.000012 1.000000 0.000018 0.000028 [gdb-3] -0.000012 -0.000018 1.000000 0.000011 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.205047682] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074458.205098181] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.205142951] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.205178601] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019700 0.004344 -0.008039 [gdb-3] -0.019724 0.999789 0.005702 0.062648 [gdb-3] -0.004231 -0.005787 0.999974 0.013066 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.205211083] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074458.205235404] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.205303056] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36805)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36805) exited] [gdb-3] [DEBUG] [1752074458.238749016] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.238835101] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.238898176] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.238958691] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000005 0.000024 -0.000031 [gdb-3] 0.000005 1.000000 0.000006 -0.000002 [gdb-3] -0.000024 -0.000006 1.000000 0.000072 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.239021799] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074458.239087946] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.239134733] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.239172079] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019695 0.004368 -0.008070 [gdb-3] -0.019720 0.999789 0.005708 0.062647 [gdb-3] -0.004255 -0.005793 0.999974 0.013138 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.239208209] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074458.239236691] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.239288725] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.240011933] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.240063456] [zed.aruco_node]: ArUco detection [gdb-3] [DEBUG] [1752074458.270713839] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.271708997] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.271789674] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.271870510] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000009 -0.000011 -0.000048 [gdb-3] -0.000009 1.000000 0.000004 0.000047 [gdb-3] 0.000011 -0.000004 1.000000 -0.000024 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.271950867] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.006} [gdb-3] [DEBUG] [1752074458.272041720] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.272097243] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [INFO] [1752074458.271958355] [zed.aruco_node]: * Color conversion: 0.00032645 sec [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36806)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36806) exited] [gdb-3] [DEBUG] [1752074458.272138333] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019704 0.004357 -0.008117 [gdb-3] -0.019729 0.999789 0.005712 0.062695 [gdb-3] -0.004244 -0.005796 0.999974 0.013115 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.272222338] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.130} [gdb-3] [DEBUG] [1752074458.272250595] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.272294342] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.276546158] [zed.aruco_node]: * Marker detection: 0.0043395 sec [gdb-3] [INFO] [1752074458.276634579] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.276662773] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36807)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36807) exited] [gdb-3] [DEBUG] [1752074458.306017149] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.306143588] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.306214888] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.306271435] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000072 0.000077 -0.000246 [gdb-3] 0.000072 1.000000 -0.000009 -0.000124 [gdb-3] -0.000077 0.000009 1.000000 0.000243 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.306347919] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074458.306414355] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.306491319] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.306544954] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019632 0.004434 -0.008364 [gdb-3] -0.019657 0.999790 0.005701 0.062577 [gdb-3] -0.004321 -0.005787 0.999974 0.013360 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.306587548] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074458.306613278] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.306661312] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.307760348] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.307828288] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.308341756] [zed.aruco_node]: * Color conversion: 0.000469242 sec [gdb-3] [INFO] [1752074458.312729837] [zed.aruco_node]: * Marker detection: 0.00430225 sec [gdb-3] [INFO] [1752074458.312828274] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.312845523] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36808)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36808) exited] [gdb-3] [DEBUG] [1752074458.338582165] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.338680474] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.338743070] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.338790560] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000018 0.000023 -0.000113 [gdb-3] 0.000018 1.000000 -0.000026 -0.000039 [gdb-3] -0.000023 0.000026 1.000000 0.000095 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.338846115] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074458.338890150] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.338995435] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.339031821] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019614 0.004456 -0.008478 [gdb-3] -0.019640 0.999791 0.005675 0.062540 [gdb-3] -0.004344 -0.005761 0.999974 0.013456 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.339066671] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.339092113] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.339131411] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36809)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36809) exited] [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36810)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36810) exited] [gdb-3] [DEBUG] [1752074458.371362776] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.371464830] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.371542434] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.371603110] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000010 -0.000003 0.000042 [gdb-3] -0.000010 1.000000 -0.000001 0.000021 [gdb-3] 0.000003 0.000001 1.000000 -0.000062 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.371671305] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.001} [gdb-3] [DEBUG] [1752074458.371727340] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.371769999] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.371803921] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019624 0.004453 -0.008436 [gdb-3] -0.019649 0.999791 0.005674 0.062560 [gdb-3] -0.004341 -0.005761 0.999974 0.013393 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.371840275] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.126} [gdb-3] [DEBUG] [1752074458.371868148] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.371908310] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.372189222] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.372242729] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.372580763] [zed.aruco_node]: * Color conversion: 0.000287311 sec [gdb-3] [INFO] [1752074458.376850693] [zed.aruco_node]: * Marker detection: 0.00416586 sec [gdb-3] [INFO] [1752074458.376919689] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.376936170] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36811)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36811) exited] [gdb-3] [DEBUG] [1752074458.401610193] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.401696214] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.401747769] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.401796444] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000016 0.000104 -0.000171 [gdb-3] 0.000016 1.000000 0.000034 0.000080 [gdb-3] -0.000104 -0.000034 1.000000 0.000411 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.401853023] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.000} [gdb-3] [DEBUG] [1752074458.401894849] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.401930531] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.401961637] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019609 0.004558 -0.008603 [gdb-3] -0.019635 0.999791 0.005707 0.062646 [gdb-3] -0.004445 -0.005795 0.999973 0.013804 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.401993510] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.402017928] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.402054730] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36812)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36812) exited] [gdb-3] [DEBUG] [1752074458.436490056] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.436588622] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.436650737] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.436707988] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000041 0.000026 -0.000240 [gdb-3] 0.000041 1.000000 -0.000068 -0.000041 [gdb-3] -0.000026 0.000068 1.000000 0.000176 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.436837883] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.002,0.001,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074458.436898463] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.437322166] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.437397402] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019568 0.004582 -0.008843 [gdb-3] -0.019594 0.999792 0.005639 0.062611 [gdb-3] -0.004471 -0.005727 0.999974 0.013981 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.437447165] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {-0.000,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074458.437476830] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.437517504] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.437765870] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.437809840] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.438068447] [zed.aruco_node]: * Color conversion: 0.000228813 sec [gdb-3] [INFO] [1752074458.444581219] [zed.aruco_node]: * Marker detection: 0.00645597 sec [gdb-3] [INFO] [1752074458.444645159] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.444663112] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36813)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36813) exited] [gdb-3] [DEBUG] [1752074458.472679751] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.472782828] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.472849136] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.472903923] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000107 -0.000166 0.000608 [gdb-3] -0.000107 1.000000 0.000081 0.000060 [gdb-3] 0.000166 -0.000081 1.000000 -0.000678 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.472964886] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074458.473023769] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.473062908] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.473095389] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019674 0.004418 -0.008236 [gdb-3] -0.019699 0.999790 0.005723 0.062656 [gdb-3] -0.004305 -0.005809 0.999974 0.013300 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.473129343] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.001,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074458.473154689] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.473194531] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36814)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36814) exited] [gdb-3] [DEBUG] [1752074458.505006481] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.505106231] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.505172635] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.505231838] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000040 0.000068 -0.000206 [gdb-3] 0.000040 1.000000 -0.000022 -0.000057 [gdb-3] -0.000068 0.000022 1.000000 0.000207 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.505295361] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074458.505354981] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.505395655] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.505430601] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019634 0.004486 -0.008442 [gdb-3] -0.019660 0.999790 0.005699 0.062604 [gdb-3] -0.004373 -0.005786 0.999974 0.013509 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.505467339] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074458.505493260] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.505534990] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.506534405] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.506629482] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.506881400] [zed.aruco_node]: * Color conversion: 0.000195114 sec [gdb-3] [INFO] [1752074458.514108964] [zed.aruco_node]: * Marker detection: 0.00714388 sec [gdb-3] [INFO] [1752074458.514197129] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.514214250] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36815)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36815) exited] [gdb-3] [DEBUG] [1752074458.535852299] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.535946448] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.535999347] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.536045366] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000009 -0.000041 0.000094 [gdb-3] -0.000009 1.000000 -0.000018 -0.000015 [gdb-3] 0.000041 0.000018 1.000000 -0.000060 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.536100089] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.002} [gdb-3] [DEBUG] [1752074458.536140027] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.536176477] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.536207071] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019644 0.004445 -0.008349 [gdb-3] -0.019669 0.999790 0.005682 0.062586 [gdb-3] -0.004332 -0.005768 0.999974 0.013448 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.536239008] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.127} [gdb-3] [DEBUG] [1752074458.536266690] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.536304868] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36816)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36816) exited] [gdb-3] [DEBUG] [1752074458.573039424] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.573135814] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.573206409] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.573264365] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000070 0.000072 -0.000217 [gdb-3] 0.000070 1.000000 -0.000090 -0.000136 [gdb-3] -0.000072 0.000090 1.000000 0.000291 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.573336113] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,-0.000,0.002} [gdb-3] [DEBUG] [1752074458.573398228] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.573439382] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.573473496] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999798 0.019574 0.004515 -0.008567 [gdb-3] -0.019599 0.999792 0.005590 0.062457 [gdb-3] -0.004404 -0.005677 0.999974 0.013741 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.573507738] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.123} [gdb-3] [DEBUG] [1752074458.573533947] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.573574078] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.574077017] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.574144573] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.574433677] [zed.aruco_node]: * Color conversion: 0.000249965 sec [gdb-3] [INFO] [1752074458.579997469] [zed.aruco_node]: * Marker detection: 0.00545348 sec [gdb-3] [INFO] [1752074458.580080194] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.580097059] [zed.aruco_node]: ***************************** [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36817)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36817) exited] [gdb-3] [DEBUG] [1752074458.602506127] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.602595699] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.602655479] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.602702329] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000105 -0.000079 0.000232 [gdb-3] -0.000105 1.000000 0.000144 0.000278 [gdb-3] 0.000079 -0.000144 1.000000 -0.000335 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.602761468] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074458.602852545] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.602901092] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.602934246] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019678 0.004439 -0.008332 [gdb-3] -0.019703 0.999789 0.005736 0.062728 [gdb-3] -0.004325 -0.005822 0.999974 0.013404 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.602968072] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074458.602993737] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.603034955] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36818)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36818) exited] [gdb-3] [DEBUG] [1752074458.635204078] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.635302547] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.635363574] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.635419481] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000008 0.000010 0.000050 [gdb-3] -0.000008 1.000000 -0.000031 -0.000027 [gdb-3] -0.000010 0.000031 1.000000 -0.000009 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.635480317] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.005} [gdb-3] [DEBUG] [1752074458.635535680] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.635579394] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.635614820] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999796 0.019686 0.004448 -0.008282 [gdb-3] -0.019711 0.999789 0.005705 0.062700 [gdb-3] -0.004335 -0.005792 0.999974 0.013395 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.635652582] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074458.635680488] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.635724874] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.636456530] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.636513589] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.636789061] [zed.aruco_node]: * Color conversion: 0.000243726 sec [gdb-3] [INFO] [1752074458.641214551] [zed.aruco_node]: * Marker detection: 0.00436328 sec [gdb-3] [INFO] [1752074458.641295643] [zed.aruco_node]: No Markers in view [gdb-3] [INFO] [1752074458.641312316] [zed.aruco_node]: ***************************** [gdb-3] [DEBUG] [1752074458.646795881] [zed.zed_node]: === Update Diagnostic === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36819)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36819) exited] [gdb-3] [DEBUG] [1752074458.669003625] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.669105007] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.669168018] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.669221653] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 -0.000027 -0.000019 -0.000128 [gdb-3] 0.000027 1.000000 -0.000013 -0.000071 [gdb-3] 0.000019 0.000013 1.000000 -0.000036 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.669282873] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.003} [gdb-3] [DEBUG] [1752074458.669340028] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.669377182] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.669408351] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019659 0.004429 -0.008411 [gdb-3] -0.019684 0.999790 0.005693 0.062632 [gdb-3] -0.004316 -0.005779 0.999974 0.013360 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.669441985] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.128} [gdb-3] [DEBUG] [1752074458.669469891] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.669512869] [zed.zed_node]: === publishTFs === [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36820)] [gdb-3] [Thread 0xffff71dfe8e0 (LWP 36820) exited] [gdb-3] [DEBUG] [1752074458.702412815] [zed.zed_node]: ================================================================ [gdb-3] [DEBUG] [1752074458.702565592] [zed.zed_node]: === processOdometry === [gdb-3] [DEBUG] [1752074458.702765059] [zed.zed_node]: MAP -> Odometry Status: OK [gdb-3] [DEBUG] [1752074458.702865064] [zed.zed_node]: delta ODOM - [OK]: [gdb-3] FFFF7528C938 [gdb-3] 1.000000 0.000017 -0.000004 0.000147 [gdb-3] -0.000017 1.000000 -0.000020 0.000085 [gdb-3] 0.000004 0.000020 1.000000 0.000037 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3]  [gdb-3] [DEBUG] [1752074458.702932172] [zed.zed_node]: +++ Odometry [odom -> zed_camera_link] - {-0.001,0.001,0.000} {0.000,0.000,-0.004} [gdb-3] [DEBUG] [1752074458.702990639] [zed.zed_node]: === processPose === [gdb-3] [DEBUG] [1752074458.703064851] [zed.zed_node]: MAP -> Tracking Status: OK [gdb-3] [DEBUG] [1752074458.703105973] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame -> map]: [gdb-3] AAAAAB00AC20 [gdb-3] 0.999797 0.019676 0.004425 -0.008263 [gdb-3] -0.019701 0.999790 0.005673 0.062714 [gdb-3] -0.004312 -0.005759 0.999974 0.013395 [gdb-3] 0.000000 0.000000 0.000000 1.000000 [gdb-3] } [gdb-3] [DEBUG] [1752074458.703139895] [zed.zed_node]: === Base POSE [map -> zed_camera_link] - {0.000,0.002,0.000} {0.000,0.000,-1.129} [gdb-3] [DEBUG] [1752074458.703164793] [zed.zed_node]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.000,0.000,-1.125} [gdb-3] [DEBUG] [1752074458.703247261] [zed.zed_node]: === publishTFs === [gdb-3] [INFO] [1752074458.704154415] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.704214450] [zed.aruco_node]: ArUco detection [gdb-3] [INFO] [1752074458.704437630] [zed.aruco_node]: * Color conversion: 0.00019137 sec [gdb-3] [INFO] [1752074458.710012976] [zed.aruco_node]: * Marker detection: 0.00550539 sec [gdb-3] [INFO] [1752074458.710105461] [zed.aruco_node]: * Detected tags: 1 [gdb-3] [INFO] [1752074458.710619121] [zed.aruco_node]: * Marker poses estimation: 0.000485722 sec [gdb-3] [INFO] [1752074458.710665555] [zed.aruco_node]: * Nearest marker: 1 -> 0.878409m [gdb-3] [INFO] [1752074458.710685717] [zed.aruco_node]: * ArUco marker #1 in range: 0.878409 m [gdb-3] [INFO] [1752074458.710736951] [zed.aruco_node]: pose_aruco -> Pos: [-0.451,0.334,0.675] - Or: [150.151°,46.074°,-16.477°] [gdb-3] [INFO] [1752074458.710778138] [zed.aruco_node]: pose_img -> Pos: [0.852,0.123,0.172] - Or: [153.493°,-47.749°,-171.641°] [gdb-3] [INFO] [1752074458.710801915] [zed.aruco_node]: pose_marker -> Pos: [0.172,0.852,0.123] - Or: [-5.978°,-20.199°,-129.876°] [gdb-3] [INFO] [1752074458.710819548] [zed.aruco_node]: pose_marker -> Pos: [0.118,0.882,0.118] - Or: [-5.978°,-20.199°,-129.876°] [gdb-3] [INFO] [1752074458.710847581] [zed.aruco_node]: *** Calling ZED 'set_pose' service *** [gdb-3] [INFO] [1752074458.710947683] [zed.aruco_node]: * New camera pose [map]-> Pos:[0.118,0.882,0.118] Or:[-5.978°,-20.199°,-129.876°] [gdb-3] [INFO] [1752074458.722104006] [zed.aruco_node]: [getTransformFromTf] canTransform 'zed_left_aruco' -> 'zed_base_aruco':Invalid frame ID "zed_base_aruco" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 3.712e-06 timeout was 0.. canTransform returned after 6.6788e-05 timeout was 0.. canTransform returned after 0.0101612 timeout was 1. [gdb-3] [INFO] [1752074458.725319990] [zed.aruco_node]: [getTransformFromTf] 'zed_base_aruco' -> 'zed_left_aruco': [gdb-3] [0.010,-0.060,-0.015] - [0.000°,-0.000°,0.000°] [gdb-3] [INFO] [1752074458.725386362] [zed.aruco_node]: test TF -> Pos: [0.010,-0.060,-0.015] - Or: [-5.978°,-20.199°,-129.876°] [gdb-3] [INFO] [1752074458.726765381] [zed.aruco_node]: * Publish image result: 0.00132331 sec [gdb-3] [INFO] [1752074458.726906541] [zed.aruco_node]: ***************************** [gdb-3] [INFO] [1752074458.728273560] [zed.zed_node]: ** Set Pose service called ** [gdb-3] [INFO] [1752074458.728349660] [zed.zed_node]: New pose: [0.11756,0.882246,0.118267, -0.10434,-0.352533,-2.26677] [gdb-3] [New Thread 0xffff71dfe8e0 (LWP 36821)] [gdb-3] [INFO] [1752074458.728671022] [zed.zed_node]: Area memory updated before restarting the Positional Tracking module. [gdb-3] [INFO] [1752074458.728729073] [zed.zed_node]: === Starting Positional Tracking === [gdb-3] [INFO] [1752074458.728745906] [zed.zed_node]: * Waiting for valid static transformations... [gdb-3] [New Thread 0xffff715ee8e0 (LWP 36822)] [gdb-3] [2025-07-09 15:20:58 UTC][ZED][ERROR] Creating an area file from a loaded area is not allowed. [gdb-3] [Thread 0xffff715ee8e0 (LWP 36822) exited] [gdb-3] [DEBUG] [1752074458.729897873] [zed.zed_node]: Time required to get valid static transforms: 4.2306e-08 sec [gdb-3] [INFO] [1752074458.729950580] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):  [gdb-3] [INFO] [1752074458.729965653] [zed.zed_node]: * T: [0.172491,0.852486,0.12295] [gdb-3] [INFO] [1752074458.730036025] [zed.zed_node]: * Q: [0.180376,0.0276743,0.894475,-0.408184] [gdb-3] [DEBUG] [1752074458.730064570] [zed.zed_node]: * Positional Tracking parameters: [gdb-3] [DEBUG] [1752074458.730142014] [zed.zed_node]: { [gdb-3] "PositionalTrackingParameters": { [gdb-3] "area_file_path": "/home/jetson1/test_area_memory.area", [gdb-3] "depth_min_range": 0.0, [gdb-3] "enable_area_memory": true, [gdb-3] "enable_imu_fusion": true, [gdb-3] "enable_pose_smoothing": false, [gdb-3] "initial_world_transform": "-0.601701 0.740203 0.300092 0.172491 -0.720236 -0.665240 0.196761 0.852486 0.345276 -0.097745 0.933397 0.122950 0.000000 0.000000 0.000000 1.000000", [gdb-3] "mode": "GEN 3", [gdb-3] "set_as_static": false, [gdb-3] "set_floor_as_origin": false, [gdb-3] "set_gravity_as_origin": false [gdb-3] } [gdb-3] } [gdb-3] [Thread 0xffff8efde8e0 (LWP 36641) exited] [gdb-3] [Thread 0xffff74a7e8e0 (LWP 36642) exited] [gdb-3] [Thread 0xffff7426e8e0 (LWP 36643) exited] [gdb-3] [gdb-3] Thread 222 "component_conta" received signal SIGSEGV, Segmentation fault. [gdb-3] [Switching to Thread 0xffff71dfe8e0 (LWP 36821)] [gdb-3] 0x0000ffffda4c8ab0 in hybrid_tracker::SlamManager::isLoopClosureOccured() () from /usr/local/zed/lib/libsl_zed.so [gdb-3] [gdb-3] Thread 222 (Thread 0xffff71dfe8e0 (LWP 36821) "component_conta"): [gdb-3] #0 0x0000ffffda4c8ab0 in hybrid_tracker::SlamManager::isLoopClosureOccured() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #1 0x0000ffffda3f3e90 in tracking::HybridTracker::trackStereo(unsigned int, sl::Mat const&, sl::Mat const&, CUevent_st*) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #2 0x0000ffffda51df40 in sl::TrackingHandler::trackStereo(unsigned int, sl::Mat&, sl::Mat&, CUevent_st*, CUctx_st*) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #3 0x0000ffffdab730bc in std::_Function_handler (), std::__future_base::_Task_setter, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker, std::reference_wrapper, CUevent_st*, CUctx_st*> >, tracking::TRACKER_STATE> >::_M_invoke(std::_Any_data const&) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #4 0x0000fffff7e92510 in std::__future_base::_State_baseV2::_M_do_set(std::function ()>*, bool*) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #5 0x0000fffff79a25c4 in __pthread_once_slow (once_control=0xffff31647118, init_routine=0xfffff7bd1e60 <__once_proxy>) at ./nptl/pthread_once.c:116 [gdb-3] __clframe = {__cancel_routine = 0xfffff79a2640 , __cancel_arg = 0xffff31647118, __do_it = 1, __buffer = {__routine = 0xfffff79a2684 <__pthread_cleanup_combined_routine_voidptr>, __arg = 0xffff71dfdef0, __canceltype = 0, __prev = 0x0}} [gdb-3] val = [gdb-3] newval = 1 [gdb-3] #6 0x0000ffffdab7aa48 in std::__future_base::_Async_state_impl, std::reference_wrapper, CUevent_st*, CUctx_st*> >, tracking::TRACKER_STATE>::_M_run() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #7 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #8 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472592242912, 281472647308880, 281472647308878, 8446240, 281472647308879, 0, 281472583794688, 8446240, 281472647358688, 281472583794688, 281472592240640, 12688260419581019524, 0, 12688260421623263624, 1107654646, 1051627838, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #9 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 81 (Thread 0xffff7261e8e0 (LWP 36676) "component_conta"): [gdb-3] #0 syscall () at ../sysdeps/unix/sysv/linux/aarch64/syscall.S:38 [gdb-3] #1 0x0000ffffc44594f8 in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #2 0x0000ffffc446b9cc in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #3 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472600762592, 281472613539624, 281472613539262, 4251936, 281472613539263, 0, 281472596508672, 4251936, 281472613542112, 281472596508672, 281472600760320, 12688260419581019524, 0, 12688260421669269896, 4615098902520004608, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #4 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 80 (Thread 0xffff7220e8e0 (LWP 36677) "component_conta"): [gdb-3] #0 syscall () at ../sysdeps/unix/sysv/linux/aarch64/syscall.S:38 [gdb-3] #1 0x0000ffffc44594f8 in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #2 0x0000ffffc446b9cc in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #3 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472596502752, 281472609279784, 281472609279422, 4251936, 281472609279423, 0, 281472592248832, 4251936, 281472609282272, 281472592248832, 281472596500480, 12688260419581019524, 0, 12688260421673529736, 4615098902520004608, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #4 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 79 (Thread 0xffff72a2e8e0 (LWP 36675) "component_conta"): [gdb-3] #0 syscall () at ../sysdeps/unix/sysv/linux/aarch64/syscall.S:38 [gdb-3] #1 0x0000ffffc44594f8 in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #2 0x0000ffffc446b9cc in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #3 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472605022432, 281472613539624, 281472613539262, 4251936, 281472613539263, 0, 281472600768512, 4251936, 281472613542112, 281472600768512, 281472605020160, 12688260419581019524, 0, 12688260421681787272, 4615098902520004608, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #4 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 78 (Thread 0xffff72e3e8e0 (LWP 36674) "component_conta"): [gdb-3] #0 syscall () at ../sysdeps/unix/sysv/linux/aarch64/syscall.S:38 [gdb-3] #1 0x0000ffffc44594f8 in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #2 0x0000ffffc446b9cc in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #3 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472609282272, 281474976689688, 281474976689326, 4251936, 281474976689327, 0, 281472605028352, 4251936, 281474841956384, 281472605028352, 281472609280000, 12688260419581019524, 0, 12688260421677527432, 4615098902520004608, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #4 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 77 (Thread 0xffff7324e8e0 (LWP 36673) "component_conta"): [gdb-3] #0 syscall () at ../sysdeps/unix/sysv/linux/aarch64/syscall.S:38 [gdb-3] #1 0x0000ffffc44594f8 in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #2 0x0000ffffc446b9cc in () at /lib/aarch64-linux-gnu/libtbb.so.12 [gdb-3] #3 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472613542112, 281474976689688, 281474976689326, 4251936, 281474976689327, 0, 281472609288192, 4251936, 281474841956384, 281472609288192, 281472613539840, 12688260419581019524, 0, 12688260421656490376, 4615098902520004608, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #4 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 44 (Thread 0xffff8f7ee8e0 (LWP 36640) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xffff8f7ed690, op=393, expected=0, futex_word=0xaaaaac4762c8) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281473089197712 [gdb-3] _x0tmp = 187650011521736 [gdb-3] _x0 = 187650011521736 [gdb-3] _x3 = 281473089197712 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = -1717712503 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 2577254656 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xffff8f7ed690, clockid=-140927544, expected=0, futex_word=0xaaaaac4762c8) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 2577254656 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaac4762c8, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0xffff8f7ed690, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799cc00 in __pthread_cond_wait_common (abstime=0xffff8f7ed690, clockid=0, mutex=0xaaaaac476270, cond=0xaaaaac4762a0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffff8f7ed608, __canceltype = -1094593797, __prev = 0x0} [gdb-3] cbuffer = {wseq = 6212, cond = 0xaaaaac4762a0, mutex = 0xaaaaac476270, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 6212 [gdb-3] seq = 3106 [gdb-3] private = 0 [gdb-3] flags = [gdb-3] clockid = 0 [gdb-3] #4 ___pthread_cond_timedwait64 (cond=0xaaaaac4762a0, mutex=0xaaaaac476270, abstime=0xffff8f7ed690) at ./nptl/pthread_cond_wait.c:652 [gdb-3] flags = [gdb-3] clockid = 0 [gdb-3] #5 0x0000ffffd975bf3c in hid_read_timeout () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #6 0x0000ffffd96d0e84 in IMUHidReader::updateIMUData(bool) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #7 0x0000ffffd973824c in sl::ZEDmcu::runIMUFusion() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #8 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #9 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473089202400, 281472647343904, 281472647343902, 8446240, 281472647343903, 0, 281473080754176, 8446240, 281472647358688, 281473080754176, 281473089200128, 12688260419581019524, 0, 12688260418899128712, 2965287002, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #10 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 43 (Thread 0xffff7528e8e0 (LWP 36639) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=128, cancel=true, abstime=0x0, op=265, expected=36821, futex_word=0xffff71dfe9b0) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281472592243120 [gdb-3] _x0 = 281472592243120 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 265 [gdb-3] _x1 = 265 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 36821 [gdb-3] _x2 = 36821 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 265 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=128, abstime=0x0, clockid=0, expected=36821, futex_word=0xffff71dfe9b0) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 265 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffff71dfe9b0, expected=36821, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=128) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ef1c in __pthread_clockjoin_ex (threadid=281472592242912, thread_return=0x0, clockid=0, abstime=0x0, block=) at ./nptl/pthread_join_common.c:105 [gdb-3] ret = [gdb-3] _buffer = {__routine = 0xfffff799eda0 , __arg = 0xffff71dfed08, __canceltype = -605556736, __prev = 0xffff75282778} [gdb-3] tid = [gdb-3] pd = 0xffff71dfe8e0 [gdb-3] self = [gdb-3] result = 0 [gdb-3] pd_result = [gdb-3] #4 0x0000fffff7bd32a0 in std::thread::join() () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff79a25c4 in __pthread_once_slow (once_control=0xffff31647128, init_routine=0xfffff7bd1e60 <__once_proxy>) at ./nptl/pthread_once.c:116 [gdb-3] __clframe = {__cancel_routine = 0xfffff79a2640 , __cancel_arg = 0xffff31647128, __do_it = 1, __buffer = {__routine = 0xfffff79a2684 <__pthread_cleanup_combined_routine_voidptr>, __arg = 0xffff75282760, __canceltype = 0, __prev = 0x0}} [gdb-3] val = [gdb-3] newval = 1 [gdb-3] #6 0x0000ffffd97bec4c in std::__future_base::_Async_state_commonV2::_M_complete_async() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #7 0x0000ffffdab6ee60 in sl::Camera::grab(sl::RuntimeParameters) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #8 0x0000fffff13586a0 in stereolabs::ZedCamera::threadFunc_zedGrab() (this=0xaaaaab008670) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp:4478 [gdb-3] grabElabTimer = {mStartTime = , mClockPtr = std::shared_ptr (use count 24, weak count 0) = {get() = 0xaaaaab013130}} [gdb-3] elapsed_sec = 0.033717495 [gdb-3] mean_elab_sec = 0.033109874566666662 [gdb-3] t0 = 1752074458703463273 [gdb-3] __func__ = "threadFunc_zedGrab" [gdb-3] #9 0x0000fffff159e260 in std::__invoke_impl(std::__invoke_memfun_deref, void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__f=@0xaaaabda784a0: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff135644c , __t=@0xaaaabda78498: 0xaaaaab008670) at /usr/include/c++/11/bits/invoke.h:74 [gdb-3] #10 0x0000fffff159689c in std::__invoke(void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__fn=@0xaaaabda784a0: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff135644c ) at /usr/include/c++/11/bits/invoke.h:96 [gdb-3] #11 0x0000fffff1583954 in std::thread::_Invoker >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>) (this=0xaaaabda78498) at /usr/include/c++/11/bits/std_thread.h:259 [gdb-3] #12 0x0000fffff1579630 in std::thread::_Invoker >::operator()() (this=0xaaaabda78498) at /usr/include/c++/11/bits/std_thread.h:266 [gdb-3] #13 0x0000fffff156d548 in std::thread::_State_impl > >::_M_run() (this=0xaaaabda78490) at /usr/include/c++/11/bits/std_thread.h:211 [gdb-3] #14 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #15 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472647358688, 281474976695760, 281474976695758, 8446240, 281474976695759, 0, 281472638910464, 8446240, 281474841956384, 281472638910464, 281472647356416, 12688260419581019524, 0, 12688260421689782664, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #16 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 42 (Thread 0xffff75a9e8e0 (LWP 36638) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xffff75a9cab8, op=137, expected=0, futex_word=0xaaaaab00ab04) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281472655805112 [gdb-3] _x0tmp = 187649990109956 [gdb-3] _x0 = 187649990109956 [gdb-3] _x3 = 281472655805112 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 137 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xffff75a9cab8, clockid=0, expected=0, futex_word=0xaaaaab00ab04) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaab00ab04, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0xffff75a9cab8, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ced8 in __pthread_cond_wait_common (abstime=0xffff75a9cab8, clockid=1, mutex=0xaaaaab00aa78, cond=0xaaaaab00aad8) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffff75a9c9f8, __canceltype = 1974061640, __prev = 0x0} [gdb-3] cbuffer = {wseq = 115, cond = 0xaaaaab00aad8, mutex = 0xaaaaab00aa78, private = 0} [gdb-3] err = [gdb-3] g = 1 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 115 [gdb-3] seq = 57 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_clockwait64 (abstime=0xffff75a9cab8, clockid=1, mutex=0xaaaaab00aa78, cond=0xaaaaab00aad8) at ./nptl/pthread_cond_wait.c:691 [gdb-3] #5 ___pthread_cond_clockwait64 (cond=0xaaaaab00aad8, mutex=0xaaaaab00aa78, clockid=1, abstime=0xffff75a9cab8) at ./nptl/pthread_cond_wait.c:679 [gdb-3] #6 0x0000fffff15da704 in std::__condvar::wait_until(std::mutex&, int, timespec&) (this=0xaaaaab00aad8, __m=..., __clock=1, __abs_time=...) at /usr/include/c++/11/bits/std_mutex.h:169 [gdb-3] #7 0x0000fffff15df1ac in std::condition_variable::__wait_until_impl > >(std::unique_lock&, std::chrono::time_point > > const&) (this=0xaaaaab00aad8, __lock=..., __atime=...) at /usr/include/c++/11/condition_variable:201 [gdb-3] __s = {__d = {__r = 3438}} [gdb-3] __ns = {__r = 947558686} [gdb-3] __ts = {tv_sec = 3438, tv_nsec = 947558686} [gdb-3] #8 0x0000fffff15dcfdc in std::condition_variable::wait_until > >(std::unique_lock&, std::chrono::time_point > > const&) (this=0xaaaaab00aad8, __lock=..., __atime=...) at /usr/include/c++/11/condition_variable:111 [gdb-3] #9 0x0000fffff15dba54 in std::condition_variable::wait_for >(std::unique_lock&, std::chrono::duration > const&) (this=0xaaaaab00aad8, __lock=..., __rtime=...) at /usr/include/c++/11/condition_variable:163 [gdb-3] #10 0x0000fffff15d3848 in stereolabs::ZedCamera::waitForPointCloudData(std::unique_lock&) (this=0xaaaaab008670, lock=...) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:2016 [gdb-3] __func__ = "waitForPointCloudData" [gdb-3] #11 0x0000fffff15d4dd4 in stereolabs::ZedCamera::threadFunc_pointcloudElab() (this=0xaaaaab008670) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:2088 [gdb-3] __func__ = "threadFunc_pointcloudElab" [gdb-3] lock = {_M_device = 0xaaaaab00aa78, _M_owns = true} [gdb-3] #12 0x0000fffff159e260 in std::__invoke_impl(std::__invoke_memfun_deref, void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__f=@0xaaaabda77e80: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff15d48a8 , __t=@0xaaaabda77e78: 0xaaaaab008670) at /usr/include/c++/11/bits/invoke.h:74 [gdb-3] #13 0x0000fffff159689c in std::__invoke(void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__fn=@0xaaaabda77e80: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff15d48a8 ) at /usr/include/c++/11/bits/invoke.h:96 [gdb-3] #14 0x0000fffff1583954 in std::thread::_Invoker >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>) (this=0xaaaabda77e78) at /usr/include/c++/11/bits/std_thread.h:259 [gdb-3] #15 0x0000fffff1579630 in std::thread::_Invoker >::operator()() (this=0xaaaabda77e78) at /usr/include/c++/11/bits/std_thread.h:266 [gdb-3] #16 0x0000fffff156d548 in std::thread::_State_impl > >::_M_run() (this=0xaaaabda77e70) at /usr/include/c++/11/bits/std_thread.h:211 [gdb-3] #17 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #18 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472655812832, 281474976695760, 281474976695758, 8446240, 281474976695759, 0, 281472647364608, 8446240, 281474841956384, 281472647364608, 281472655810560, 12688260419581019524, 0, 12688260421698105736, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #19 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 41 (Thread 0xffff8db6e8e0 (LWP 36637) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xffff8db6cab8, op=137, expected=0, futex_word=0xaaaaab00ab68) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281473059310264 [gdb-3] _x0tmp = 187649990110056 [gdb-3] _x0 = 187649990110056 [gdb-3] _x3 = 281473059310264 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 137 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xffff8db6cab8, clockid=0, expected=0, futex_word=0xaaaaab00ab68) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaab00ab68, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0xffff8db6cab8, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ced8 in __pthread_cond_wait_common (abstime=0xffff8db6cab8, clockid=1, mutex=0xaaaaab00ab10, cond=0xaaaaab00ab40) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffff8db6c9f8, __canceltype = -1917400504, __prev = 0x0} [gdb-3] cbuffer = {wseq = 168, cond = 0xaaaaab00ab40, mutex = 0xaaaaab00ab10, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 168 [gdb-3] seq = 84 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_clockwait64 (abstime=0xffff8db6cab8, clockid=1, mutex=0xaaaaab00ab10, cond=0xaaaaab00ab40) at ./nptl/pthread_cond_wait.c:691 [gdb-3] #5 ___pthread_cond_clockwait64 (cond=0xaaaaab00ab40, mutex=0xaaaaab00ab10, clockid=1, abstime=0xffff8db6cab8) at ./nptl/pthread_cond_wait.c:679 [gdb-3] #6 0x0000fffff15da704 in std::__condvar::wait_until(std::mutex&, int, timespec&) (this=0xaaaaab00ab40, __m=..., __clock=1, __abs_time=...) at /usr/include/c++/11/bits/std_mutex.h:169 [gdb-3] #7 0x0000fffff15df1ac in std::condition_variable::__wait_until_impl > >(std::unique_lock&, std::chrono::time_point > > const&) (this=0xaaaaab00ab40, __lock=..., __atime=...) at /usr/include/c++/11/condition_variable:201 [gdb-3] __s = {__d = {__r = 3438}} [gdb-3] __ns = {__r = 939099086} [gdb-3] __ts = {tv_sec = 3438, tv_nsec = 939099086} [gdb-3] #8 0x0000fffff15dcfdc in std::condition_variable::wait_until > >(std::unique_lock&, std::chrono::time_point > > const&) (this=0xaaaaab00ab40, __lock=..., __atime=...) at /usr/include/c++/11/condition_variable:111 [gdb-3] #9 0x0000fffff15dba54 in std::condition_variable::wait_for >(std::unique_lock&, std::chrono::duration > const&) (this=0xaaaaab00ab40, __lock=..., __rtime=...) at /usr/include/c++/11/condition_variable:163 [gdb-3] #10 0x0000fffff15d105c in stereolabs::ZedCamera::waitForVideoDepthData(std::unique_lock&) (this=0xaaaaab008670, lock=...) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1881 [gdb-3] __func__ = "waitForVideoDepthData" [gdb-3] #11 0x0000fffff15cfca0 in stereolabs::ZedCamera::threadFunc_videoDepthElab() (this=0xaaaaab008670) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1804 [gdb-3] __func__ = "threadFunc_videoDepthElab" [gdb-3] lock = {_M_device = 0xaaaaab00ab10, _M_owns = true} [gdb-3] #12 0x0000fffff159e260 in std::__invoke_impl(std::__invoke_memfun_deref, void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__f=@0xaaaabda77680: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff15cf7c0 , __t=@0xaaaabda77678: 0xaaaaab008670) at /usr/include/c++/11/bits/invoke.h:74 [gdb-3] #13 0x0000fffff159689c in std::__invoke(void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__fn=@0xaaaabda77680: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff15cf7c0 ) at /usr/include/c++/11/bits/invoke.h:96 [gdb-3] #14 0x0000fffff1583954 in std::thread::_Invoker >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>) (this=0xaaaabda77678) at /usr/include/c++/11/bits/std_thread.h:259 [gdb-3] #15 0x0000fffff1579630 in std::thread::_Invoker >::operator()() (this=0xaaaabda77678) at /usr/include/c++/11/bits/std_thread.h:266 [gdb-3] #16 0x0000fffff156d548 in std::thread::_State_impl > >::_M_run() (this=0xaaaabda77670) at /usr/include/c++/11/bits/std_thread.h:211 [gdb-3] #17 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #18 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473059317984, 281474976695760, 281474976695758, 8446240, 281474976695759, 0, 281473050869760, 8446240, 281474841956384, 281473050869760, 281473059315712, 12688260419581019524, 0, 12688260418878681480, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #19 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 40 (Thread 0xffff8e7ce8e0 (LWP 36636) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xffff8e7cd4e8, op=137, expected=0, futex_word=0xaaaaaab33638) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281473072289000 [gdb-3] _x0tmp = 187649985033784 [gdb-3] _x0 = 187649985033784 [gdb-3] _x3 = 281473072289000 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 137 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xffff8e7cd4e8, clockid=0, expected=0, futex_word=0xaaaaaab33638) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaaab33638, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0xffff8e7cd4e8, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ced8 in __pthread_cond_wait_common (abstime=0xffff8e7cd4e8, clockid=1, mutex=0xaaaaaab33640, cond=0xaaaaaab33610) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffff8e7cd468, __canceltype = -138639304, __prev = 0x0} [gdb-3] cbuffer = {wseq = 1134, cond = 0xaaaaaab33610, mutex = 0xaaaaaab33640, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 1134 [gdb-3] seq = 567 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_clockwait64 (abstime=0xffff8e7cd4e8, clockid=1, mutex=0xaaaaaab33640, cond=0xaaaaaab33610) at ./nptl/pthread_cond_wait.c:691 [gdb-3] #5 ___pthread_cond_clockwait64 (cond=0xaaaaaab33610, mutex=0xaaaaaab33640, clockid=1, abstime=0xffff8e7cd4e8) at ./nptl/pthread_cond_wait.c:679 [gdb-3] #6 0x0000fffff7e49ed4 in rclcpp::Context::sleep_for(std::chrono::duration > const&) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #7 0x0000fffff1363068 in stereolabs::ZedCamera::threadFunc_pubSensorsData() (this=0xaaaaab008670) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp:5332 [gdb-3] sleep_usec = 9744 [gdb-3] sens_period_usec = 10000 [gdb-3] avg_freq = 100.39500867942459 [gdb-3] err = 0.39500867942459195 [gdb-3] COMP_P_GAIN = 0.00050000000000000001 [gdb-3] __func__ = "threadFunc_pubSensorsData" [gdb-3] #8 0x0000fffff159e260 in std::__invoke_impl(std::__invoke_memfun_deref, void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__f=@0xaaaabda77650: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff136135c , __t=@0xaaaabda77648: 0xaaaaab008670) at /usr/include/c++/11/bits/invoke.h:74 [gdb-3] #9 0x0000fffff159689c in std::__invoke(void (stereolabs::ZedCamera::*&&)(), stereolabs::ZedCamera*&&) (__fn=@0xaaaabda77650: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const)) 0xfffff136135c ) at /usr/include/c++/11/bits/invoke.h:96 [gdb-3] #10 0x0000fffff1583954 in std::thread::_Invoker >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>) (this=0xaaaabda77648) at /usr/include/c++/11/bits/std_thread.h:259 [gdb-3] #11 0x0000fffff1579630 in std::thread::_Invoker >::operator()() (this=0xaaaabda77648) at /usr/include/c++/11/bits/std_thread.h:266 [gdb-3] #12 0x0000fffff156d548 in std::thread::_State_impl > >::_M_run() (this=0xaaaabda77640) at /usr/include/c++/11/bits/std_thread.h:211 [gdb-3] #13 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #14 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473072294112, 281474976695760, 281474976695758, 8446240, 281474976695759, 0, 281473063845888, 8446240, 281474841956384, 281473063845888, 281473072291840, 12688260419581019524, 0, 12688260418916037000, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #15 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 36 (Thread 0xffff762ae8e0 (LWP 36632) "Quill_Backend"): [gdb-3] #0 0x0000fffff79d1994 in __GI___clock_nanosleep (clock_id=, clock_id@entry=0, flags=flags@entry=0, req=0xffff762adf18, rem=0xffff762adf18) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78 [gdb-3] _x2tmp = 281472664264472 [gdb-3] _x0 = 0 [gdb-3] _x2 = 281472664264472 [gdb-3] _x8 = 115 [gdb-3] _x3tmp = 281472664264472 [gdb-3] _x1tmp = 0 [gdb-3] _x1 = 0 [gdb-3] _x3 = 281472664264472 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] r = [gdb-3] #1 0x0000fffff79d6b6c in __GI___nanosleep (req=, rem=) at ../sysdeps/unix/sysv/linux/nanosleep.c:25 [gdb-3] ret = [gdb-3] #2 0x0000ffff7b622e94 in quill::detail::BackendWorker::_main_loop() () at /usr/local/zed/lib/libsl_ai.so [gdb-3] #3 0x0000ffff7b5fa584 in quill::detail::BackendWorker::run()::{lambda()#1}::operator()() const::{lambda()#1}::operator()() const () at /usr/local/zed/lib/libsl_ai.so [gdb-3] #4 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281472664266976, 281474976680832, 281474976680830, 8446240, 281474976680831, 0, 281472655818752, 8446240, 281474841956384, 281472655818752, 281472664264704, 12688260419581019524, 0, 12688260421739983240, 4294967217, 0, 1127906476, 1128098956, 1129955263, 1123519429, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 32 (Thread 0xffff8fffe8e0 (LWP 36621) "component_conta"): [gdb-3] #0 0x0000fffff79fbe38 in __GI___poll (fds=0xffff84000cf0, nfds=3, timeout=) at ../sysdeps/unix/sysv/linux/poll.c:41 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281472896339184 [gdb-3] _x0 = 281472896339184 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 3 [gdb-3] _x1 = 3 [gdb-3] _x4 = 0 [gdb-3] _x2 = 281473097653864 [gdb-3] _x8 = 73 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] timeout_ts = {tv_sec = 59, tv_nsec = 998932965} [gdb-3] timeout_ts_p = [gdb-3] #1 0x0000fffff00ef85c in () at /lib/aarch64-linux-gnu/libusb-1.0.so.0 [gdb-3] #2 0x0000fffff00f123c in libusb_handle_events_timeout_completed () at /lib/aarch64-linux-gnu/libusb-1.0.so.0 [gdb-3] #3 0x0000fffff00f12d0 in libusb_handle_events () at /lib/aarch64-linux-gnu/libusb-1.0.so.0 [gdb-3] #4 0x0000ffffd975b5a0 in read_thread () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473097656544, 281474976679120, 281474976679118, 8446240, 281474976679119, 0, 281473089208320, 8446240, 281474841956384, 281473089208320, 281473097654272, 12688260419581019524, 0, 12688260418907451784, 1084227584, 1153138688, 4711630319722168320, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 31 (Thread 0xffff9c8b88e0 (LWP 36618) "libusb_event"): [gdb-3] #0 0x0000fffff79fbe38 in __GI___poll (fds=0xffff9c8b7fe8, nfds=2, timeout=) at ../sysdeps/unix/sysv/linux/poll.c:41 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473308131304 [gdb-3] _x0 = 281473308131304 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 2 [gdb-3] _x1 = 2 [gdb-3] _x4 = 0 [gdb-3] _x2 = 0 [gdb-3] _x8 = 73 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] timeout_ts = {tv_sec = 281473308131304, tv_nsec = 281474709369640} [gdb-3] timeout_ts_p = [gdb-3] #1 0x0000fffff00ebd0c in () at /lib/aarch64-linux-gnu/libusb-1.0.so.0 [gdb-3] #2 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473308133600, 281474976678432, 281474976678430, 8446240, 281474976678431, 0, 281473299685376, 8446240, 281474841956384, 281473299685376, 281473308131328, 12688260419581019524, 0, 12688260419162526088, 1084227584, 1153138688, 4711630319722168320, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #3 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 28 (Thread 0xffff9d0c88e0 (LWP 36615) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xaaaaac486e18) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 187650011590168 [gdb-3] _x0 = 187650011590168 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xaaaaac486e18) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaac486e18, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xaaaaac486d90, cond=0xaaaaac486df0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffff9d0c7f78, __canceltype = 8446240, __prev = 0x0} [gdb-3] cbuffer = {wseq = 500, cond = 0xaaaaac486df0, mutex = 0xaaaaac486d90, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 500 [gdb-3] seq = 250 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xaaaaac486df0, mutex=0xaaaaac486d90) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000ffffd978f824 in sl::LinuxStereoGrabber::thread_consumer() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #6 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473316587744, 281474976681760, 281474976681758, 8446240, 281474976681759, 0, 281473308139520, 8446240, 281474841956384, 281473308139520, 281473316585472, 12688260419581019524, 0, 12688260419137294728, 1084227584, 1153138688, 4711630319722168320, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #7 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 27 (Thread 0xffff9ea6e8e0 (LWP 36614) "component_conta"): [gdb-3] #0 0x0000fffff79fbe38 in __GI___poll (fds=0xffff9ea6de90, nfds=1, timeout=) at ../sysdeps/unix/sysv/linux/poll.c:41 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473343479440 [gdb-3] _x0 = 281473343479440 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 1 [gdb-3] _x1 = 1 [gdb-3] _x4 = 0 [gdb-3] _x2 = 281473343478248 [gdb-3] _x8 = 73 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] timeout_ts = {tv_sec = 0, tv_nsec = 33243199} [gdb-3] timeout_ts_p = [gdb-3] #1 0x0000ffffd97976a0 in sl::LinuxStereoGrabber::thread_producer() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #2 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473343482080, 281474976681760, 281474976681758, 8446240, 281474976681759, 0, 281473335033856, 8446240, 281474841956384, 281473335033856, 281473343479808, 12688260419581019524, 0, 12688260419198497160, 1084227584, 1153138688, 4711630319722168320, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #3 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 25 (Thread 0xffff9dc5c8e0 (LWP 36612) "component_conta"): [gdb-3] #0 syscall () at ../sysdeps/unix/sysv/linux/aarch64/syscall.S:38 [gdb-3] #1 0x0000fffff7bd09f4 in std::__atomic_futex_unsigned_base::_M_futex_wait_until(unsigned int*, unsigned int, bool, std::chrono::duration >, std::chrono::duration >) () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #2 0x0000ffffdabe8ad8 in sl::CameraMemberHandler::run_corrupted_frame_detector() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #3 0x0000ffffdabe9524 in sl::CameraMemberHandler::quality_check_work() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #4 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473328728288, 281474976682432, 281474976682430, 8446240, 281474976682431, 0, 281473320280064, 8446240, 281474841956384, 281473320280064, 281473328726016, 12688260419581019524, 0, 12688260419141931400, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 24 (Thread 0xffff9f27e8e0 (LWP 36593) "component_conta"): [gdb-3] #0 0x0000fffff79fbe38 in __GI___poll (fds=0xffff9f27df40, nfds=1, timeout=) at ../sysdeps/unix/sysv/linux/poll.c:41 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473351933760 [gdb-3] _x0 = 281473351933760 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 1 [gdb-3] _x1 = 1 [gdb-3] _x4 = 0 [gdb-3] _x2 = 281473351933672 [gdb-3] _x8 = 73 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] timeout_ts = {tv_sec = 0, tv_nsec = 308176308} [gdb-3] timeout_ts_p = [gdb-3] #1 0x0000ffffd8d54548 in () at /usr/lib/aarch64-linux-gnu/nvidia/libnvargus_socketclient.so [gdb-3] #2 0x0000ffffd8d4fb9c [PAC] in () at /usr/lib/aarch64-linux-gnu/nvidia/libnvargus_socketclient.so [gdb-3] #3 0x0000ffffd8d502dc [PAC] in () at /usr/lib/aarch64-linux-gnu/nvidia/libnvargus_socketclient.so [gdb-3] #4 0x0000fffff799d5b8 [PAC] in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473351936224, 281474976679424, 281474976679422, 8446240, 281474976679423, 0, 281473343488000, 8446240, 281474841956384, 281473343488000, 281473351933952, 12688260419581019524, 0, 12688260419173265800, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #5 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 20 (Thread 0xffff9fa8e8e0 (LWP 36588) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xaaaaac3981ec) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 187650010612204 [gdb-3] _x0 = 187650010612204 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xaaaaac3981ec) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaac3981ec, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xaaaaac398190, cond=0xaaaaac3981c0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffff9fa8cf28, __canceltype = -1405399104, __prev = 0x0} [gdb-3] cbuffer = {wseq = 1483, cond = 0xaaaaac3981c0, mutex = 0xaaaaac398190, private = 0} [gdb-3] err = [gdb-3] g = 1 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 1483 [gdb-3] seq = 741 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xaaaaac3981c0, mutex=0xaaaaac398190) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000fffff6faa074 in eprosima::fastdds::dds::detail::WaitSetImpl::wait(std::vector >&, eprosima::fastrtps::Time_t const&) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #6 0x0000fffff6faa128 in eprosima::fastdds::dds::WaitSet::wait(std::vector >&, eprosima::fastrtps::Time_t) const () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #7 0x0000fffff73f67b4 in rmw_fastrtps_shared_cpp::__rmw_wait(char const*, rmw_subscriptions_s*, rmw_guard_conditions_s*, rmw_services_s*, rmw_clients_s*, rmw_events_s*, rmw_wait_set_s*, rmw_time_s const*) () at /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so [gdb-3] #8 0x0000fffff7885d28 in rcl_wait () at /opt/ros/humble/lib/librcl.so [gdb-3] #9 0x0000fffff7e56990 in rclcpp::Executor::wait_for_work(std::chrono::duration >) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #10 0x0000fffff7e599dc in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration >) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #11 0x0000fffff7e61638 in rclcpp::executors::SingleThreadedExecutor::spin() () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #12 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #13 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473360390368, 281474976692416, 281474976692414, 8446240, 281474976692415, 0, 281473351942144, 8446240, 281474841956384, 281473351942144, 281473360388096, 12688260419581019524, 0, 12688260419181588872, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #14 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 19 (Thread 0xffffa029e8e0 (LWP 36587) "Quill_Backend"): [gdb-3] #0 0x0000fffff79d1994 in __GI___clock_nanosleep (clock_id=, clock_id@entry=0, flags=flags@entry=0, req=0xffffa029df18, rem=0xffffa029df18) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78 [gdb-3] _x2tmp = 281473368842008 [gdb-3] _x0 = 0 [gdb-3] _x2 = 281473368842008 [gdb-3] _x8 = 115 [gdb-3] _x3tmp = 281473368842008 [gdb-3] _x1tmp = 0 [gdb-3] _x1 = 0 [gdb-3] _x3 = 281473368842008 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] r = [gdb-3] #1 0x0000fffff79d6b6c in __GI___nanosleep (req=, rem=) at ../sysdeps/unix/sysv/linux/nanosleep.c:25 [gdb-3] ret = [gdb-3] #2 0x0000ffffd95151a4 in quill::detail::BackendWorker::_main_loop() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #3 0x0000ffffd93c33bc in quill::detail::BackendWorker::run()::{lambda()#1}::operator()() const::{lambda()#1}::operator()() const () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #4 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473368844512, 281474976694480, 281474976694478, 8446240, 281474976694479, 0, 281473360396288, 8446240, 281474841956384, 281473360396288, 281473368842240, 12688260419581019524, 0, 12688260418149724552, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 18 (Thread 0xffffa904e8e0 (LWP 36586) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xffffb4b33b68) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473713388392 [gdb-3] _x0 = 281473713388392 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xffffb4b33b68) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffb4b33b68, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xffffb4b33b10, cond=0xffffb4b33b40) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffa904df88, __canceltype = 0, __prev = 0x0} [gdb-3] cbuffer = {wseq = 0, cond = 0xffffb4b33b40, mutex = 0xffffb4b33b10, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 0 [gdb-3] seq = 0 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xffffb4b33b40, mutex=0xffffb4b33b10) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000ffffb39b2a2c in () at /lib/aarch64-linux-gnu/libopenblas.so.0 [gdb-3] #6 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473517414624, 281474976681136, 281474976681134, 8446240, 281474976681135, 0, 281473508966400, 8446240, 281474841956384, 281473508966400, 281473517412352, 12688260419581019524, 0, 12688260418265395592, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #7 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 17 (Thread 0xffffab85e8e0 (LWP 36585) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xffffb4b33ae8) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473713388264 [gdb-3] _x0 = 281473713388264 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xffffb4b33ae8) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffb4b33ae8, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xffffb4b33a90, cond=0xffffb4b33ac0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffab85df88, __canceltype = 0, __prev = 0x0} [gdb-3] cbuffer = {wseq = 0, cond = 0xffffb4b33ac0, mutex = 0xffffb4b33a90, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 0 [gdb-3] seq = 0 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xffffb4b33ac0, mutex=0xffffb4b33a90) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000ffffb39b2a2c in () at /lib/aarch64-linux-gnu/libopenblas.so.0 [gdb-3] #6 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473559423200, 281474976681136, 281474976681134, 8446240, 281474976681135, 0, 281473550974976, 8446240, 281474841956384, 281473550974976, 281473559420928, 12688260419581019524, 0, 12688260418307273096, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #7 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 16 (Thread 0xffffac06e8e0 (LWP 36584) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xffffb4b33a68) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473713388136 [gdb-3] _x0 = 281473713388136 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xffffb4b33a68) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffb4b33a68, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xffffb4b33a10, cond=0xffffb4b33a40) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffac06df88, __canceltype = 0, __prev = 0x0} [gdb-3] cbuffer = {wseq = 0, cond = 0xffffb4b33a40, mutex = 0xffffb4b33a10, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 0 [gdb-3] seq = 0 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xffffb4b33a40, mutex=0xffffb4b33a10) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000ffffb39b2a2c in () at /lib/aarch64-linux-gnu/libopenblas.so.0 [gdb-3] #6 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473567877344, 281474976681136, 281474976681134, 8446240, 281474976681135, 0, 281473559429120, 8446240, 281474841956384, 281473559429120, 281473567875072, 12688260419581019524, 0, 12688260418349150600, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #7 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 15 (Thread 0xffffb087e8e0 (LWP 36583) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xffffb4b339e8) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473713388008 [gdb-3] _x0 = 281473713388008 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xffffb4b339e8) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffb4b339e8, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xffffb4b33990, cond=0xffffb4b339c0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffb087df88, __canceltype = 0, __prev = 0x0} [gdb-3] cbuffer = {wseq = 0, cond = 0xffffb4b339c0, mutex = 0xffffb4b33990, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 0 [gdb-3] seq = 0 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xffffb4b339c0, mutex=0xffffb4b33990) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000ffffb39b2a2c in () at /lib/aarch64-linux-gnu/libopenblas.so.0 [gdb-3] #6 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473643440352, 281474976681136, 281474976681134, 8446240, 281474976681135, 0, 281473634992128, 8446240, 281474841956384, 281473634992128, 281473643438080, 12688260419581019524, 0, 12688260418424582536, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #7 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 14 (Thread 0xffffb108e8e0 (LWP 36582) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xffffb4b33968) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473713387880 [gdb-3] _x0 = 281473713387880 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xffffb4b33968) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffb4b33968, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xffffb4b33910, cond=0xffffb4b33940) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffb108df88, __canceltype = -16, __prev = 0x0} [gdb-3] cbuffer = {wseq = 0, cond = 0xffffb4b33940, mutex = 0xffffb4b33910, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 0 [gdb-3] seq = 0 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xffffb4b33940, mutex=0xffffb4b33910) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000ffffb39b2a2c in () at /lib/aarch64-linux-gnu/libopenblas.so.0 [gdb-3] #6 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473651894496, 281474976681136, 281474976681134, 8446240, 281474976681135, 0, 281473643446272, 8446240, 281474841956384, 281473643446272, 281473651892224, 12688260419581019524, 0, 12688260418399351176, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #7 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 13 (Thread 0xffffbfffe8e0 (LWP 36581) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xaaaaaabd45cc) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 187649985693132 [gdb-3] _x0 = 187649985693132 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xaaaaaabd45cc) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaaabd45cc, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xaaaaaabd4570, cond=0xaaaaaabd45a0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffbfffcf28, __canceltype = -1413227600, __prev = 0x0} [gdb-3] cbuffer = {wseq = 1515, cond = 0xaaaaaabd45a0, mutex = 0xaaaaaabd4570, private = 0} [gdb-3] err = [gdb-3] g = 1 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 1515 [gdb-3] seq = 757 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xaaaaaabd45a0, mutex=0xaaaaaabd4570) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000fffff6faa074 in eprosima::fastdds::dds::detail::WaitSetImpl::wait(std::vector >&, eprosima::fastrtps::Time_t const&) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #6 0x0000fffff6faa128 in eprosima::fastdds::dds::WaitSet::wait(std::vector >&, eprosima::fastrtps::Time_t) const () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #7 0x0000fffff73f67b4 in rmw_fastrtps_shared_cpp::__rmw_wait(char const*, rmw_subscriptions_s*, rmw_guard_conditions_s*, rmw_services_s*, rmw_clients_s*, rmw_events_s*, rmw_wait_set_s*, rmw_time_s const*) () at /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so [gdb-3] #8 0x0000fffff7885d28 in rcl_wait () at /opt/ros/humble/lib/librcl.so [gdb-3] #9 0x0000fffff7e56990 in rclcpp::Executor::wait_for_work(std::chrono::duration >) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #10 0x0000fffff7e599dc in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration >) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #11 0x0000fffff7e61638 in rclcpp::executors::SingleThreadedExecutor::spin() () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #12 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #13 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473902962912, 281474976691120, 281474976691118, 8446240, 281474976691119, 0, 281473894514688, 8446240, 281474841956384, 281473894514688, 281473902960640, 12688260419581019524, 0, 12688260418639016328, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #14 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 12 (Thread 0xffffc5aed8e0 (LWP 36579) "cuda-EvtHandlr"): [gdb-3] #0 0x0000fffff79fbe38 in __GI___poll (fds=0xffffc0000c20, nfds=10, timeout=) at ../sysdeps/unix/sysv/linux/poll.c:41 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281473902971936 [gdb-3] _x0 = 281473902971936 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 10 [gdb-3] _x1 = 10 [gdb-3] _x4 = 0 [gdb-3] _x2 = 0 [gdb-3] _x8 = 73 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] timeout_ts = {tv_sec = 10, tv_nsec = 281474237384792} [gdb-3] timeout_ts_p = [gdb-3] #1 0x0000ffffd19af2b0 in () at /usr/lib/aarch64-linux-gnu/nvidia/libcuda.so.1 [gdb-3] #2 0x0000ffffd1a4c640 in () at /usr/lib/aarch64-linux-gnu/nvidia/libcuda.so.1 [gdb-3] #3 0x0000ffffd19ac0e4 in () at /usr/lib/aarch64-linux-gnu/nvidia/libcuda.so.1 [gdb-3] #4 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281473998313696, 281474976691168, 281474976691166, 8446240, 281474976691167, 0, 281473989865472, 8446240, 281474841956384, 281473989865472, 281473998311424, 12688260419581019524, 0, 12688260419818717576, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #5 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 11 (Thread 0xffffcc3e98e0 (LWP 36578) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xffffcc3e8e38, op=137, expected=0, futex_word=0xffffd1789c10) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281474108395064 [gdb-3] _x0tmp = 281474196085776 [gdb-3] _x0 = 281474196085776 [gdb-3] _x3 = 281474108395064 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 137 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xffffcc3e8e38, clockid=0, expected=0, futex_word=0xffffd1789c10) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffd1789c10, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0xffffcc3e8e38, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ced8 in __pthread_cond_wait_common (abstime=0xffffcc3e8e38, clockid=1, mutex=0xffffd1789bb8, cond=0xffffd1789be8) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xffffcc3e8d58, __canceltype = -138639304, __prev = 0x0} [gdb-3] cbuffer = {wseq = 2, cond = 0xffffd1789be8, mutex = 0xffffd1789bb8, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 2 [gdb-3] seq = 1 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_clockwait64 (abstime=0xffffcc3e8e38, clockid=1, mutex=0xffffd1789bb8, cond=0xffffd1789be8) at ./nptl/pthread_cond_wait.c:691 [gdb-3] #5 ___pthread_cond_clockwait64 (cond=0xffffd1789be8, mutex=0xffffd1789bb8, clockid=1, abstime=0xffffcc3e8e38) at ./nptl/pthread_cond_wait.c:679 [gdb-3] #6 0x0000ffffd00ff6b8 in () at /usr/lib/aarch64-linux-gnu/nvidia/libnvbufsurftransform.so.1.0.0 [gdb-3] #7 0x0000fffff7bd31fc [PAC] in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #8 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474108397792, 281474976690912, 281474976690910, 8446240, 281474976690911, 0, 281474099949568, 8446240, 281474841956384, 281474099949568, 281474108395520, 12688260419581019524, 0, 12688260419960291720, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #9 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 10 (Thread 0xfffff246e8e0 (LWP 36571) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xffffe0000c0c) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 281474439842828 [gdb-3] _x0 = 281474439842828 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xffffe0000c0c) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xffffe0000c0c, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xffffe0000bb0, cond=0xffffe0000be0) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xfffff246dcc8, __canceltype = -1429736864, __prev = 0x0} [gdb-3] cbuffer = {wseq = 411, cond = 0xffffe0000be0, mutex = 0xffffe0000bb0, private = 0} [gdb-3] err = [gdb-3] g = 1 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 411 [gdb-3] seq = 205 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xffffe0000be0, mutex=0xffffe0000bb0) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000fffff6faa074 in eprosima::fastdds::dds::detail::WaitSetImpl::wait(std::vector >&, eprosima::fastrtps::Time_t const&) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #6 0x0000fffff6faa128 in eprosima::fastdds::dds::WaitSet::wait(std::vector >&, eprosima::fastrtps::Time_t) const () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #7 0x0000fffff73f67b4 in rmw_fastrtps_shared_cpp::__rmw_wait(char const*, rmw_subscriptions_s*, rmw_guard_conditions_s*, rmw_services_s*, rmw_clients_s*, rmw_events_s*, rmw_wait_set_s*, rmw_time_s const*) () at /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so [gdb-3] #8 0x0000fffff73e2aac in () at /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so [gdb-3] #9 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #10 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474746476768, 281474976674992, 281474976674990, 8446240, 281474976674991, 0, 281474738028544, 8446240, 281474841956384, 281474738028544, 281474746474496, 12688260419581019524, 0, 12688260419519361416, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #11 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 9 (Thread 0xfffff2c978e0 (LWP 36569) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xaaaaaab7bbb0) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 187649985330096 [gdb-3] _x0 = 187649985330096 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0xaaaaaab7bbb0) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaaab7bbb0, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799c8ec in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0xaaaaaab7bc20, cond=0xaaaaaab7bb88) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xfffff2c96ee8, __canceltype = -152684508, __prev = 0x0} [gdb-3] cbuffer = {wseq = 132, cond = 0xaaaaaab7bb88, mutex = 0xaaaaaab7bc20, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] g1_start = [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 132 [gdb-3] seq = 66 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_wait (cond=0xaaaaaab7bb88, mutex=0xaaaaaab7bc20) at ./nptl/pthread_cond_wait.c:627 [gdb-3] #5 0x0000fffff7000a88 in eprosima::fastdds::rtps::FlowControllerImpl::run() () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #6 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #7 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474755033312, 281474976663872, 281474976663870, 8446240, 281474976663871, 0, 281474746585088, 8446240, 281474841956384, 281474746585088, 281474755031040, 12688260419581019524, 0, 12688260419527516552, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #8 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 8 (Thread 0xfffff35678e0 (LWP 36568) "component_conta"): [gdb-3] #0 0x0000fffff7a07e24 in __libc_recvfrom (fd=28, buf=0xaaaaaab6b490, len=65500, flags=0, addr=..., addrlen=0xfffff3566b88) at ../sysdeps/unix/sysv/linux/recvfrom.c:27 [gdb-3] _x0tmp = 28 [gdb-3] _x0 = 28 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 281474764270544 [gdb-3] _x1tmp = 187649985262736 [gdb-3] _x1 = 187649985262736 [gdb-3] _x4 = 281474764270544 [gdb-3] _x5tmp = 281474764270472 [gdb-3] _x2tmp = 65500 [gdb-3] _x2 = 65500 [gdb-3] _x5 = 281474764270472 [gdb-3] _x8 = 207 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] #1 0x0000fffff6ef1470 in eprosima::fastdds::rtps::UDPChannelResource::Receive(unsigned char*, unsigned int, unsigned int&, eprosima::fastrtps::rtps::Locator_t&) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #2 0x0000fffff6ef1920 in eprosima::fastdds::rtps::UDPChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #3 0x0000fffff6eecae4 in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #4 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474764273888, 281474976665616, 281474976665614, 8446240, 281474976665615, 0, 281474755825664, 8446240, 281474841956384, 281474755825664, 281474764271616, 12688260419581019524, 0, 12688260419501498760, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 7 (Thread 0xfffff3d778e0 (LWP 36567) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=, cancel=true, abstime=0xfffff3d76818, op=265, expected=0, futex_word=0xfffff7d58120) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281474772723736 [gdb-3] _x0tmp = 281474839707936 [gdb-3] _x0 = 281474839707936 [gdb-3] _x3 = 281474772723736 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = [gdb-3] _x1 = 265 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 265 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=, abstime=0xfffff3d76818, clockid=0, expected=0, futex_word=0xfffff7d58120) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 265 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xfffff7d58120, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0xfffff3d76818, private=) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff79a56e4 in do_futex_wait (sem=sem@entry=0xfffff7d58120, abstime=abstime@entry=0xfffff3d76818, clockid=0) at ./nptl/sem_waitcommon.c:111 [gdb-3] #4 0x0000fffff79a57ac in __new_sem_wait_slow64 (sem=0xfffff7d58120, abstime=0xfffff3d76818, clockid=0) at ./nptl/sem_waitcommon.c:183 [gdb-3] _buffer = {__routine = 0xfffff79a56b0 <__sem_wait_cleanup>, __arg = 0xfffff7d58120, __canceltype = -203986920, __prev = 0x0} [gdb-3] err = [gdb-3] d = 0 [gdb-3] #5 0x0000fffff6e4568c in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #6 0x0000fffff708b2a0 in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #7 0x0000fffff708bf7c in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #8 0x0000fffff7088010 in eprosima::fastdds::rtps::SharedMemChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #9 0x0000fffff708ca14 in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #10 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #11 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474772728032, 281474976666416, 281474976666414, 8446240, 281474976666415, 0, 281474764279808, 8446240, 281474841956384, 281474764279808, 281474772725760, 12688260419581019524, 0, 12688260419509821832, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #12 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 6 (Thread 0xfffff45878e0 (LWP 36566) "component_conta"): [gdb-3] #0 0x0000fffff7a07e24 in __libc_recvfrom (fd=26, buf=0xaaaaaab52ee0, len=65500, flags=0, addr=..., addrlen=0xfffff4586b88) at ../sysdeps/unix/sysv/linux/recvfrom.c:27 [gdb-3] _x0tmp = 26 [gdb-3] _x0 = 26 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 281474781178832 [gdb-3] _x1tmp = 187649985162976 [gdb-3] _x1 = 187649985162976 [gdb-3] _x4 = 281474781178832 [gdb-3] _x5tmp = 281474781178760 [gdb-3] _x2tmp = 65500 [gdb-3] _x2 = 65500 [gdb-3] _x5 = 281474781178760 [gdb-3] _x8 = 207 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] #1 0x0000fffff6ef1470 in eprosima::fastdds::rtps::UDPChannelResource::Receive(unsigned char*, unsigned int, unsigned int&, eprosima::fastrtps::rtps::Locator_t&) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #2 0x0000fffff6ef1920 in eprosima::fastdds::rtps::UDPChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #3 0x0000fffff6eecae4 in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #4 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474781182176, 281474976665616, 281474976665614, 8446240, 281474976665615, 0, 281474772733952, 8446240, 281474841956384, 281474772733952, 281474781179904, 12688260419581019524, 0, 12688260419551699336, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 5 (Thread 0xfffff4d978e0 (LWP 36565) "component_conta"): [gdb-3] #0 0x0000fffff7a07e24 in __libc_recvfrom (fd=25, buf=0xaaaaaab42ef0, len=65500, flags=0, addr=..., addrlen=0xfffff4d96b88) at ../sysdeps/unix/sysv/linux/recvfrom.c:27 [gdb-3] _x0tmp = 25 [gdb-3] _x0 = 25 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 281474789632976 [gdb-3] _x1tmp = 187649985097456 [gdb-3] _x1 = 187649985097456 [gdb-3] _x4 = 281474789632976 [gdb-3] _x5tmp = 281474789632904 [gdb-3] _x2tmp = 65500 [gdb-3] _x2 = 65500 [gdb-3] _x5 = 281474789632904 [gdb-3] _x8 = 207 [gdb-3] _sys_result = [gdb-3] sc_ret = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] #1 0x0000fffff6ef1470 in eprosima::fastdds::rtps::UDPChannelResource::Receive(unsigned char*, unsigned int, unsigned int&, eprosima::fastrtps::rtps::Locator_t&) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #2 0x0000fffff6ef1920 in eprosima::fastdds::rtps::UDPChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #3 0x0000fffff6eecae4 in () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #4 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #5 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474789636320, 281474976665616, 281474976665614, 8446240, 281474976665615, 0, 281474781188096, 8446240, 281474841956384, 281474781188096, 281474789634048, 12688260419581019524, 0, 12688260419560022408, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #6 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 4 (Thread 0xfffff55a78e0 (LWP 36564) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xfffff55a6fc8, op=137, expected=0, futex_word=0xaaaaaab3b170) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281474798088136 [gdb-3] _x0tmp = 187649985065328 [gdb-3] _x0 = 187649985065328 [gdb-3] _x3 = 281474798088136 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 137 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xfffff55a6fc8, clockid=0, expected=0, futex_word=0xaaaaaab3b170) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaaab3b170, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0xfffff55a6fc8, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ced8 in __pthread_cond_wait_common (abstime=0xfffff55a6fc8, clockid=1, mutex=0xaaaaaab3aa40, cond=0xaaaaaab3b148) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xfffff55a6f08, __canceltype = -138639304, __prev = 0x0} [gdb-3] cbuffer = {wseq = 5432, cond = 0xaaaaaab3b148, mutex = 0xaaaaaab3aa40, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 5432 [gdb-3] seq = 2716 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_clockwait64 (abstime=0xfffff55a6fc8, clockid=1, mutex=0xaaaaaab3aa40, cond=0xaaaaaab3b148) at ./nptl/pthread_cond_wait.c:691 [gdb-3] #5 ___pthread_cond_clockwait64 (cond=0xaaaaaab3b148, mutex=0xaaaaaab3aa40, clockid=1, abstime=0xfffff55a6fc8) at ./nptl/pthread_cond_wait.c:679 [gdb-3] #6 0x0000fffff6e185a4 in eprosima::fastrtps::rtps::ResourceEvent::event_service() () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #7 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #8 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474798090464, 281474976667808, 281474976667806, 8446240, 281474976667807, 0, 281474789642240, 8446240, 281474841956384, 281474789642240, 281474798088192, 12688260419581019524, 0, 12688260419534791048, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #9 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 3 (Thread 0xfffff5e3e8e0 (LWP 36563) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0xfffff5e3dfc8, op=137, expected=0, futex_word=0xaaaaaab38838) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 281474807095240 [gdb-3] _x0tmp = 187649985054776 [gdb-3] _x0 = 187649985054776 [gdb-3] _x3 = 281474807095240 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = 393 [gdb-3] _x1 = 137 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=0, abstime=0xfffff5e3dfc8, clockid=0, expected=0, futex_word=0xaaaaaab38838) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 137 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaaab38838, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0xfffff5e3dfc8, private=private@entry=0) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff799ced8 in __pthread_cond_wait_common (abstime=0xfffff5e3dfc8, clockid=1, mutex=0xaaaaaab38840, cond=0xaaaaaab38810) at ./nptl/pthread_cond_wait.c:503 [gdb-3] spin = 0 [gdb-3] buffer = {__routine = 0xfffff799c630 <__condvar_cleanup_waiting>, __arg = 0xfffff5e3df38, __canceltype = -138639304, __prev = 0x0} [gdb-3] cbuffer = {wseq = 28, cond = 0xaaaaaab38810, mutex = 0xaaaaaab38840, private = 0} [gdb-3] err = [gdb-3] g = 0 [gdb-3] flags = [gdb-3] g1_start = [gdb-3] maxspin = 0 [gdb-3] signals = [gdb-3] result = 0 [gdb-3] wseq = 28 [gdb-3] seq = 14 [gdb-3] private = 0 [gdb-3] #4 ___pthread_cond_clockwait64 (abstime=0xfffff5e3dfc8, clockid=1, mutex=0xaaaaaab38840, cond=0xaaaaaab38810) at ./nptl/pthread_cond_wait.c:691 [gdb-3] #5 ___pthread_cond_clockwait64 (cond=0xaaaaaab38810, mutex=0xaaaaaab38840, clockid=1, abstime=0xfffff5e3dfc8) at ./nptl/pthread_cond_wait.c:679 [gdb-3] #6 0x0000fffff707dee0 in eprosima::fastdds::rtps::SharedMemWatchdog::run() () at /opt/ros/humble/lib/libfastrtps.so.2.6 [gdb-3] #7 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #8 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474807097568, 281474976666704, 281474976666702, 8446240, 281474976666703, 0, 281474798649344, 8446240, 281474841956384, 281474798649344, 281474807095296, 12688260419581019524, 0, 12688260419546821000, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #9 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 2 (Thread 0xfffff664e8e0 (LWP 36562) "component_conta"): [gdb-3] #0 __futex_abstimed_wait_common64 (private=, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0xaaaaaab34b60) at ./nptl/futex-internal.c:57 [gdb-3] _x3tmp = 0 [gdb-3] _x0tmp = 187649985039200 [gdb-3] _x0 = 187649985039200 [gdb-3] _x3 = 0 [gdb-3] _x4tmp = 0 [gdb-3] _x1tmp = [gdb-3] _x1 = 393 [gdb-3] _x4 = 0 [gdb-3] _x5tmp = 4294967295 [gdb-3] _x2tmp = 0 [gdb-3] _x2 = 0 [gdb-3] _x5 = 4294967295 [gdb-3] _x8 = 98 [gdb-3] _sys_result = [gdb-3] sc_cancel_oldtype = 0 [gdb-3] sc_ret = [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #1 __futex_abstimed_wait_common (cancel=true, private=, abstime=0x0, clockid=0, expected=0, futex_word=0xaaaaaab34b60) at ./nptl/futex-internal.c:87 [gdb-3] err = [gdb-3] clockbit = 256 [gdb-3] op = 393 [gdb-3] #2 __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0xaaaaaab34b60, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=) at ./nptl/futex-internal.c:139 [gdb-3] #3 0x0000fffff79a5994 in do_futex_wait (sem=sem@entry=0xaaaaaab34b60, abstime=0x0, clockid=0) at ./nptl/sem_waitcommon.c:111 [gdb-3] #4 0x0000fffff79a5a4c in __new_sem_wait_slow64 (sem=0xaaaaaab34b60, abstime=0x0, clockid=0) at ./nptl/sem_waitcommon.c:183 [gdb-3] _buffer = {__routine = 0xfffff79a5960 <__sem_wait_cleanup>, __arg = 0xaaaaaab34b60, __canceltype = -135454628, __prev = 0x0} [gdb-3] err = [gdb-3] d = 0 [gdb-3] #5 0x0000fffff7ed205c in rclcpp::SignalHandler::wait_for_signal() () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #6 0x0000fffff7ed3348 in rclcpp::SignalHandler::deferred_signal_handler() () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #7 0x0000fffff7bd31fc in () at /lib/aarch64-linux-gnu/libstdc++.so.6 [gdb-3] #8 0x0000fffff799d5b8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442 [gdb-3] ret = [gdb-3] pd = 0x0 [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474815551712, 281474976698976, 281474976698974, 8446240, 281474976698975, 0, 281474807103488, 8446240, 281474841956384, 281474807103488, 281474815549440, 12688260419581019524, 0, 12688260419588698504, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}} [gdb-3] not_first_call = 0 [gdb-3] #9 0x0000fffff7a05edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79 [gdb-3] [gdb-3] Thread 1 (Thread 0xfffff7f7d020 (LWP 36549) "component_conta"): [gdb-3] #0 0x0000ffffda49556c in std::_Sp_counted_ptr_inplace, (__gnu_cxx::_Lock_policy)2>::_M_dispose() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #1 0x0000ffffda4d2eb0 in std::_Sp_counted_ptr_inplace, (__gnu_cxx::_Lock_policy)2>::_M_dispose() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #2 0x0000fffff12dc9c8 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (this=0xffff480a2200) at /usr/include/c++/11/bits/shared_ptr_base.h:168 [gdb-3] #3 0x0000ffffda4c98b8 in hybrid_tracker::SlamManager::~SlamManager() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #4 0x0000ffffda3f32a4 in tracking::HybridTracker::destroy() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #5 0x0000ffffda51d1fc in sl::TrackingHandler::destroy() () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #6 0x0000ffffdac48250 in sl::CameraMemberHandler::disablePositionalTracking(sl::String, bool) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #7 0x0000ffffdaaa8b90 in sl::Camera::enablePositionalTracking(sl::PositionalTrackingParameters) () at /usr/local/zed/lib/libsl_zed.so [gdb-3] #8 0x0000fffff134caa8 in stereolabs::ZedCamera::startPosTracking() (this=0xaaaaab008670) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp:3562 [gdb-3] __func__ = "startPosTracking" [gdb-3] transformOk = true [gdb-3] elapsed = 4.2305999999999998e-05 [gdb-3] stopWatch = {mStartTime = , mClockPtr = std::shared_ptr (use count 24, weak count 0) = {get() = 0xaaaaab013130}} [gdb-3] ptParams = {_zed_sdk_major_version = 5, _zed_sdk_minor_version = 0, _zed_sdk_patch_version = 3, initial_world_transform = { = {static nbElem = 16, {{r00 = -0.601700962, r01 = 0.740203381, r02 = 0.300091505, tx = 0.172491014, r10 = -0.720236301, r11 = -0.665240407, r12 = 0.196761087, ty = 0.852485597, r20 = 0.345276207, r21 = -0.0977454334, r22 = 0.933397114, tz = 0.12295039, m30 = 0, m31 = 0, m32 = 0, m33 = 1}, m = {-0.601700962, 0.740203381, 0.300091505, 0.172491014, -0.720236301, -0.665240407, 0.196761087, 0.852485597, 0.345276207, -0.0977454334, 0.933397114, 0.12295039, 0, 0, 0, 1}}, matrix_name = {p_data = 0x0, m_size = 0}}, }, enable_area_memory = true, enable_pose_smoothing = false, set_floor_as_origin = false, area_file_path = {p_data = 0xaaaaaacb2460 "/home/jetson1/test_area_memory.area", m_size = 36}, enable_imu_fusion = true, set_as_static = false, depth_min_range = 0, set_gravity_as_origin = false, mode = sl::POSITIONAL_TRACKING_MODE::GEN_3} [gdb-3] err = sl::ERROR_CODE::SUCCESS [gdb-3] #9 0x0000fffff1374fd0 in stereolabs::ZedCamera::callback_setPose(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >) (this=0xaaaaab008670, request_header=std::shared_ptr (use count 3, weak count 0) = {...}, req=std::shared_ptr >> (use count 4, weak count 0) = {...}, res=std::shared_ptr >> (use count 2, weak count 0) = {...}) at /home/jetson1/fg_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp:6753 [gdb-3] __func__ = "callback_setPose" [gdb-3] #10 0x0000fffff14dacfc in std::__invoke_impl, std::shared_ptr > >, std::shared_ptr > >), stereolabs::ZedCamera*&, std::shared_ptr, std::shared_ptr > >, std::shared_ptr > > >(std::__invoke_memfun_deref, void (stereolabs::ZedCamera::*&)(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >), stereolabs::ZedCamera*&, std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&) (__f=@0xaaaaac2b8160: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const, class std::shared_ptr, class std::shared_ptr > >, class std::shared_ptr > >)) 0xfffff1374758 , std::shared_ptr > >, std::shared_ptr > >)>, __t=@0xaaaaac2b8170: 0xaaaaab008670) at /usr/include/c++/11/bits/invoke.h:74 [gdb-3] #11 0x0000fffff14ca23c in std::__invoke, std::shared_ptr > >, std::shared_ptr > >), stereolabs::ZedCamera*&, std::shared_ptr, std::shared_ptr > >, std::shared_ptr > > >(void (stereolabs::ZedCamera::*&)(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >), stereolabs::ZedCamera*&, std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&) (__fn=@0xaaaaac2b8160: (void (stereolabs::ZedCamera::*)(class stereolabs::ZedCamera * const, class std::shared_ptr, class std::shared_ptr > >, class std::shared_ptr > >)) 0xfffff1374758 , std::shared_ptr > >, std::shared_ptr > >)>) at /usr/include/c++/11/bits/invoke.h:96 [gdb-3] #12 0x0000fffff14bff1c in std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)>::__call&&, std::shared_ptr > >&&, std::shared_ptr > >&&, 0ul, 1ul, 2ul, 3ul>(std::tuple&&, std::shared_ptr > >&&, std::shared_ptr > >&&>&&, std::_Index_tuple<0ul, 1ul, 2ul, 3ul>) (this=0xaaaaac2b8160, __args=...) at /usr/include/c++/11/functional:420 [gdb-3] #13 0x0000fffff14b5f68 in std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)>::operator(), std::shared_ptr > >, std::shared_ptr > >, void>(std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&) (this=0xaaaaac2b8160) at /usr/include/c++/11/functional:503 [gdb-3] #14 0x0000fffff14ad164 in std::__invoke_impl, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)>&, std::shared_ptr, std::shared_ptr > >, std::shared_ptr > > >(std::__invoke_other, std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)>&, std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&) (__f=...) at /usr/include/c++/11/bits/invoke.h:61 [gdb-3] #15 0x0000fffff149dd14 in std::__invoke_r, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)>&, std::shared_ptr, std::shared_ptr > >, std::shared_ptr > > >(std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)>&, std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&) (__fn=...) at /usr/include/c++/11/bits/invoke.h:111 [gdb-3] #16 0x0000fffff1488b68 in std::_Function_handler, std::shared_ptr > >, std::shared_ptr > >), std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&) (__functor=..., __args#0=..., __args#1=..., __args#2=...) at /usr/include/c++/11/bits/std_function.h:290 [gdb-3] #17 0x0000fffff158dba8 in std::function, std::shared_ptr > >, std::shared_ptr > >)>::operator()(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >) const (this=0xaaaaac26ee98, __args#0=std::shared_ptr (empty) = {...}, __args#1=std::shared_ptr >> (empty) = {...}, __args#2=std::shared_ptr >> (empty) = {...}) at /usr/include/c++/11/bits/std_function.h:590 [gdb-3] #18 0x0000fffff157e25c in rclcpp::AnyServiceCallback::dispatch(std::shared_ptr > const&, std::shared_ptr const&, std::shared_ptr > >) (this=0xaaaaac26ee98, service_handle=std::shared_ptr> (use count 4, weak count 2) = {...}, request_header=std::shared_ptr (use count 3, weak count 0) = {...}, request=std::shared_ptr >> (empty) = {...}) at /opt/ros/humble/include/rclcpp/rclcpp/any_service_callback.hpp:183 [gdb-3] cb = @0xaaaaac26ee98: {, std::shared_ptr > >, std::shared_ptr > > >> = {}, = {static _M_max_size = 16, static _M_max_align = 8, _M_functor = {_M_unused = {_M_object = 0xaaaaac2b8160, _M_const_object = 0xaaaaac2b8160, _M_function_pointer = 0xaaaaac2b8160, _M_member_pointer = (void (std::_Undefined_class::*)(class std::_Undefined_class * const)) 0xaaaaac2b8160}, _M_pod_data = "`\201+\254\252\252\000\000\000\000\000\000\000\000\000"}, _M_manager = 0xfffff1488b7c , std::shared_ptr > >, std::shared_ptr > >), std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)> >::_M_manager(std::_Any_data&, std::_Any_data const&, std::_Manager_operation)>}, _M_invoker = 0xfffff1488b08 , std::shared_ptr > >, std::shared_ptr > >), std::_Bind, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr&&, std::shared_ptr > >&&, std::shared_ptr > >&&)>} [gdb-3] response = std::shared_ptr >> (use count 2, weak count 0) = {get() = 0xaaaaac27dab0} [gdb-3] #19 0x0000fffff1571248 in rclcpp::Service::handle_request(std::shared_ptr, std::shared_ptr) (this=0xaaaaac26edf0, request_header=std::shared_ptr (use count 3, weak count 0) = {...}, request=std::shared_ptr (use count 4, weak count 0) = {...}) at /opt/ros/humble/include/rclcpp/rclcpp/service.hpp:473 [gdb-3] typed_request = std::shared_ptr >> (use count 4, weak count 0) = {get() = 0xaaaaafb924b0} [gdb-3] response = std::shared_ptr >> (expired, weak count 0) = {get() = 0xffffffffda30} [gdb-3] #20 0x0000fffff7e5b724 in () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #21 0x0000fffff7e591e0 in rclcpp::Executor::execute_service(std::shared_ptr) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #22 0x0000fffff7e59594 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #23 0x0000fffff7e6164c in rclcpp::executors::SingleThreadedExecutor::spin() () at /opt/ros/humble/lib/librclcpp.so [gdb-3] #24 0x0000aaaaaaaa1bbc in () [gdb-3] #25 0x0000fffff79473fc in __libc_start_call_main (main=main@entry=0xaaaaaaaa1980, argc=argc@entry=6, argv=argv@entry=0xffffffffe188) at ../sysdeps/nptl/libc_start_call_main.h:58 [gdb-3] self = [gdb-3] result = [gdb-3] unwind_buf = {cancel_jmp_buf = {{jmp_buf = {281474976702856, 6, 187649984510800, 281474842484800, 187649984436608, 281474836963328, 0, 281474976702912, 187649984510800, 0, 281474976702480, 12688260419581321800, 17298308644996116480, 12688260419712758168, 0, 0, 0, 0, 0, 0, 0, 0}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0xfffff7aba000 , 0xfffff7abb080 <_dl_audit_preinit@got.plt>}, data = {prev = 0x0, cleanup = 0x0, canceltype = -139747328}}} [gdb-3] not_first_call = [gdb-3] #26 0x0000fffff79474cc in __libc_start_main_impl (main=0xaaaaaaaa1980, argc=6, argv=0xffffffffe188, init=, fini=, rtld_fini=, stack_end=) at ../csu/libc-start.c:392 [gdb-3] #27 0x0000aaaaaaaa1db0 in () [INFO] [gdb-3]: process has finished cleanly [pid 36528] [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [rviz2-1] [INFO] [1752074469.069730968] [rclcpp]: signal_handler(signum=2) [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 36526] [INFO] [rviz2-1]: process has finished cleanly [pid 36524] [robot_state_publisher-2] [INFO] [1752074469.069735128] [rclcpp]: signal_handler(signum=2)